version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 215
start: 7 2 117 11 31 39
data:
$ID,574
$MISSION,23
$DIVE,215
$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,359
$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,44
$R_STBD_OVSHOOT,49
$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
$GPS1,020717,111024,-2953.2400,3117.0288,40,0.9,40,-24.7,1.2,194.7,9,10.5
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-73.0
$GPS2,020717,113052,-2953.3391,3117.2522,5,0.9,5,-24.7,2.0,11.1,9,14.8
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,-2942.542,3117.035
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,23.7,20000,-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,-126.5,127,2004,529,444,0.0,0.0,0,103,0.00,0.00,-86.03,0.000,16386,0.000,0.000,127,2003,2898,2913,2884,0,0,0,0,0,0,26.20,28.83,26.21
$GC,106,-0.45,-126.5,127,2003,2914,2885,3.5,-4.8,11,124,9.70,2.15,-1.58,0.000,19204,0.213,0.045,2676,3404,2983,3003,2963,0,0,0,0,0,0,25.67,24.79,25.84
$GC,167,-0.45,-126.5,2675,3405,3010,2960,24.1,-24.6,20,176,0.00,2.15,0.00,0.000,1030,0.000,0.028,2676,2000,2984,3012,2957,0,0,0,0,0,0,26.08,26.04,26.10
$GC,314,-0.45,-126.5,2676,1995,3014,2954,57.3,-23.1,45,321,0.00,2.08,0.00,0.000,260,0.000,0.031,2666,3393,2984,3013,2955,0,0,0,0,0,0,26.42,26.13,26.43
$GC,333,-0.45,-126.5,2665,3393,3014,2954,61.9,-21.8,48,342,0.08,2.12,0.00,0.000,3078,0.148,0.024,2690,1982,2984,3014,2954,0,0,0,0,0,0,25.99,26.16,26.08
$GC,661,-0.45,-126.5,2689,1978,3018,2953,114.5,-14.4,101,665,0.00,2.08,0.00,0.000,260,0.000,0.032,2681,3393,2985,3018,2953,0,0,0,0,0,0,26.57,26.27,26.58
$GC,793,-0.45,-126.5,2681,3393,3018,2953,130.6,-10.9,113,801,0.00,2.10,0.00,0.000,1030,0.000,0.024,2681,1993,2985,3018,2953,0,0,0,0,0,0,26.36,26.33,26.38
$GC,1101,-0.45,-126.5,2681,1989,3019,2952,177.4,-10.8,144,1104,0.00,2.08,0.00,0.000,260,0.000,0.033,2671,3400,2985,3019,2952,0,0,0,0,0,0,26.66,26.36,26.67
$GC,1139,-0.45,-126.5,2670,3400,3019,2952,181.1,-10.5,147,1146,0.00,2.10,0.00,0.000,1030,0.000,0.022,2671,1985,2985,3019,2951,0,0,0,0,0,0,26.43,26.39,26.45
$GC,1456,-0.45,-126.5,2670,1979,3019,2950,239.4,-22.0,169,1460,0.00,2.10,0.00,0.000,260,0.000,0.034,2661,3398,2984,3019,2950,0,0,0,0,0,0,26.70,26.41,26.72
$GC,1510,-0.45,-126.5,2660,3399,3019,2950,246.5,-20.4,171,1518,0.12,2.05,0.00,0.000,3078,0.129,0.025,2701,1992,2984,3019,2950,0,0,0,0,0,0,26.28,26.43,26.41
$GC,2320,-0.45,-126.5,2701,1987,3019,2945,331.6,-8.8,212,2326,0.00,2.05,0.00,0.000,516,0.000,0.030,2702,586,2982,3019,2945,0,0,0,0,0,0,26.74,26.46,26.75
$GC,2346,-0.45,-126.5,2701,585,3019,2945,333.6,-9.0,213,2350,0.00,2.10,0.00,0.000,1030,0.000,0.028,2693,1989,2982,3019,2945,0,0,0,0,0,0,26.55,26.48,26.56
