version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 209
start: 7 2 117 1 13 35
data:
$ID,574
$MISSION,23
$DIVE,209
$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,47
$R_STBD_OVSHOOT,36
$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
$GPS1,020717,010721,-2955.4602,3111.8423,15,1.3,15,-24.7,1.1,67.4,8,11.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-78.0
$GPS2,020717,011249,-2955.3892,3111.9841,5,1.0,5,-24.7,0.9,67.8,8,73.8
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,-2944.754,3109.824
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,14.7,20000,-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,-126.5,126,1990,527,447,0.0,0.0,0,103,0.00,0.00,-85.88,0.000,16386,0.000,0.000,126,1991,2879,2888,2871,0,0,0,0,0,0,26.20,28.83,26.22
$GC,106,-0.45,-126.5,126,1991,2890,2870,3.1,-3.7,11,124,9.62,2.17,-1.98,0.000,18692,0.211,0.047,2680,3406,2982,3003,2962,0,0,0,0,0,0,25.72,24.87,25.86
$GC,163,-0.45,-126.5,2679,3406,3009,2959,23.6,-30.5,19,172,0.00,2.17,0.00,0.000,1030,0.000,0.030,2680,1993,2984,3011,2957,0,0,0,0,0,0,26.06,26.03,26.10
$GC,308,-0.45,-126.5,2679,1992,3014,2954,56.8,-23.2,44,316,0.00,2.15,0.00,0.000,516,0.000,0.031,2680,584,2984,3015,2954,0,0,0,0,0,0,26.42,26.14,26.43
$GC,340,-0.45,-126.5,2679,582,3015,2953,64.1,-23.7,49,347,0.00,2.15,0.00,0.000,1030,0.000,0.030,2670,1998,2984,3015,2954,0,0,0,0,0,0,26.22,26.15,26.25
$GC,657,-0.45,-126.5,2669,2003,3018,2954,119.8,-13.9,97,661,0.00,2.08,0.00,0.000,260,0.000,0.034,2659,3413,2986,3018,2954,0,0,0,0,0,0,26.56,26.27,26.57
$GC,732,-0.45,-126.5,2658,3413,3017,2954,129.2,-11.4,104,737,0.12,2.10,0.00,0.000,3078,0.133,0.025,2699,1981,2985,3017,2954,0,0,0,0,0,0,26.17,26.32,26.29
$GC,1038,-0.45,-126.5,2698,1978,3020,2953,183.7,-14.6,134,1041,0.00,2.05,0.00,0.000,516,0.000,0.028,2699,586,2986,3020,2953,0,0,0,0,0,0,26.65,26.36,26.65
$GC,1075,-0.45,-126.5,2698,585,3021,2953,188.0,-12.5,137,1083,0.00,2.12,0.00,0.000,1030,0.000,0.030,2691,2001,2986,3021,2952,0,0,0,0,0,0,26.43,26.37,26.45
$GC,1383,-0.45,-126.5,2690,2002,3021,2952,237.2,-17.5,157,1387,0.00,2.05,0.00,0.000,260,0.000,0.034,2680,3399,2987,3021,2953,0,0,0,0,0,0,26.70,26.40,26.70
$GC,1482,-0.45,-126.5,2679,3399,3020,2952,254.6,-17.9,162,1486,0.00,2.05,0.00,0.000,1030,0.000,0.024,2680,1987,2986,3020,2952,0,0,0,0,0,0,26.50,26.44,26.51
$STATE,2258,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2258,begin apogee
$GC,2263,0.00,0.0,2680,1844,3021,2949,352.7,-13.4,201,2362,0.52,0.08,95.07,0.832,10246,0.124,0.093,2845,1929,2464,2516,2413,0,0,0,0,0,0,26.31,25.15,24.60
$STATE,2363,end apogee,CONTROL_FINISHED_OK
$STATE,2363,begin climb
