version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 251
start: 7 4 117 18 26 35
data:
$ID,574
$MISSION,23
$DIVE,251
$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,160
$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,70
$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,350
$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,50
$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,1940
$C_ROLL_CLIMB,1896
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$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
$GPS1,040717,181958,-3000.7007,3124.1890,6,1.1,6,-25.0,0.8,226.5,7,40.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-77.2
$GPS2,040717,182549,-3000.8572,3124.1394,6,1.1,6,-25.0,0.6,211.0,6,138.5
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,-2957.164,3135.852
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,95.0,20000,-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,-0.46,-155.7,127,1893,1081,964,0.0,0.0,0,80,0.00,0.00,-62.72,0.000,16386,0.000,0.000,127,1893,2796,2789,2803,0,0,0,0,0,0,26.22,28.83,26.22
$GC,83,-0.46,-155.7,127,1893,2789,2804,3.4,-4.0,8,109,9.65,2.08,-5.80,0.000,18948,0.211,0.039,2685,525,3102,3141,3063,0,0,0,0,0,0,25.67,24.75,25.82
$GC,117,-0.46,-155.7,2685,525,3143,3063,17.1,-35.8,12,126,0.00,2.17,0.00,0.000,1030,0.000,0.024,2676,1941,3103,3146,3060,0,0,0,0,0,0,26.03,26.01,26.06
$GC,176,-0.46,-155.7,2676,1942,3152,3056,34.8,-28.9,21,185,0.00,2.12,0.00,0.000,260,0.000,0.028,2665,3356,3103,3151,3055,0,0,0,0,0,0,26.32,26.07,26.34
$GC,214,-0.46,-155.7,2665,3356,3153,3053,44.9,-24.0,27,222,0.10,2.15,0.00,0.000,3078,0.149,0.028,2696,1934,3103,3154,3053,0,0,0,0,0,0,25.91,26.07,26.06
$GC,544,-0.46,-155.7,2695,1934,3157,3051,106.8,-16.8,85,553,0.00,2.10,0.00,0.000,516,0.000,0.031,2696,523,3104,3157,3051,0,0,0,0,0,0,26.52,26.21,26.53
$GC,567,-0.46,-155.7,2696,522,3157,3051,110.9,-17.9,87,575,0.00,2.10,0.00,0.000,1030,0.000,0.023,2688,1952,3104,3157,3051,0,0,0,0,0,0,26.29,26.26,26.31
$GC,875,-0.46,-155.7,2687,1957,3161,3051,160.5,-14.9,118,884,0.00,2.05,0.00,0.000,260,0.000,0.031,2677,3353,3106,3161,3051,0,0,0,0,0,0,26.58,26.31,26.59
$GC,916,-0.46,-155.7,2676,3352,3161,3051,166.3,-14.3,122,920,0.00,2.08,0.00,0.000,1030,0.000,0.022,2677,1930,3106,3161,3051,0,0,0,0,0,0,26.41,26.34,26.42
$GC,1222,-0.46,-155.7,2676,1930,3162,3051,212.5,-15.4,148,1227,0.00,2.08,0.00,0.000,260,0.000,0.029,2667,3348,3106,3162,3051,0,0,0,0,0,0,26.64,26.37,26.65
$GC,1304,-0.46,-155.7,2666,3348,3162,3051,223.4,-13.6,152,1308,0.00,2.05,0.00,0.000,1030,0.000,0.023,2667,1941,3106,3162,3051,0,0,0,0,0,0,26.46,26.40,26.48
$GC,2123,-0.46,-155.7,2666,1938,3162,3050,347.1,-14.3,193,2129,0.00,2.05,0.00,0.000,516,0.000,0.031,2667,543,3105,3161,3049,0,0,0,0,0,0,26.74,26.41,26.75
$GC,2189,-0.46,-155.7,2666,542,3162,3049,354.7,-13.0,196,2194,0.12,2.08,0.00,0.000,3078,0.152,0.026,2696,1945,3105,3162,3049,0,0,0,0,0,0,26.25,26.45,26.40
$GC,2997,-0.46,-155.7,2696,1947,3162,3041,446.9,-11.1,236,3002,0.00,2.10,0.00,0.000,516,0.000,0.030,2696,533,3101,3161,3041,0,0,0,0,0,0,26.77,26.44,26.78
$GC,3110,-0.46,-155.7,2696,532,3162,3041,455.9,-8.5,241,3117,0.00,2.10,0.00,0.000,1030,0.000,0.028,2688,1947,3101,3161,3041,0,0,0,0,0,0,26.54,26.47,26.56
