version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 213
start: 7 2 117 7 45 39
data:
$ID,574
$MISSION,23
$DIVE,213
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,1050
$D_NO_BLEED,500
$D_BOOST,5
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,167
$T_MISSION,177
$T_ABORT,360
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,0
$MAX_BUOY,130
$COURSE_BIAS,0
$GLIDE_SLOPE,17
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52970
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,285
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,482.00665
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,143
$PITCH_MAX,3888
$C_PITCH,2845
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,-6.8056469e+38
$PITCH_GAIN,45
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,245
$ROLL_MAX,3880
$ROLL_DEG,40
$C_ROLL_DIVE,1990
$C_ROLL_CLIMB,1896
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,75
$R_STBD_OVSHOOT,95
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3961
$C_VBD,2465
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,145
$AH0_10V,96.25
$MINV_24V,19
$MINV_10V,8.5
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-48.230709
$PRESSURE_SLOPE,0.0001171049
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,50
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,38
$DEVICE3,51
$DEVICE4,69
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,17
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043017557
$SEABIRD_T_H,0.00062339538
$SEABIRD_T_I,2.3377639e-05
$SEABIRD_T_J,2.5612862e-06
$SEABIRD_C_G,-9.9136524
$SEABIRD_C_H,1.1456692
$SEABIRD_C_I,-0.00078246131
$SEABIRD_C_J,0.00012677554
$GPS1,020717,073901,-2953.5447,3115.8103,50,1.1,50,-24.7,0.5,113.5,7,12.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-76.5
$GPS2,020717,074452,-2953.5813,3115.8948,5,1.0,5,-24.7,0.0,0.0,9,70.5
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,-2950.786,3103.869
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,309.7,20000,-13.3,-9.980,-16.52,4015
$D_GRID,500
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.45,-126.5,127,1941,531,442,0.0,0.0,0,104,0.00,0.00,-86.30,0.000,16386,0.000,0.000,127,1940,2936,2950,2923,0,0,0,0,0,0,26.22,28.83,26.24
$GC,106,-0.45,-126.5,127,1939,2950,2923,3.7,-6.0,11,124,9.52,2.15,-0.80,0.000,18692,0.208,0.046,2678,3352,2981,3001,2961,0,0,0,0,0,0,25.74,25.47,25.89
$GC,341,-0.45,-126.5,2677,3352,3009,2956,55.8,-16.7,52,349,0.00,2.03,0.00,0.000,1030,0.000,0.027,2677,2019,2983,3010,2956,0,0,0,0,0,0,26.21,26.18,26.24
$GC,662,-0.45,-126.5,2677,2014,3014,2953,109.6,-10.6,105,666,0.00,2.12,0.00,0.000,516,0.000,0.028,2678,579,2983,3014,2952,0,0,0,0,0,0,26.58,26.29,26.58
$GC,699,-0.45,-126.5,2677,579,3015,2952,115.7,-15.6,108,704,0.10,2.03,0.00,0.000,3078,0.165,0.025,2697,1947,2984,3015,2953,0,0,0,0,0,0,26.14,26.32,26.29
$GC,1004,-0.45,-126.5,2696,1951,3018,2952,151.7,-14.7,138,1008,0.00,2.15,0.00,0.000,260,0.000,0.038,2688,3392,2985,3018,2952,0,0,0,0,0,0,26.65,26.34,26.65
$GC,1141,-0.45,-126.5,2687,3392,3016,2952,168.3,-11.8,151,1150,0.00,2.08,0.00,0.000,1030,0.000,0.027,2688,1983,2984,3016,2952,0,0,0,0,0,0,26.46,26.39,26.48
$GC,1461,-0.45,-126.5,2687,1979,3018,2951,209.8,-13.9,180,1467,0.00,2.05,0.00,0.000,260,0.000,0.034,2677,3386,2984,3018,2951,0,0,0,0,0,0,26.71,26.42,26.72
