version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 231
start: 7 3 117 12 43 1
data:
$ID,574
$MISSION,23
$DIVE,231
$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,30
$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,44
$R_STBD_OVSHOOT,22
$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,1
$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
$GPS1,030717,123618,-2948.3247,3119.9109,6,0.9,6,-24.6,1.2,244.5,9,14.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-76.1
$GPS2,030717,124214,-2948.2334,3119.8730,5,0.9,5,-24.6,0.9,343.3,9,59.2
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,-2938.881,3126.086
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,54.6,20000,-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,-126.5,126,1951,528,448,0.0,0.0,0,103,0.00,0.00,-85.80,0.000,16386,0.000,0.000,126,1952,2889,2904,2875,0,0,0,0,0,0,26.34,28.83,26.36
$GC,106,-0.45,-126.5,126,1952,2905,2876,3.1,-2.7,11,124,9.57,2.20,-1.80,0.000,19204,0.209,0.045,2684,3421,2982,3004,2961,0,0,0,0,0,0,25.80,25.52,25.93
$GC,308,-0.45,-126.5,2683,3421,3012,2955,45.4,-15.0,45,315,0.00,2.12,0.00,0.000,1030,0.000,0.025,2684,1990,2983,3013,2953,0,0,0,0,0,0,26.29,26.22,26.32
$GC,631,-0.45,-126.5,2684,1987,3018,2951,110.9,-16.8,100,640,0.00,2.08,0.00,0.000,260,0.000,0.032,2674,3414,2984,3018,2951,0,0,0,0,0,0,26.60,26.32,26.61
$GC,757,-0.45,-126.5,2674,3414,3017,2951,127.1,-12.3,112,763,0.00,2.10,0.00,0.000,1030,0.000,0.024,2674,1976,2984,3017,2952,0,0,0,0,0,0,26.44,26.37,26.46
$GC,1063,-0.45,-126.5,2674,1975,3020,2949,174.3,-15.3,143,1072,0.00,2.12,0.00,0.000,260,0.000,0.034,2664,3417,2985,3020,2950,0,0,0,0,0,0,26.70,26.39,26.71
$GC,1248,-0.45,-126.5,2663,3417,3019,2950,203.2,-14.9,161,1253,0.10,2.08,0.00,0.000,3078,0.142,0.024,2696,1986,2984,3019,2950,0,0,0,0,0,0,26.27,26.44,26.41
$STATE,1939,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1939,begin apogee
$GC,1944,0.00,0.0,2696,1840,3020,2946,290.6,-13.8,196,2042,0.45,0.10,94.28,0.786,10246,0.116,0.083,2839,1960,2465,2518,2412,0,0,0,0,0,0,26.29,25.24,24.72
$STATE,2043,end apogee,CONTROL_FINISHED_OK
$STATE,2043,begin climb
$GC,2045,0.45,126.5,2839,1960,2517,2412,294.0,0.0,201,2149,0.38,2.33,96.93,0.783,10756,0.031,0.029,3045,495,1947,2003,1892,0,0,0,0,0,0,25.42,24.98,24.46
$GC,2297,0.45,126.5,3044,494,1991,1891,262.2,18.8,214,2303,0.17,2.22,0.00,0.000,5126,0.165,0.031,2996,1925,1941,1992,1891,0,0,0,0,0,0,25.60,25.78,25.78
$GC,3107,0.45,126.5,2996,1929,1994,1881,132.5,11.6,279,3110,0.00,2.05,0.00,0.000,260,0.000,0.034,2996,3306,1937,1994,1881,0,0,0,0,0,0,26.60,26.32,26.62
$GC,3162,0.45,126.5,2996,3306,1993,1882,125.1,13.8,284,3166,0.00,2.08,0.00,0.000,1030,0.000,0.028,3006,1906,1937,1993,1882,0,0,0,0,0,0,26.40,26.34,26.43
$GC,3474,0.45,126.5,3006,1906,1993,1880,86.4,13.5,325,3481,0.00,2.12,0.00,0.000,516,0.000,0.032,3017,485,1936,1993,1880,0,0,0,0,0,0,26.67,26.36,26.68
$GC,3510,0.46,137.2,3016,485,1991,1879,82.3,9.7,331,3524,0.00,2.12,8.00,0.568,9222,0.000,0.031,3017,1898,1904,1963,1845,0,0,0,0,0,0,26.46,26.39,25.64
$GC,3844,0.51,174.0,3016,1898,1961,1843,50.0,9.0,393,3881,0.00,2.10,28.90,0.617,8452,0.000,0.034,3017,3304,1754,1829,1680,0,0,0,0,0,0,26.66,25.98,25.46
$GC,4038,0.51,174.0,3016,3304,1825,1678,28.1,10.8,426,4047,0.00,2.15,0.00,0.000,1030,0.000,0.027,3027,1891,1751,1825,1677,0,0,0,0,0,0,26.22,26.18,26.24
$GC,4188,0.54,202.1,3027,1889,1825,1675,10.0,9.3,451,4205,0.00,0.00,12.00,0.492,8198,0.000,0.000,3027,1889,1640,1722,1559,0,0,0,0,0,0,26.53,26.03,25.56
$STATE,4242,end climb,SURFACE_DEPTH_REACHED
$STATE,4242,begin surface coast
$FINISH,0.7,1.025501
$STATE,4261,end surface coast,CONTROL_FINISHED_OK
$STATE,4261,begin surface
$SM_CCo,4276,121.80,0.047,0,0,499,482.01
$SM_GC,1.53,7.47,0.12,121.80,0.024,0.059,0.047,125,2097,499,-8.45,-1.41,482.01,0,0,0,0,0,0,26.19,26.27,26.12
$IRIDIUM_FIX,-2935.15,3120.83,030717,123725
$TT8_MAMPS,0.025466,0.261401
$HUMID,54.33
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,20.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,282.2,23.3
$24V_AH,24.46,19.454
$10V_AH,10.37,9.551
$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,18.150,30.250,240.100,121.800,0.000,30.457,18.168,202.257,6.750,0.000,11.985,1129.498,1806.770,410.319,1373.215,68.137,0.000,880.242,0.000,1064.134,0.000,46.072,0.000
$DEVICE_MAMPS,208.845,129.285,785.655,46.665,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,320.838,100.688,431.974,439.655,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342348
$DATA_FILE_SIZE,30453,462
$CAP_FILE_SIZE,58411,0
$CFSIZE,2097086464,2069626880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,030717,135659,-2948.163,3120.122,6,1.7,6,-24.6,0.0,0.0,6,108.7