version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 207
start: 7 1 117 22 19 38
data:
$ID,574
$MISSION,23
$DIVE,207
$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,43
$R_STBD_OVSHOOT,43
$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
$GPS1,010717,220922,-2958.4351,3108.5166,6,1.4,6,-24.8,0.0,0.0,7,95.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-79.9
$GPS2,010717,221851,-2958.3188,3108.7339,4,1.4,4,-24.8,0.0,0.0,7,26.7
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,-2947.684,3106.573
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,14.8,20000,-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,-126.5,125,1996,525,452,0.0,0.0,0,103,0.00,0.00,-86.10,0.000,16386,0.000,0.000,125,1996,2910,2925,2896,0,0,0,0,0,0,26.22,28.83,26.24
$GC,106,-0.45,-126.5,125,1996,2925,2896,3.3,-4.4,11,124,9.68,2.12,-1.35,0.000,18692,0.223,0.041,2677,3416,2981,3001,2962,0,0,0,0,0,0,25.74,25.49,25.87
$GC,190,-0.45,-126.5,2677,3416,3008,2957,29.4,-17.9,24,199,0.00,2.17,0.00,0.000,1030,0.000,0.028,2677,1996,2983,3011,2955,0,0,0,0,0,0,26.12,26.08,26.14
$GC,334,-0.45,-126.5,2677,1996,3013,2953,59.2,-18.7,49,342,0.00,2.08,0.00,0.000,260,0.000,0.032,2667,3397,2982,3012,2953,0,0,0,0,0,0,26.45,26.17,26.46
$GC,354,-0.45,-126.5,2667,3397,3013,2953,63.5,-19.4,52,362,0.00,2.15,0.00,0.000,1030,0.000,0.025,2667,1980,2983,3013,2953,0,0,0,0,0,0,26.22,26.20,26.25
$GC,675,-0.45,-126.5,2666,1980,3016,2952,126.4,-19.7,100,679,0.08,2.08,0.00,0.000,2564,0.198,0.028,2695,585,2984,3016,2952,0,0,0,0,0,0,26.15,26.29,26.24
$GC,691,-0.45,-126.5,2695,585,3016,2952,129.6,-19.7,101,695,0.00,2.10,0.00,0.000,1030,0.000,0.024,2686,2001,2984,3016,2952,0,0,0,0,0,0,26.38,26.32,26.40
$GC,996,-0.45,-126.5,2686,2001,3018,2952,167.5,-12.8,131,1000,0.00,2.10,0.00,0.000,260,0.000,0.035,2676,3405,2985,3019,2952,0,0,0,0,0,0,26.65,26.36,26.66
$GC,1057,-0.45,-126.5,2675,3405,3017,2952,174.6,-11.5,137,1061,0.00,2.08,0.00,0.000,1030,0.000,0.024,2676,1987,2984,3017,2952,0,0,0,0,0,0,26.46,26.39,26.47
$GC,1372,-0.45,-126.5,2675,1987,3018,2950,216.4,-13.5,162,1376,0.00,2.08,0.00,0.000,516,0.000,0.030,2676,580,2984,3018,2950,0,0,0,0,0,0,26.70,26.41,26.72
$GC,1396,-0.45,-126.5,2676,579,3019,2950,218.6,-13.5,163,1401,0.10,2.10,0.00,0.000,3078,0.157,0.028,2696,1989,2984,3019,2950,0,0,0,0,0,0,26.27,26.43,26.41
$GC,2209,-0.45,-126.5,2695,1992,3018,2946,308.2,-10.0,204,2214,0.00,2.08,0.00,0.000,516,0.000,0.030,2696,589,2982,3019,2946,0,0,0,0,0,0,26.76,26.46,26.77
$GC,2236,-0.45,-126.5,2696,588,3019,2946,310.3,-10.1,205,2240,0.00,2.15,0.00,0.000,1030,0.000,0.031,2688,1990,2982,3018,2946,0,0,0,0,0,0,26.51,26.48,26.53
$STATE,2267,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2267,begin apogee
$GC,2271,0.00,0.0,2688,1825,3019,2945,314.6,-10.6,207,2370,0.50,0.10,94.62,0.832,10246,0.121,0.081,2846,1948,2465,2517,2413,0,0,0,0,0,0,26.32,25.17,24.62