$GC,2364,0.45,126.5,2844,1929,2516,2413,356.5,0.0,206,2471,0.45,2.17,98.47,0.846,10500,0.032,0.031,3048,3286,1947,1998,1896,0,0,0,0,0,0,25.33,24.88,24.32
$GC,2493,0.45,126.5,3047,3286,1995,1896,348.4,10.8,212,2500,0.22,2.12,0.00,0.000,5126,0.172,0.027,2997,1904,1945,1995,1895,0,0,0,0,0,0,25.11,25.26,25.25
$GC,3301,0.45,126.5,2997,1902,1991,1885,204.5,22.2,253,3306,0.00,2.10,0.00,0.000,516,0.000,0.034,3007,499,1938,1991,1885,0,0,0,0,0,0,26.54,26.25,26.55
$GC,3482,0.45,126.5,3006,498,1986,1883,176.7,16.8,269,3489,0.00,2.08,0.00,0.000,1030,0.000,0.021,3007,1880,1934,1987,1882,0,0,0,0,0,0,26.41,26.34,26.43
$GC,3789,0.45,126.5,3006,1885,1990,1880,143.9,12.9,300,3793,0.00,2.08,0.00,0.000,260,0.000,0.028,3007,3303,1935,1990,1881,0,0,0,0,0,0,26.65,26.37,26.66
$GC,3888,0.45,126.5,3006,3305,1988,1883,128.4,15.0,309,3895,0.00,2.08,0.00,0.000,1030,0.000,0.025,3017,1888,1935,1988,1883,0,0,0,0,0,0,26.46,26.39,26.48
$GC,4199,0.45,126.5,3017,1885,1987,1881,90.4,11.4,348,4208,0.00,2.12,0.00,0.000,516,0.000,0.033,3028,495,1933,1986,1880,0,0,0,0,0,0,26.70,26.40,26.71
$GC,4252,0.45,126.5,3027,495,1985,1880,83.7,13.3,357,4260,0.12,2.10,0.00,0.000,5126,0.159,0.031,2991,1884,1932,1985,1880,0,0,0,0,0,0,26.24,26.42,26.41
$GC,4578,0.51,177.1,2990,1886,1989,1878,43.4,8.7,418,4620,0.00,0.00,37.03,0.645,8710,0.000,0.000,2991,1886,1742,1815,1669,0,0,0,0,0,0,26.73,25.89,25.39
$GC,4976,0.51,177.1,2991,1889,1810,1664,6.5,10.8,485,4985,0.00,2.15,0.00,0.000,260,0.000,0.036,2991,3300,1736,1810,1663,0,0,0,0,0,0,26.53,26.23,26.53
$STATE,5004,end climb,SURFACE_DEPTH_REACHED
$STATE,5004,begin surface coast
$FINISH,0.7,1.025357
$STATE,5024,end surface coast,CONTROL_FINISHED_OK
$STATE,5024,begin surface
$SM_CCo,5040,130.77,0.050,0,0,499,482.01
$SM_GC,1.54,7.32,1.95,130.77,0.023,0.016,0.050,125,1988,499,-8.44,1.33,482.01,0,0,0,0,0,0,26.25,26.32,26.16
$IRIDIUM_FIX,-2942.59,3111.04,020717,010824
$TT8_MAMPS,0.025466,0.263648
$HUMID,54.44
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,332.1,33.2
$24V_AH,24.32,17.732
$10V_AH,10.36,8.518
$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,18.400,42.225,230.575,130.775,0.000,28.835,20.174,187.487,7.500,0.000,11.955,1205.924,2425.221,438.388,1392.559,71.221,0.000,930.643,0.000,1101.906,0.000,48.057,0.000
$DEVICE_MAMPS,211.140,93.330,846.090,49.725,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,335.846,98.970,439.605,438.915,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342336
$DATA_FILE_SIZE,33819,492
$CAP_FILE_SIZE,64125,0
$CFSIZE,2097086464,2071756800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,020717,024026,-2954.381,3113.577,5,1.3,5,-24.7,0.6,80.3,7,210.4