version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 197
start: 7 1 117 5 24 37
data:
$ID,574
$MISSION,23
$DIVE,197
$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,275
$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,32
$R_STBD_OVSHOOT,41
$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,100
$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
$GPS1,010717,051802,-3016.4575,3104.3357,36,0.9,36,-25.1,1.5,251.6,8,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-69.9
$GPS2,010717,052351,-3016.4978,3104.1650,4,0.9,4,-25.1,1.0,190.5,9,64.9
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,-3015.557,3051.710
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,300.1,20000,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.45,-126.5,126,1996,528,446,0.0,0.0,0,103,0.00,0.00,-85.28,0.000,16386,0.000,0.000,125,1996,2898,2911,2885,0,0,0,0,0,0,26.25,28.83,26.25
$GC,106,-0.45,-126.5,126,1997,2911,2885,3.4,-3.4,11,124,9.82,2.12,-1.62,0.000,19204,0.219,0.037,2699,565,2982,3002,2963,0,0,0,0,0,0,25.71,25.47,25.86
$GC,133,-0.45,-126.5,2698,564,3004,2963,14.8,-31.4,14,142,0.00,2.20,0.00,0.000,1030,0.000,0.023,2690,1999,2984,3008,2961,0,0,0,0,0,0,26.08,26.04,26.09
$GC,191,-0.45,-126.5,2690,1999,3013,2956,33.2,-29.1,23,200,0.00,2.12,0.00,0.000,260,0.000,0.031,2680,3395,2984,3013,2955,0,0,0,0,0,0,26.34,26.06,26.35
$GC,261,-0.45,-126.5,2679,3394,3013,2954,49.3,-17.4,35,268,0.00,2.12,0.00,0.000,1030,0.000,0.025,2680,1968,2984,3013,2955,0,0,0,0,0,0,26.19,26.12,26.20
$GC,587,-0.45,-126.5,2679,1965,3019,2952,121.8,-19.4,87,595,0.00,2.08,0.00,0.000,260,0.000,0.030,2669,3390,2985,3019,2952,0,0,0,0,0,0,26.51,26.25,26.52
$GC,659,-0.45,-126.5,2669,3390,3019,2952,133.9,-15.0,94,667,0.00,2.08,0.00,0.000,1030,0.000,0.025,2669,1985,2985,3019,2952,0,0,0,0,0,0,26.34,26.28,26.36
$GC,967,-0.45,-126.5,2669,1983,3021,2952,186.5,-16.2,125,971,0.00,2.08,0.00,0.000,260,0.000,0.031,2659,3393,2986,3021,2951,0,0,0,0,0,0,26.63,26.34,26.63
$GC,1098,-0.45,-126.5,2659,3393,3020,2952,203.3,-13.7,135,1106,0.08,2.12,0.00,0.000,3078,0.139,0.024,2694,1979,2986,3020,2952,0,0,0,0,0,0,26.22,26.38,26.35
$GC,1906,-0.45,-126.5,2693,1975,3022,2950,301.9,-11.6,176,1911,0.00,2.10,0.00,0.000,260,0.000,0.033,2685,3402,2985,3022,2949,0,0,0,0,0,0,26.70,26.44,26.71
$GC,2085,-0.45,-126.5,2685,3402,3022,2949,318.9,-8.9,185,2089,0.00,2.08,0.00,0.000,1030,0.000,0.024,2685,1986,2985,3021,2949,0,0,0,0,0,0,26.53,26.47,26.55
$GC,2901,-0.45,-126.5,2685,1982,3021,2944,408.8,-11.4,226,2905,0.00,2.10,0.00,0.000,260,0.000,0.034,2675,3400,2982,3021,2944,0,0,0,0,0,0,26.77,26.48,26.79
$GC,3007,-0.45,-126.5,2674,3400,3021,2943,420.3,-11.6,231,3011,0.00,2.08,0.00,0.000,1030,0.000,0.025,2675,1983,2982,3021,2943,0,0,0,0,0,0,26.56,26.50,26.58
$STATE,3652,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3652,begin apogee
$GC,3656,0.00,0.0,2675,1834,3019,2937,501.3,-12.3,263,3757,0.52,0.08,96.62,0.976,10246,0.127,0.090,2838,1926,2464,2520,2408,0,0,0,0,0,0,26.32,24.98,24.38
$STATE,3758,end apogee,CONTROL_FINISHED_OK