$STATE,2876,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2876,begin apogee
$GC,2881,0.00,0.0,2693,1821,3019,2941,393.7,-10.8,240,2979,0.47,0.10,94.70,0.870,10246,0.116,0.076,2844,1927,2464,2516,2413,0,0,0,0,0,0,26.32,25.13,24.57
$STATE,2980,end apogee,CONTROL_FINISHED_OK
$STATE,2981,begin climb
$GC,2982,0.45,126.5,2844,1943,2516,2413,395.4,0.0,245,3091,0.38,2.38,99.32,0.884,10756,0.034,0.030,3035,494,1947,2002,1892,0,0,0,0,0,0,25.30,24.86,24.30
$GC,3251,0.45,126.5,3035,494,1989,1891,362.1,18.0,258,3259,0.15,2.10,0.00,0.000,5126,0.174,0.025,2995,1877,1940,1990,1891,0,0,0,0,0,0,25.58,25.77,25.76
$GC,4058,0.45,126.5,2994,1882,1990,1880,228.0,15.6,299,4062,0.00,2.10,0.00,0.000,516,0.000,0.035,3004,494,1935,1991,1880,0,0,0,0,0,0,26.58,26.27,26.59
$GC,4102,0.45,126.5,3003,494,1987,1880,221.6,16.7,301,4106,0.00,2.10,0.00,0.000,1030,0.000,0.027,3004,1899,1933,1987,1879,0,0,0,0,0,0,26.38,26.32,26.41
$GC,4909,0.45,126.5,3003,1905,1988,1877,99.3,11.7,376,4917,0.00,2.10,0.00,0.000,260,0.000,0.033,3004,3294,1932,1988,1877,0,0,0,0,0,0,26.71,26.41,26.72
$GC,4941,0.45,126.5,3003,3295,1987,1877,95.6,12.6,381,4947,0.00,2.08,0.00,0.000,1030,0.000,0.026,3014,1889,1932,1987,1878,0,0,0,0,0,0,26.50,26.43,26.52
$GC,5264,0.49,157.7,3013,1889,1987,1877,57.0,9.2,442,5290,0.00,0.00,22.62,0.662,8454,0.000,0.000,3014,1889,1820,1883,1758,0,0,0,0,0,0,26.73,26.05,25.54
$GC,5629,0.49,157.7,3013,1888,1880,1752,15.8,12.0,506,5637,0.00,2.15,0.00,0.000,516,0.000,0.033,3025,487,1815,1879,1751,0,0,0,0,0,0,26.59,26.29,26.60
$STATE,5739,end climb,SURFACE_DEPTH_REACHED
$STATE,5739,begin surface coast
$FINISH,1.8,1.025373
$STATE,5746,end surface coast,CONTROL_FINISHED_OK
$STATE,5747,begin surface
$SM_CCo,5764,138.12,0.049,0,0,499,482.01
$SM_GC,1.59,7.40,2.35,138.12,0.023,0.034,0.049,127,1987,499,-8.44,-1.05,482.01,0,0,0,0,0,0,26.36,26.32,26.20
$IRIDIUM_FIX,-2940.11,3120.00,020717,112608
$TT8_MAMPS,0.025466,0.289114
$HUMID,54.72
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,371.5,36.6
$24V_AH,24.30,18.269
$10V_AH,10.32,8.808
$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,18.300,42.725,216.650,138.125,0.000,132.133,172.795,541.862,8.500,0.000,11.952,1286.954,3226.568,426.394,2134.609,88.505,0.000,944.006,0.000,1145.869,0.000,55.398,0.000
$DEVICE_MAMPS,213.435,76.500,883.575,48.960,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,363.886,95.987,414.425,420.026,0.000,0.000,0.000,0.000,0.000,0.000
$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,33698,525
$CAP_FILE_SIZE,78721,0
$CFSIZE,2097086464,2071134208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,020717,131041,-2952.759,3118.179,6,1.1,6,-24.7,0.6,59.7,7,61.0