version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 201
start: 7 1 117 13 40 13
data:
$ID,574
$MISSION,23
$DIVE,201
$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,55
$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,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
$GPS1,010717,133030,-3010.3633,3102.0745,25,1.0,25,-25.0,1.0,300.9,9,7.7
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,3
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-77.6
$GPS2,010717,133927,-3010.3140,3101.9829,5,1.0,5,-25.0,0.6,5.1,9,20.7
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,-2959.679,3059.818
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,15.0,20000,-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,-126.5,126,1969,528,448,0.0,0.0,0,103,0.00,0.00,-86.00,0.000,16386,0.000,0.000,126,1969,2896,2906,2886,0,0,0,0,0,0,26.17,28.83,26.18
$GC,106,-0.45,-126.5,126,1969,2908,2886,3.3,-3.6,11,124,9.77,2.08,-1.52,0.000,18948,0.216,0.039,2688,580,2978,3000,2957,0,0,0,0,0,0,25.67,25.43,25.82
$GC,198,-0.45,-126.5,2688,580,3005,2955,32.0,-17.0,25,206,0.00,2.17,0.00,0.000,1030,0.000,0.030,2680,1977,2980,3009,2951,0,0,0,0,0,0,26.08,26.04,26.10
$GC,338,-0.45,-126.5,2679,1979,3011,2949,62.2,-21.4,50,345,0.00,2.12,0.00,0.000,260,0.000,0.033,2669,3408,2980,3011,2949,0,0,0,0,0,0,26.40,26.13,26.41
$GC,456,-0.45,-126.5,2668,3408,3011,2949,84.6,-16.6,71,463,0.00,2.10,0.00,0.000,1030,0.000,0.027,2669,1996,2979,3011,2948,0,0,0,0,0,0,26.26,26.20,26.28
$GC,773,-0.45,-126.5,2668,1992,3015,2946,139.3,-15.8,110,778,0.08,2.10,0.00,0.000,2308,0.187,0.028,2688,3416,2980,3015,2946,0,0,0,0,0,0,26.15,26.29,26.22
$GC,782,-0.45,-126.5,2687,3416,3015,2946,139.3,-15.8,110,791,0.00,2.12,0.00,0.000,1030,0.000,0.020,2688,1981,2980,3015,2946,0,0,0,0,0,0,26.35,26.32,26.37
$GC,1090,-0.45,-126.5,2687,1981,3017,2946,180.7,-13.9,141,1099,0.00,2.12,0.00,0.000,260,0.000,0.030,2677,3415,2981,3017,2946,0,0,0,0,0,0,26.61,26.36,26.62
$GC,1151,-0.45,-126.5,2676,3415,3017,2946,187.2,-9.8,147,1155,0.00,2.10,0.00,0.000,1030,0.000,0.025,2677,1986,2981,3017,2946,0,0,0,0,0,0,26.44,26.38,26.46
$GC,1456,-0.45,-126.5,2677,1983,3017,2946,222.9,-10.6,167,1460,0.00,2.08,0.00,0.000,260,0.000,0.031,2667,3406,2981,3017,2945,0,0,0,0,0,0,26.69,26.40,26.70
$GC,1485,-0.45,-126.5,2666,3407,3017,2946,224.4,-10.0,168,1493,0.10,2.08,0.00,0.000,3078,0.137,0.023,2699,1982,2981,3017,2946,0,0,0,0,0,0,26.28,26.43,26.41
$GC,2292,-0.45,-126.5,2699,1979,3017,2942,305.7,-8.5,209,2298,0.00,2.10,0.00,0.000,260,0.000,0.033,2691,3406,2979,3017,2942,0,0,0,0,0,0,26.75,26.46,26.77
$GC,2514,-0.45,-126.5,2690,3406,3016,2940,324.6,-8.7,220,2518,0.00,2.08,0.00,0.000,1030,0.000,0.027,2691,2000,2978,3017,2940,0,0,0,0,0,0,26.55,26.48,26.57
$STATE,2708,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2708,begin apogee
$GC,2713,0.00,0.0,2691,1818,3016,2938,347.0,-11.7,230,2811,0.47,0.12,94.22,0.852,10246,0.121,0.064,2840,1959,2464,2518,2411,0,0,0,0,0,0,26.32,25.13,24.58
$STATE,2812,end apogee,CONTROL_FINISHED_OK
$STATE,2813,begin climb
$GC,2814,0.45,126.5,2840,1959,2518,2410,348.1,0.0,235,2922,0.38,2.12,98.43,0.842,10500,0.031,0.030,3030,3311,1946,2001,1892,0,0,0,0,0,0,25.31,24.70,24.31
$GC,2953,0.45,126.5,3029,3310,1998,1892,335.5,13.7,242,2957,0.17,2.20,0.00,0.000,5126,0.181,0.025,2994,1888,1944,1998,1891,0,0,0,0,0,0,25.13,25.29,25.29
$GC,3770,0.45,126.5,2994,1886,1991,1882,208.7,14.5,283,3774,0.00,2.12,0.00,0.000,516,0.000,0.035,3004,495,1936,1991,1882,0,0,0,0,0,0,26.52,26.22,26.53
$GC,3813,0.45,126.5,3002,494,1989,1880,203.3,14.9,285,3818,0.00,2.12,0.00,0.000,1030,0.000,0.026,3004,1911,1934,1989,1880,0,0,0,0,0,0,26.34,26.27,26.35
$GC,4623,0.45,126.5,3003,1916,1988,1876,92.5,10.1,371,4630,0.00,2.08,0.00,0.000,260,0.000,0.033,3004,3311,1932,1988,1876,0,0,0,0,0,0,26.68,26.39,26.70
$GC,4842,0.63,274.1,3003,3311,1988,1877,76.7,6.2,412,4964,0.10,2.15,111.07,0.672,11270,0.060,0.027,3070,1888,1346,1442,1250,0,0,0,0,0,0,26.40,26.43,24.70
$STATE,5163,end climb,SURFACE_DEPTH_REACHED
$STATE,5163,begin surface coast
$FINISH,0.6,1.025353
$STATE,5177,end surface coast,CONTROL_FINISHED_OK
$STATE,5177,begin surface
$SM_CCo,5193,90.62,0.047,0,0,499,482.01
$SM_GC,1.64,7.70,0.12,90.62,0.027,0.053,0.047,126,2041,499,-8.42,-1.50,482.01,0,0,0,0,0,0,25.91,25.99,25.89
$IRIDIUM_FIX,-2957.51,3059.54,010717,133139
$TT8_MAMPS,0.025466,0.263648
$HUMID,56.97
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,18.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,332.0,28.2
$24V_AH,24.31,17.169
$10V_AH,10.34,8.154
$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,18.775,38.425,303.725,90.625,0.000,32.080,20.984,389.013,7.500,0.000,11.951,1126.589,2748.553,431.321,1477.521,68.870,0.000,926.236,0.000,985.822,0.000,48.024,0.000
$DEVICE_MAMPS,216.495,66.555,852.210,47.430,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,324.104,70.589,293.123,300.954,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342312
$DATA_FILE_SIZE,30364,469
$CAP_FILE_SIZE,64100,0
$CFSIZE,2097086464,2072576000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,010717,150856,-3008.098,3102.470,6,1.4,6,-25.0,0.5,19.8,7,90.2