$GC,1503,-0.45,-126.5,2677,3386,3018,2950,214.8,-13.3,182,1507,0.00,2.10,0.00,0.000,1030,0.000,0.025,2677,1955,2983,3017,2950,0,0,0,0,0,0,26.50,26.44,26.52
$GC,2320,-0.45,-126.5,2677,1949,3018,2948,317.3,-13.3,223,2324,0.00,2.15,0.00,0.000,260,0.000,0.037,2667,3397,2983,3018,2948,0,0,0,0,0,0,26.77,26.46,26.77
$GC,2424,-0.45,-126.5,2666,3397,3017,2947,328.4,-11.5,228,2429,0.10,2.08,0.00,0.000,3078,0.136,0.024,2700,1974,2982,3017,2947,0,0,0,0,0,0,26.34,26.49,26.47
$STATE,3030,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3030,begin apogee
$GC,3034,0.00,0.0,2699,1850,3017,2944,392.8,-10.4,258,3133,0.45,0.00,95.03,0.870,10246,0.118,0.000,2844,1847,2465,2514,2416,0,0,0,0,0,0,26.34,25.13,24.58
$STATE,3134,end apogee,CONTROL_FINISHED_OK
$STATE,3134,begin climb
$GC,3135,0.45,126.5,2844,1847,2514,2415,395.3,0.0,263,3243,0.35,2.10,98.97,0.861,10756,0.034,0.031,3027,545,1946,2000,1893,0,0,0,0,0,0,25.30,24.73,24.32
$GC,3359,0.45,126.5,3026,545,1990,1892,370.5,17.9,274,3364,0.12,2.10,0.00,0.000,5126,0.179,0.028,2994,1914,1941,1990,1892,0,0,0,0,0,0,25.49,25.66,25.67
$GC,4171,0.45,126.5,2993,1915,1991,1883,229.4,14.7,315,4175,0.00,2.08,0.00,0.000,516,0.000,0.030,3002,535,1937,1991,1883,0,0,0,0,0,0,26.57,26.27,26.58
$GC,4495,0.45,126.5,3002,534,1985,1882,180.4,15.9,337,4502,0.00,2.05,0.00,0.000,1030,0.000,0.031,3003,1898,1934,1985,1883,0,0,0,0,0,0,26.43,26.36,26.45
$GC,4802,0.45,126.5,3002,1903,1985,1882,134.4,16.0,368,4806,0.00,2.08,0.00,0.000,260,0.000,0.033,3003,3303,1934,1986,1882,0,0,0,0,0,0,26.67,26.39,26.69
$GC,4898,0.45,126.5,3002,3302,1985,1882,119.2,14.5,377,4902,0.00,2.00,0.00,0.000,1030,0.000,0.026,3013,1944,1933,1985,1882,0,0,0,0,0,0,26.48,26.41,26.51
$GC,5214,0.45,126.5,3012,1943,1985,1880,71.1,11.1,425,5221,0.00,2.17,0.00,0.000,516,0.000,0.034,3024,495,1932,1985,1880,0,0,0,0,0,0,26.72,26.41,26.72
$GC,5312,0.59,236.3,3023,494,1983,1880,62.5,7.2,443,5399,0.00,2.10,81.43,0.661,9222,0.000,0.030,3024,1899,1499,1584,1415,0,0,0,0,0,0,26.51,26.44,24.94
$STATE,5720,end climb,SURFACE_DEPTH_REACHED
$STATE,5720,begin surface coast
$FINISH,0.6,1.012503
$STATE,5739,end surface coast,CONTROL_FINISHED_OK
$STATE,5740,begin surface
$SM_CCo,5754,106.45,0.048,0,0,499,482.01
$SM_GC,1.58,7.47,0.10,106.45,0.023,0.070,0.048,124,2044,499,-8.44,-1.53,482.01,0,0,0,0,0,0,26.09,26.17,26.04
$IRIDIUM_FIX,-2942.59,3114.46,020717,074015
$TT8_MAMPS,0.026215,0.261401
$HUMID,56.30
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,18.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,370.3,37.3
$24V_AH,24.32,18.100
$10V_AH,10.35,8.701
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,18.125,37.850,275.425,106.450,0.000,38.611,22.932,196.854,8.500,0.000,11.940,1267.590,3002.128,414.642,1490.492,71.803,0.000,962.529,0.000,1180.096,0.000,54.134,0.000
$DEVICE_MAMPS,208.080,95.625,869.805,48.195,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,354.785,86.256,367.004,373.440,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342332
$DATA_FILE_SIZE,33709,516
$CAP_FILE_SIZE,67287,0
$CFSIZE,2097086464,2071330816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,020717,092400,-2953.454,3116.411,6,1.3,6,-24.7,0.0,0.0,6,129.1