version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 211
start: 7 2 117 4 18 57
data:
$ID,574
$MISSION,23
$DIVE,211
$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,285
$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,68
$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
$GPS1,020717,041232,-2953.8694,3114.4150,25,1.0,25,-24.7,0.0,0.0,9,7.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-74.5
$GPS2,020717,041811,-2953.8572,3114.4749,5,1.0,5,-24.7,0.0,0.0,9,19.5
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,-2951.062,3102.448
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,309.7,20000,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.45,-126.5,125,1958,529,445,0.0,0.0,0,103,0.00,0.00,-85.25,0.000,16386,0.000,0.000,125,1959,2862,2873,2852,0,0,0,0,0,0,26.21,28.83,26.23
$GC,106,-0.45,-126.5,125,1959,2873,2852,3.2,-3.6,11,124,9.55,2.25,-2.38,0.000,18692,0.210,0.047,2672,3410,2984,3007,2961,0,0,0,0,0,0,25.74,24.88,25.88
$GC,191,-0.45,-126.5,2672,3410,3012,2959,29.4,-21.2,24,200,0.00,2.12,0.00,0.000,1030,0.000,0.026,2672,2015,2984,3012,2957,0,0,0,0,0,0,26.11,26.06,26.13
$GC,336,-0.45,-126.5,2671,2015,3015,2955,67.1,-32.2,49,343,0.00,2.05,0.00,0.000,260,0.000,0.033,2662,3397,2984,3014,2955,0,0,0,0,0,0,26.44,26.15,26.45
$GC,410,-0.45,-126.5,2662,3397,3015,2955,85.1,-17.9,62,417,0.10,2.10,0.00,0.000,3078,0.143,0.025,2694,1978,2985,3015,2955,0,0,0,0,0,0,26.07,26.20,26.20
$GC,728,-0.45,-126.5,2694,1974,3020,2954,139.0,-13.5,100,732,0.00,2.05,0.00,0.000,516,0.000,0.029,2694,586,2987,3020,2954,0,0,0,0,0,0,26.59,26.30,26.60
$GC,747,-0.45,-126.5,2694,586,3020,2953,141.2,-12.8,101,755,0.00,2.12,0.00,0.000,1030,0.000,0.023,2686,1993,2986,3020,2953,0,0,0,0,0,0,26.36,26.33,26.39
$GC,1055,-0.45,-126.5,2685,1997,3021,2953,187.3,-14.7,132,1059,0.00,2.08,0.00,0.000,260,0.000,0.036,2675,3399,2987,3021,2953,0,0,0,0,0,0,26.65,26.36,26.66
$GC,1131,-0.45,-126.5,2674,3399,3020,2953,197.1,-13.0,139,1135,0.00,2.08,0.00,0.000,1030,0.000,0.024,2675,1978,2986,3020,2953,0,0,0,0,0,0,26.46,26.40,26.48
$GC,1437,-0.45,-126.5,2674,1974,3021,2952,240.4,-13.0,155,1439,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,1974,2986,3020,2953,0,0,0,0,0,0,26.67,26.68,26.68
$GC,2236,-0.45,-126.5,2674,1975,3021,2950,350.0,-13.8,195,2240,0.00,2.10,0.00,0.000,260,0.000,0.036,2664,3396,2985,3020,2950,0,0,0,0,0,0,26.76,26.46,26.77
$GC,2302,-0.45,-126.5,2664,3396,3020,2949,357.3,-13.0,198,2307,0.10,2.05,0.00,0.000,3078,0.135,0.023,2698,1983,2984,3020,2949,0,0,0,0,0,0,26.34,26.49,26.47
$STATE,2473,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2473,begin apogee
$GC,2477,0.00,0.0,2698,1823,3020,2949,375.4,-9.6,207,2577,0.45,0.10,95.43,0.843,10246,0.116,0.076,2843,1926,2464,2515,2414,0,0,0,0,0,0,26.33,25.15,24.61
$STATE,2578,end apogee,CONTROL_FINISHED_OK
$STATE,2578,begin climb
$GC,2579,0.45,126.5,2843,1927,2515,2414,377.7,0.0,212,2687,0.38,2.35,98.20,0.838,10756,0.034,0.031,3036,497,1947,2000,1895,0,0,0,0,0,0,25.32,24.89,24.35
$GC,2768,0.45,126.5,3035,496,1992,1893,357.3,18.9,221,2776,0.15,2.15,0.00,0.000,5126,0.170,0.030,2995,1878,1942,1991,1893,0,0,0,0,0,0,25.41,25.57,25.56
$GC,3575,0.45,126.5,2995,1883,1991,1883,221.3,13.9,262,3579,0.00,2.08,0.00,0.000,516,0.000,0.031,3004,500,1936,1991,1882,0,0,0,0,0,0,26.56,26.27,26.58
$GC,3870,0.45,126.5,3004,499,1985,1882,175.6,16.0,284,3875,0.00,2.10,0.00,0.000,1030,0.000,0.028,3004,1901,1933,1985,1882,0,0,0,0,0,0,26.43,26.36,26.45
$GC,4175,0.45,126.5,3004,1907,1987,1881,124.2,16.8,314,4179,0.00,2.08,0.00,0.000,260,0.000,0.033,3004,3305,1934,1987,1881,0,0,0,0,0,0,26.67,26.39,26.69
$GC,4261,0.45,126.5,3003,3311,1987,1882,109.7,16.3,322,4265,0.00,2.08,0.00,0.000,1030,0.000,0.028,3014,1905,1934,1987,1882,0,0,0,0,0,0,26.48,26.41,26.50
$GC,4578,0.45,126.5,3014,1903,1987,1880,67.3,10.8,376,4585,0.00,2.17,0.00,0.000,516,0.000,0.034,3025,484,1933,1986,1880,0,0,0,0,0,0,26.72,26.41,26.73
$GC,4687,0.70,333.0,3025,484,1985,1880,60.5,4.7,396,4857,0.12,2.15,156.90,0.652,11270,0.055,0.031,3094,1894,1105,1205,1006,0,0,0,0,0,0,26.43,26.46,24.61
$STATE,4952,end climb,SURFACE_DEPTH_REACHED
$STATE,4952,begin surface coast
$FINISH,0.6,1.025398
$STATE,4959,end surface coast,CONTROL_FINISHED_OK
$STATE,4959,begin surface
$SM_CCo,4975,66.12,0.047,0,0,498,482.01
$SM_GC,1.55,7.70,0.12,66.12,0.020,0.062,0.047,127,2041,498,-8.40,-1.27,482.01,0,0,0,0,0,0,25.73,25.77,25.77
$IRIDIUM_FIX,-2940.11,3116.58,020717,024146
$TT8_MAMPS,0.025466,0.273385
$HUMID,56.61
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,18.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,352.1,37.3
$24V_AH,24.35,17.910
$10V_AH,10.36,8.601
$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,18.550,38.575,350.525,66.125,0.000,32.947,27.608,187.069,8.000,0.000,11.934,1057.669,2601.317,432.917,1257.351,65.577,0.000,937.340,0.000,959.385,0.000,51.722,0.000
$DEVICE_MAMPS,209.610,81.855,843.030,47.430,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,302.073,62.964,272.942,280.545,0.000,0.000,0.000,0.000,0.000,0.000
$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,30403,440
$CAP_FILE_SIZE,62242,0
$CFSIZE,2097086464,2071592960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,020717,054338,-2953.736,3114.946,5,0.9,5,-24.7,0.6,56.2,8,77.3