version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 214
start: 7 2 117 9 30 30
data:
$ID,574
$MISSION,23
$DIVE,214
$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,31
$R_STBD_OVSHOOT,46
$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
$GPS1,020717,092400,-2953.4543,3116.4111,6,1.3,6,-24.7,0.0,0.0,6,129.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-72.4
$GPS2,020717,092943,-2953.4724,3116.4934,5,1.7,5,-24.7,0.5,113.2,5,121.8
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,-2950.677,3104.467
$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,-126.5,125,1995,530,444,0.0,0.0,0,104,0.00,0.00,-86.20,0.000,16386,0.000,0.000,125,1996,2893,2907,2879,0,0,0,0,0,0,26.25,28.83,26.26
$GC,106,-0.45,-126.5,125,1996,2908,2879,3.3,-3.8,11,124,9.55,2.12,-1.70,0.000,18692,0.209,0.044,2681,3403,2982,3006,2959,0,0,0,0,0,0,25.74,25.50,25.89
$GC,269,-0.45,-126.5,2680,3403,3012,2957,41.8,-15.4,37,275,0.00,2.12,0.00,0.000,1030,0.000,0.026,2681,1974,2984,3012,2957,0,0,0,0,0,0,26.22,26.15,26.23
$GC,599,-0.45,-126.5,2680,1971,3018,2953,104.1,-17.5,97,608,0.00,2.10,0.00,0.000,260,0.000,0.032,2670,3397,2985,3018,2953,0,0,0,0,0,0,26.55,26.27,26.57
$GC,721,-0.45,-126.5,2670,3398,3018,2953,120.8,-13.1,109,730,0.00,2.08,0.00,0.000,1030,0.000,0.024,2670,1985,2985,3018,2953,0,0,0,0,0,0,26.39,26.32,26.40
$GC,1030,-0.45,-126.5,2670,1981,3020,2953,168.0,-15.1,140,1034,0.00,2.08,0.00,0.000,260,0.000,0.034,2660,3394,2986,3020,2953,0,0,0,0,0,0,26.65,26.36,26.67
$GC,1125,-0.45,-126.5,2660,3394,3019,2953,183.0,-14.8,149,1130,0.10,2.05,0.00,0.000,3078,0.136,0.024,2695,1989,2986,3020,2953,0,0,0,0,0,0,26.25,26.39,26.38
$GC,1440,-0.45,-126.5,2694,1986,3020,2953,222.5,-12.1,171,1444,0.00,2.08,0.00,0.000,516,0.000,0.030,2694,580,2986,3020,2952,0,0,0,0,0,0,26.70,26.41,26.72
$GC,1479,-0.45,-126.5,2694,580,3021,2952,227.1,-12.5,173,1483,0.00,2.15,0.00,0.000,1030,0.000,0.029,2686,1988,2986,3021,2952,0,0,0,0,0,0,26.46,26.43,26.48
$GC,2298,-0.45,-126.5,2686,1992,3020,2949,331.8,-11.9,214,2303,0.00,2.08,0.00,0.000,260,0.000,0.035,2676,3399,2985,3021,2949,0,0,0,0,0,0,26.73,26.46,26.74
$GC,2397,-0.45,-126.5,2675,3399,3020,2948,339.7,-7.4,219,2401,0.00,2.08,0.00,0.000,1030,0.000,0.025,2676,1980,2984,3020,2948,0,0,0,0,0,0,26.55,26.48,26.57
$STATE,2813,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2813,begin apogee
$GC,2817,0.00,0.0,2676,1824,3020,2946,395.5,-12.4,240,2917,0.52,0.10,95.45,0.859,10246,0.126,0.079,2839,1944,2464,2515,2414,0,0,0,0,0,0,26.31,25.13,24.58
$STATE,2918,end apogee,CONTROL_FINISHED_OK
$STATE,2918,begin climb
