version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 216
start: 7 2 117 13 18 4
data:
$ID,574
$MISSION,23
$DIVE,216
$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,43
$R_STBD_OVSHOOT,31
$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
$GPS1,020717,131041,-2952.7590,3118.1792,6,1.1,6,-24.7,0.6,59.7,7,61.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-73.0
$GPS2,020717,131718,-2952.7798,3118.2195,4,1.1,4,-24.7,0.0,0.0,7,27.1
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,-2941.982,3118.002
$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,-126.5,127,1991,527,445,0.0,0.0,0,103,0.00,0.00,-86.05,0.000,16386,0.000,0.000,127,1990,2894,2905,2883,0,0,0,0,0,0,26.28,28.83,26.29
$GC,106,-0.45,-126.5,127,1990,2907,2883,3.5,-4.4,11,124,9.62,2.15,-1.62,0.000,18692,0.213,0.044,2677,3426,2981,3002,2961,0,0,0,0,0,0,25.75,25.51,25.90
$GC,214,-0.45,-126.5,2676,3426,3011,2956,34.0,-15.1,28,223,0.00,2.20,0.00,0.000,1030,0.000,0.027,2677,1982,2982,3012,2953,0,0,0,0,0,0,26.17,26.14,26.19
$GC,358,-0.45,-126.5,2677,1982,3014,2952,62.9,-22.0,53,364,0.00,2.10,0.00,0.000,516,0.000,0.032,2677,580,2983,3014,2952,0,0,0,0,0,0,26.48,26.19,26.50
$GC,428,-0.45,-126.5,2677,579,3015,2952,78.0,-15.9,66,437,0.08,2.17,0.00,0.000,3078,0.159,0.030,2690,1990,2983,3015,2952,0,0,0,0,0,0,26.06,26.24,26.15
$GC,751,-0.45,-126.5,2690,1990,3018,2952,124.3,-11.6,110,755,0.00,2.10,0.00,0.000,260,0.000,0.034,2681,3401,2985,3018,2952,0,0,0,0,0,0,26.62,26.32,26.63
$GC,1017,-0.45,-126.5,2680,3401,3018,2952,151.1,-9.6,136,1021,0.00,2.08,0.00,0.000,1030,0.000,0.027,2681,1993,2985,3018,2952,0,0,0,0,0,0,26.45,26.38,26.47
$GC,1322,-0.45,-126.5,2681,1988,3019,2950,191.5,-13.8,166,1326,0.00,2.08,0.00,0.000,260,0.000,0.032,2671,3403,2984,3019,2950,0,0,0,0,0,0,26.70,26.41,26.72
$GC,1441,-0.45,-126.5,2670,3403,3019,2950,206.0,-12.7,175,1446,0.00,2.08,0.00,0.000,1030,0.000,0.026,2671,1981,2984,3019,2950,0,0,0,0,0,0,26.51,26.44,26.53
$GC,2253,-0.45,-126.5,2670,1978,3019,2947,325.7,-12.1,216,2257,0.00,2.08,0.00,0.000,516,0.000,0.030,2671,580,2983,3020,2947,0,0,0,0,0,0,26.77,26.47,26.78
$GC,2277,-0.45,-126.5,2670,580,3019,2947,328.3,-12.1,217,2282,0.12,2.10,0.00,0.000,3078,0.151,0.025,2699,2008,2983,3019,2947,0,0,0,0,0,0,26.29,26.49,26.44
$STATE,2912,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2912,begin apogee
$GC,2916,0.00,0.0,2699,1838,3019,2944,391.5,-10.6,249,3016,0.45,0.05,95.20,0.877,10246,0.114,0.116,2844,1918,2464,2517,2412,0,0,0,0,0,0,26.32,25.11,24.58
$STATE,3017,end apogee,CONTROL_FINISHED_OK
$STATE,3017,begin climb
$GC,3018,0.45,126.5,2844,1918,2517,2412,394.7,0.0,254,3124,0.35,2.30,98.78,0.863,10756,0.034,0.031,3030,489,1947,2003,1892,0,0,0,0,0,0,25.30,24.73,24.34
