version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 199
start: 7 1 117 9 51 4
data:
$ID,574
$MISSION,23
$DIVE,199
$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,350
$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,35
$R_STBD_OVSHOOT,54
$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
$GPS1,010717,094402,-3014.2437,3101.9106,27,1.0,27,-25.1,0.8,334.3,8,7.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-74.2
$GPS2,010717,095018,-3014.2285,3101.8018,5,1.0,5,-25.1,0.6,13.5,8,63.8
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,-3003.594,3059.635
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,15.1,20000,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.45,-126.5,126,2015,530,443,0.0,0.0,0,103,0.00,0.00,-86.03,0.000,16386,0.000,0.000,126,2017,2906,2920,2892,0,0,0,0,0,0,26.18,28.83,26.19
$GC,106,-0.45,-126.5,126,2017,2921,2893,3.4,-4.5,11,124,9.80,2.20,-1.45,0.000,18948,0.218,0.038,2688,567,2981,3003,2959,0,0,0,0,0,0,25.68,25.43,25.83
$GC,232,-0.45,-126.5,2688,566,3010,2958,37.0,-14.7,31,241,0.00,2.17,0.00,0.000,1030,0.000,0.029,2680,1969,2983,3012,2954,0,0,0,0,0,0,26.10,26.07,26.13
$GC,370,-0.45,-126.5,2679,1969,3013,2953,67.6,-22.6,56,378,0.00,2.17,0.00,0.000,260,0.000,0.032,2669,3406,2983,3013,2953,0,0,0,0,0,0,26.42,26.15,26.44
$GC,457,-0.45,-126.5,2668,3406,3013,2952,84.4,-16.6,72,466,0.00,2.15,0.00,0.000,1030,0.000,0.025,2669,1988,2983,3014,2952,0,0,0,0,0,0,26.22,26.20,26.27
$GC,776,-0.45,-126.5,2669,1983,3019,2950,146.2,-17.8,110,781,0.08,2.12,0.00,0.000,2308,0.182,0.030,2687,3413,2984,3019,2950,0,0,0,0,0,0,26.14,26.28,26.22
$GC,867,-0.45,-126.5,2687,3413,3019,2950,156.7,-9.1,118,873,0.00,2.08,0.00,0.000,1030,0.000,0.019,2687,1973,2984,3019,2950,0,0,0,0,0,0,26.39,26.34,26.41
$GC,1173,-0.45,-126.5,2687,1969,3021,2949,197.5,-13.3,149,1176,0.00,2.03,0.00,0.000,516,0.000,0.029,2687,597,2985,3021,2949,0,0,0,0,0,0,26.65,26.36,26.66
$GC,1199,-0.45,-126.5,2687,596,3021,2949,201.0,-13.8,151,1208,0.00,2.08,0.00,0.000,1030,0.000,0.027,2677,1995,2985,3021,2949,0,0,0,0,0,0,26.44,26.38,26.46
$GC,2008,-0.45,-126.5,2677,2000,3021,2948,299.5,-14.3,192,2012,0.00,2.05,0.00,0.000,260,0.000,0.033,2667,3396,2984,3021,2947,0,0,0,0,0,0,26.73,26.44,26.74
$GC,2246,-0.45,-126.5,2666,3396,3020,2946,324.2,-10.1,204,2250,0.10,2.05,0.00,0.000,3078,0.134,0.025,2700,2000,2983,3020,2946,0,0,0,0,0,0,26.33,26.47,26.46
$GC,3063,-0.45,-126.5,2699,1996,3020,2939,403.0,-9.2,245,3068,0.00,2.10,0.00,0.000,516,0.000,0.032,2700,590,2979,3020,2938,0,0,0,0,0,0,26.77,26.47,26.79
$GC,3136,-0.45,-126.5,2699,588,3020,2939,408.0,-8.4,248,3143,0.00,2.10,0.00,0.000,1030,0.000,0.029,2692,1993,2979,3020,2939,0,0,0,0,0,0,26.56,26.49,26.58
$STATE,3241,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3241,begin apogee
$GC,3246,0.00,0.0,2691,1834,3020,2937,420.1,-10.8,254,3345,0.47,0.08,95.43,0.890,10246,0.168,0.096,2839,1931,2464,2519,2410,0,0,0,0,0,0,26.32,25.07,24.51