$GC,2919,0.45,126.5,2839,1944,2515,2414,398.3,0.0,245,3026,0.40,2.08,99.10,0.851,10500,0.031,0.031,3023,3250,1948,1998,1899,0,0,0,0,0,0,25.31,24.87,24.32
$GC,3057,0.45,126.5,3022,3250,1994,1897,387.4,13.5,252,3062,0.15,2.08,0.00,0.000,5126,0.176,0.028,2994,1905,1945,1994,1897,0,0,0,0,0,0,25.15,25.30,25.30
$GC,3868,0.45,126.5,2993,1902,1989,1887,256.8,15.9,293,3873,0.00,2.15,0.00,0.000,516,0.000,0.033,3003,487,1938,1989,1887,0,0,0,0,0,0,26.54,26.24,26.55
$GC,4117,0.45,126.5,3002,487,1985,1884,218.9,16.3,305,4125,0.00,2.05,0.00,0.000,1030,0.000,0.028,3003,1859,1934,1985,1883,0,0,0,0,0,0,26.39,26.33,26.42
$GC,4927,0.45,126.5,3002,1864,1987,1880,91.6,12.7,386,4933,0.00,2.08,0.00,0.000,516,0.000,0.032,3013,482,1932,1986,1879,0,0,0,0,0,0,26.71,26.40,26.72
$GC,5045,0.45,126.5,3012,480,1984,1879,75.0,14.3,408,5053,0.00,2.17,0.00,0.000,1030,0.000,0.030,3013,1895,1931,1984,1879,0,0,0,0,0,0,26.47,26.44,26.49
$GC,5373,0.49,161.1,3012,1897,1986,1878,47.4,9.1,469,5403,0.00,2.20,25.20,0.633,8452,0.000,0.034,3013,3309,1806,1872,1740,0,0,0,0,0,0,26.74,26.07,25.54
$GC,5520,0.49,161.1,3012,3309,1869,1739,31.8,11.7,494,5529,0.00,2.17,0.00,0.000,1030,0.000,0.028,3023,1882,1804,1870,1739,0,0,0,0,0,0,26.26,26.22,26.27
$GC,5671,0.49,161.1,3022,1882,1869,1737,12.1,13.9,519,5679,0.00,2.15,0.00,0.000,260,0.000,0.031,3023,3304,1803,1869,1737,0,0,0,0,0,0,26.55,26.25,26.57
$GC,5694,0.49,161.1,3023,3304,1869,1737,9.0,13.8,522,5703,0.08,2.12,0.00,0.000,5126,0.176,0.026,3011,1900,1803,1870,1737,0,0,0,0,0,0,26.10,26.29,26.20
$STATE,5740,end climb,SURFACE_DEPTH_REACHED
$STATE,5740,begin surface coast
$FINISH,0.7,1.019641
$STATE,5766,end surface coast,CONTROL_FINISHED_OK
$STATE,5766,begin surface
$SM_CCo,5781,137.07,0.047,0,0,498,482.01
$SM_GC,1.39,7.43,0.12,137.07,0.029,0.080,0.047,127,2000,498,-8.42,-1.22,482.01,0,0,0,0,0,0,26.29,26.33,26.19
$IRIDIUM_FIX,-2940.11,3114.46,020717,092507
$TT8_MAMPS,0.025466,0.268142
$HUMID,55.04
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,380.6,29.0
$24V_AH,24.32,18.169
$10V_AH,10.34,8.751
$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,18.225,42.575,219.750,137.075,0.000,30.869,20.412,197.737,8.750,0.000,11.939,1315.635,2980.106,439.138,1486.252,75.069,0.000,965.877,0.000,1182.912,0.000,56.906,0.000
$DEVICE_MAMPS,208.845,96.390,859.095,47.430,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,371.188,98.732,414.579,421.531,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342348
$DATA_FILE_SIZE,37092,533
$CAP_FILE_SIZE,68923,0
$CFSIZE,2097086464,2071232512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,020717,111024,-2953.240,3117.029,40,0.9,40,-24.7,1.2,194.7,9,10.5