$GC,3240,0.45,126.5,3029,488,1992,1888,370.7,18.0,264,3248,0.12,2.15,0.00,0.000,5126,0.174,0.030,2997,1873,1940,1992,1889,0,0,0,0,0,0,25.48,25.65,25.66
$GC,4047,0.45,126.5,2996,1878,1992,1879,239.4,15.5,305,4051,0.00,2.10,0.00,0.000,516,0.000,0.033,3005,488,1935,1992,1879,0,0,0,0,0,0,26.56,26.26,26.58
$GC,4103,0.45,126.5,3005,488,1990,1879,230.4,15.7,308,4107,0.00,2.15,0.00,0.000,1030,0.000,0.028,3005,1904,1934,1990,1879,0,0,0,0,0,0,26.36,26.29,26.39
$GC,4909,0.50,163.7,3005,1908,1991,1876,119.9,9.0,379,4942,0.00,2.12,27.27,0.685,8452,0.000,0.033,3006,3300,1796,1865,1727,0,0,0,0,0,0,26.70,25.98,25.44
$GC,5123,0.50,163.7,3005,3299,1862,1724,93.3,10.1,405,5130,0.00,2.10,0.00,0.000,1030,0.000,0.025,3016,1889,1792,1862,1723,0,0,0,0,0,0,26.27,26.20,26.28
$GC,5447,0.50,163.7,3015,1889,1861,1721,56.2,12.2,466,5454,0.00,2.10,0.00,0.000,516,0.000,0.034,3027,489,1790,1861,1720,0,0,0,0,0,0,26.59,26.28,26.60
$GC,5591,0.50,163.7,3026,488,1855,1720,38.1,13.6,492,5600,0.00,2.15,0.00,0.000,1030,0.000,0.025,3026,1905,1788,1857,1720,0,0,0,0,0,0,26.39,26.36,26.41
$GC,5744,0.50,163.7,3026,1910,1859,1719,17.3,17.3,517,5753,0.00,2.10,0.00,0.000,260,0.000,0.031,3026,3306,1789,1859,1720,0,0,0,0,0,0,26.65,26.39,26.66
$GC,5773,0.50,163.7,3026,3306,1859,1720,12.0,17.9,521,5782,0.08,2.12,0.00,0.000,5126,0.174,0.027,3014,1899,1790,1860,1720,0,0,0,0,0,0,26.17,26.39,26.27
$GC,5832,0.50,163.7,3014,1899,1859,1720,4.4,10.8,530,5841,0.00,2.12,0.00,0.000,516,0.000,0.030,3024,493,1789,1858,1720,0,0,0,0,0,0,26.66,26.36,26.67
$STATE,5848,end climb,SURFACE_DEPTH_REACHED
$STATE,5848,begin surface coast
$FINISH,0.6,1.025384
$STATE,5880,end surface coast,CONTROL_FINISHED_OK
$STATE,5880,begin surface
$SM_CCo,5896,135.52,0.049,0,0,498,482.01
$SM_GC,1.57,7.35,2.28,135.52,0.020,0.022,0.049,126,2002,498,-8.45,-1.27,482.01,0,0,0,0,0,0,26.41,26.41,26.24
$IRIDIUM_FIX,-2937.63,3118.71,020717,131146
$TT8_MAMPS,0.025466,0.268891
$HUMID,55.04
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,20.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,391.5,12.5
$24V_AH,24.34,18.341
$10V_AH,10.35,8.858
$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,18.175,47.125,221.250,135.525,0.000,29.239,25.572,236.621,9.500,0.000,11.940,1330.822,3080.302,425.240,1550.214,75.764,0.000,974.708,0.000,1187.289,0.000,62.802,0.000
$DEVICE_MAMPS,212.670,116.280,876.690,48.960,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,371.072,91.117,390.296,394.990,0.000,0.000,0.000,0.000,0.000,0.000
$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,33691,537
$CAP_FILE_SIZE,70467,0
$CFSIZE,2097086464,2071035904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,020717,145920,-2952.105,3118.854,9,0.7,9,-24.7,0.0,0.0,12,334.1