$STATE,3758,begin climb
$GC,3760,0.45,126.5,2838,1926,2520,2408,505.0,0.0,268,3865,0.40,0.00,102.32,0.981,10246,0.032,0.000,3019,1929,1948,2005,1892,0,0,0,0,0,0,25.16,24.69,24.13
$GC,4653,0.45,126.5,3019,1930,1991,1881,352.6,19.9,313,4657,0.00,2.20,0.00,0.000,516,0.000,0.035,3030,495,1936,1991,1881,0,0,0,0,0,0,26.46,26.16,26.48
$GC,4952,0.45,126.5,3029,494,1986,1879,298.0,17.8,328,4957,0.12,2.10,0.00,0.000,5126,0.184,0.028,2996,1890,1932,1986,1878,0,0,0,0,0,0,26.06,26.27,26.26
$GC,5761,0.45,126.5,2996,1894,1988,1873,177.5,10.5,377,5769,0.00,2.08,0.00,0.000,260,0.000,0.032,2996,3300,1930,1987,1873,0,0,0,0,0,0,26.67,26.38,26.68
$GC,5801,0.45,126.5,2995,3300,1987,1874,173.3,10.1,381,5805,0.00,2.08,0.00,0.000,1030,0.000,0.028,3005,1901,1930,1987,1874,0,0,0,0,0,0,26.46,26.39,26.48
$GC,6106,0.45,126.5,3004,1901,1986,1873,137.0,11.8,411,6110,0.00,2.12,0.00,0.000,516,0.000,0.034,3016,491,1929,1986,1873,0,0,0,0,0,0,26.70,26.39,26.71
$GC,6315,0.45,126.5,3015,490,1984,1872,113.7,11.0,431,6322,0.00,2.10,0.00,0.000,1030,0.000,0.028,3016,1895,1928,1984,1872,0,0,0,0,0,0,26.50,26.44,26.52
$GC,6631,0.45,126.5,3015,1895,1986,1871,78.9,10.9,480,6639,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1896,1928,1986,1871,0,0,0,0,0,0,26.72,26.74,26.74
$GC,6960,0.51,177.2,3015,1898,1988,1871,52.0,8.7,541,7004,0.00,2.12,36.80,0.658,8452,0.000,0.031,3015,3306,1740,1816,1665,0,0,0,0,0,0,26.74,25.75,25.39
$GC,7065,0.51,177.2,3015,3306,1813,1665,39.8,13.1,559,7073,0.00,2.15,0.00,0.000,1030,0.000,0.028,3026,1903,1738,1813,1663,0,0,0,0,0,0,26.09,26.06,26.11
$GC,7218,0.51,177.2,3025,1903,1813,1660,18.3,14.5,584,7226,0.00,2.17,0.00,0.000,516,0.000,0.034,3037,492,1735,1812,1659,0,0,0,0,0,0,26.43,26.14,26.44
$GC,7294,0.51,177.2,3036,492,1806,1660,7.6,15.3,596,7302,0.00,2.15,0.00,0.000,1030,0.000,0.027,3036,1893,1733,1807,1660,0,0,0,0,0,0,26.23,26.20,26.23
$STATE,7327,end climb,SURFACE_DEPTH_REACHED
$STATE,7327,begin surface coast
$FINISH,0.7,1.012536
$STATE,7352,end surface coast,CONTROL_FINISHED_OK
$STATE,7352,begin surface
$SM_CCo,7367,130.73,0.049,0,0,499,482.01
$SM_GC,1.52,7.53,0.12,130.73,0.027,0.057,0.049,125,2095,499,-8.43,-1.16,482.01,0,0,0,0,0,0,26.22,26.31,26.10
$IRIDIUM_FIX,-3002.49,3104.24,010717,051908
$TT8_MAMPS,0.025466,0.265146
$HUMID,54.88
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,20.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,491.4,61.6
$24V_AH,24.13,16.823
$10V_AH,10.32,7.957
$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,18.475,46.975,235.750,130.725,0.000,29.811,18.164,209.934,10.500,0.000,11.967,1499.771,4194.941,466.396,1640.003,77.884,0.000,1072.449,0.000,1320.829,0.000,69.677,0.000
$DEVICE_MAMPS,218.790,89.505,981.495,48.960,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,418.589,89.605,372.372,378.825,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342300
$DATA_FILE_SIZE,40289,605
$CAP_FILE_SIZE,77856,0
$CFSIZE,2097086464,2072903680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,010717,073031,-3015.881,3102.541,21,1.0,21,-25.1,0.9,16.6,9,38.6