$STATE,3346,end apogee,CONTROL_FINISHED_OK
$STATE,3346,begin climb
$GC,3348,0.45,126.5,2838,1932,2518,2410,422.4,0.0,259,3455,0.38,2.35,99.80,0.894,10756,0.033,0.033,3031,505,1948,2005,1891,0,0,0,0,0,0,25.25,24.79,24.22
$GC,3526,0.45,126.5,3031,505,1997,1887,403.4,18.4,268,3531,0.12,2.15,0.00,0.000,5126,0.180,0.024,2998,1864,1941,1996,1887,0,0,0,0,0,0,25.28,25.44,25.43
$GC,4345,0.45,126.5,2997,1869,1995,1879,272.3,16.7,309,4350,0.00,2.15,0.00,0.000,260,0.000,0.034,2998,3304,1937,1995,1879,0,0,0,0,0,0,26.51,26.25,26.52
$GC,4443,0.45,126.5,2997,3304,1993,1880,255.4,16.0,314,4447,0.00,2.10,0.00,0.000,1030,0.000,0.028,3007,1902,1936,1993,1880,0,0,0,0,0,0,26.33,26.26,26.35
$GC,5250,0.45,126.5,3006,1899,1991,1878,130.4,13.4,378,5258,0.00,2.08,0.00,0.000,260,0.000,0.030,3007,3306,1934,1991,1878,0,0,0,0,0,0,26.67,26.39,26.68
$GC,5391,0.45,126.5,3006,3305,1991,1879,114.5,11.8,392,5399,0.00,2.10,0.00,0.000,1030,0.000,0.028,3017,1889,1934,1991,1878,0,0,0,0,0,0,26.48,26.40,26.50
$GC,5708,0.56,215.9,3017,1889,1990,1877,85.2,7.7,440,5782,0.00,2.20,66.60,0.683,8964,0.000,0.034,3028,485,1582,1668,1497,0,0,0,0,0,0,26.71,25.37,25.00
$GC,5794,0.56,215.9,3028,485,1658,1497,75.4,14.1,454,5800,0.00,2.17,0.00,0.000,1030,0.000,0.025,3028,1896,1577,1658,1497,0,0,0,0,0,0,25.72,25.65,25.73
$GC,6132,0.56,215.9,3027,1900,1657,1495,21.8,14.5,515,6141,0.00,2.15,0.00,0.000,260,0.000,0.031,3028,3307,1576,1657,1495,0,0,0,0,0,0,26.36,26.08,26.36
$GC,6184,0.56,215.9,3028,3307,1655,1495,14.8,11.6,523,6193,0.00,2.15,0.00,0.000,1030,0.000,0.029,3038,1906,1575,1656,1495,0,0,0,0,0,0,26.15,26.11,26.17
$GC,6242,0.56,215.9,3037,1906,1656,1495,6.3,16.9,532,6250,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,1906,1575,1656,1495,0,0,0,0,0,0,26.41,26.43,26.43
$STATE,6264,end climb,SURFACE_DEPTH_REACHED
$STATE,6264,begin surface coast
$FINISH,1.1,1.025300
$STATE,6284,end surface coast,CONTROL_FINISHED_OK
$STATE,6284,begin surface
$SM_CCo,6299,115.15,0.050,0,0,499,482.01
$SM_GC,1.71,7.62,0.10,115.15,0.031,0.070,0.050,125,2058,499,-8.46,-1.44,482.01,0,0,0,0,0,0,26.17,26.25,26.07
$IRIDIUM_FIX,-3004.98,3100.82,010717,073552
$TT8_MAMPS,0.025466,0.26964
$HUMID,55.27
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,360.3,73.2
$24V_AH,24.22,16.991
$10V_AH,10.32,8.062
$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,18.575,47.200,261.825,115.150,0.000,32.961,32.042,216.438,7.000,0.000,11.946,1318.479,3462.886,443.287,1524.536,73.031,0.000,1018.321,0.000,1191.649,0.000,46.412,0.000
$DEVICE_MAMPS,218.025,95.625,893.520,49.725,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,369.898,82.859,368.084,370.420,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342388
$DATA_FILE_SIZE,37181,538
$CAP_FILE_SIZE,71894,0
$CFSIZE,2097086464,2072707072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,010717,113839,-3012.490,3101.893,6,1.4,6,-25.0,0.8,259.3,6,89.1