$STATE,3415,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3415,begin apogee
$GC,3419,0.00,0.0,2688,1947,3162,3038,491.2,-11.6,257,3541,0.50,0.00,118.25,0.955,10246,0.119,0.000,2846,1947,2465,2528,2403,0,0,0,0,0,0,26.26,24.93,24.36
$STATE,3542,end apogee,CONTROL_FINISHED_OK
$STATE,3542,begin climb
$GC,3544,0.46,155.7,2846,1947,2527,2403,495.6,0.0,263,3678,0.40,2.12,123.07,0.942,10500,0.037,0.031,3031,3300,1828,1894,1762,0,0,0,0,0,0,25.11,24.77,24.20
$GC,3788,0.46,155.7,3031,3300,1889,1760,463.4,20.7,275,3793,0.17,2.15,0.00,0.000,5126,0.189,0.028,2994,1899,1824,1889,1760,0,0,0,0,0,0,25.40,25.57,25.56
$GC,4595,0.46,155.7,2994,1899,1888,1749,320.4,17.2,315,4599,0.00,2.15,0.00,0.000,516,0.000,0.034,3004,481,1818,1888,1749,0,0,0,0,0,0,26.53,26.22,26.55
$GC,4614,0.46,155.7,3003,480,1883,1749,317.7,17.0,316,4618,0.00,2.12,0.00,0.000,1030,0.000,0.024,3004,1912,1816,1883,1749,0,0,0,0,0,0,26.34,26.27,26.36
$GC,5421,0.47,168.8,3003,1918,1884,1746,173.0,9.6,364,5433,0.00,0.00,9.40,0.663,8198,0.000,0.000,3004,1918,1776,1848,1704,0,0,0,0,0,0,26.67,26.15,25.58
$GC,5731,0.47,168.8,3003,1918,1847,1702,119.8,19.2,395,5735,0.00,2.03,0.00,0.000,260,0.000,0.028,3004,3303,1774,1847,1702,0,0,0,0,0,0,26.63,26.34,26.64
$GC,5797,0.47,168.8,3004,3303,1847,1702,109.0,14.9,401,5801,0.00,2.10,0.00,0.000,1030,0.000,0.027,3014,1886,1774,1847,1702,0,0,0,0,0,0,26.41,26.35,26.44
$GC,6115,0.47,168.8,3013,1886,1847,1702,60.3,10.8,455,6122,0.00,2.10,0.00,0.000,516,0.000,0.033,3025,483,1773,1846,1701,0,0,0,0,0,0,26.67,26.36,26.69
$GC,6181,0.47,168.8,3024,483,1841,1701,53.4,10.4,467,6188,0.00,2.10,0.00,0.000,1030,0.000,0.025,3025,1899,1772,1843,1701,0,0,0,0,0,0,26.47,26.41,26.49
$GC,6526,0.47,168.8,3025,1903,1846,1701,18.5,11.8,528,6535,0.00,2.15,0.00,0.000,516,0.000,0.031,3035,491,1772,1844,1701,0,0,0,0,0,0,26.71,26.41,26.72
$GC,6644,0.52,207.5,3035,490,1838,1702,4.9,9.0,547,6669,0.00,2.15,16.23,0.049,9222,0.000,0.030,3035,1895,1618,1698,1538,0,0,0,0,0,0,26.46,26.42,26.37
$STATE,6675,end climb,SURFACE_DEPTH_REACHED
$STATE,6676,begin surface coast
$FINISH,0.8,1.012114
$STATE,6700,end surface coast,CONTROL_FINISHED_OK
$STATE,6700,begin surface
$SM_CCo,6715,60.65,0.050,0,0,1038,350.04
$SM_GC,2.00,7.50,0.00,60.65,0.030,0.000,0.050,126,1897,1038,-8.45,-1.24,350.04,0,0,0,0,0,0,26.41,26.72,26.30
$IRIDIUM_FIX,-2950.05,3122.59,040717,182112
$TT8_MAMPS,0.025466,0.26215
$HUMID,56.97
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,470.1,36.1
$24V_AH,24.20,20.943
$10V_AH,10.31,10.445
$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,18.450,50.475,266.950,60.650,0.000,32.947,23.945,200.650,11.000,0.000,12.770,1370.952,3800.747,386.394,1515.495,84.740,0.000,951.882,0.000,1195.890,0.000,69.329,0.000
$DEVICE_MAMPS,211.140,39.015,954.720,49.725,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,380.592,90.479,382.374,386.833,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342332
$DATA_FILE_SIZE,36987,555
$CAP_FILE_SIZE,73948,0
$CFSIZE,2097086464,2067595264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,040717,202031,-3002.253,3125.423,26,1.0,26,-25.0,1.1,136.1,7,17.4