$STATE,2371,end apogee,CONTROL_FINISHED_OK
$STATE,2371,begin climb
$GC,2372,0.45,126.5,2846,1956,2516,2413,317.5,0.0,212,2478,0.43,2.35,99.03,0.834,10756,0.031,0.031,3042,490,1946,2001,1892,0,0,0,0,0,0,25.33,24.76,24.37
$GC,2493,0.45,126.5,3041,490,1998,1891,309.8,10.1,218,2499,0.17,2.22,0.00,0.000,5126,0.251,0.028,2998,1906,1944,1998,1890,0,0,0,0,0,0,24.99,25.22,25.20
$GC,3300,0.45,126.5,2997,1911,1994,1880,176.5,16.3,265,3304,0.00,2.15,0.00,0.000,516,0.000,0.033,3007,487,1936,1994,1879,0,0,0,0,0,0,26.55,26.25,26.56
$GC,3366,0.45,126.5,3006,487,1991,1879,165.5,16.3,271,3370,0.00,2.15,0.00,0.000,1030,0.000,0.031,3007,1906,1934,1990,1879,0,0,0,0,0,0,26.36,26.29,26.38
$GC,3671,0.45,126.5,3006,1910,1991,1878,115.7,12.5,301,3675,0.00,2.08,0.00,0.000,260,0.000,0.034,3007,3305,1934,1991,1878,0,0,0,0,0,0,26.63,26.34,26.65
$GC,3767,0.45,126.5,3007,3305,1991,1878,103.5,12.7,310,3771,0.00,2.08,0.00,0.000,1030,0.000,0.027,3017,1900,1935,1991,1879,0,0,0,0,0,0,26.44,26.37,26.46
$GC,4087,0.45,126.5,3017,1899,1989,1877,67.1,11.8,367,4093,0.00,2.12,0.00,0.000,516,0.000,0.034,3028,484,1933,1990,1876,0,0,0,0,0,0,26.69,26.39,26.70
$GC,4154,0.45,126.5,3028,484,1985,1876,59.3,12.9,379,4162,0.12,2.12,0.00,0.000,5126,0.249,0.028,2994,1911,1931,1986,1876,0,0,0,0,0,0,26.10,26.42,26.37
$GC,4493,0.46,134.2,2993,1915,1989,1876,27.8,9.8,440,4503,0.00,2.15,1.73,0.109,8708,0.000,0.030,3003,491,1917,1976,1859,0,0,0,0,0,0,26.72,26.38,26.29
$GC,4623,0.54,196.8,3002,490,1973,1859,16.3,8.4,461,4656,0.00,2.12,27.83,0.575,9222,0.000,0.028,3003,1889,1661,1741,1582,0,0,0,0,0,0,26.48,26.46,25.56
$GC,4706,0.54,196.8,3002,1892,1738,1577,7.3,12.3,473,4714,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1892,1657,1737,1577,0,0,0,0,0,0,26.44,26.46,26.45
$STATE,4738,end climb,SURFACE_DEPTH_REACHED
$STATE,4738,begin surface coast
$FINISH,0.5,1.018809
$STATE,4764,end surface coast,CONTROL_FINISHED_OK
$STATE,4764,begin surface
$SM_CCo,4779,122.30,0.047,0,0,498,482.01
$SM_GC,1.62,7.38,0.12,122.30,0.025,0.071,0.047,125,2044,498,-8.44,-1.30,482.01,0,0,0,0,0,0,26.20,26.26,26.13
$IRIDIUM_FIX,-2947.56,3104.65,010717,221407
$TT8_MAMPS,0.026215,0.285369
$HUMID,55.04
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,300.1,28.2
$24V_AH,24.37,17.583
$10V_AH,10.33,8.430
$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,18.450,47.175,223.200,122.300,0.000,67.198,61.889,256.090,7.000,0.000,11.978,1195.692,2304.224,420.909,1511.347,73.765,0.000,891.893,0.000,1048.671,0.000,44.152,0.000
$DEVICE_MAMPS,250.920,81.090,833.850,47.430,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,333.964,102.742,441.724,448.487,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342364
$DATA_FILE_SIZE,33653,482
$CAP_FILE_SIZE,68889,0
$CFSIZE,2097086464,2071920640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,010717,234202,-2956.630,3110.339,9,0.8,9,-24.8,0.6,51.7,11,316.4