version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 337
start: 7 11 117 7 1 17
data:
$ID,574
$MISSION,23
$DIVE,337
$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,200
$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,180
$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,340
$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,2835
$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,1870
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,38
$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
$GPS1,110717,065425,-2950.9644,3117.3574,36,1.2,36,-24.7,0.8,73.2,6,33.6
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-77.2
$GPS2,110717,070030,-2950.9204,3117.4275,4,1.0,4,-24.7,0.7,70.7,9,57.3
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,-2940.772,3113.176
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,4.7,20000,-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,-0.48,-175.2,125,1939,526,449,0.0,0.0,0,104,0.00,0.00,-85.80,0.000,16386,0.000,0.000,125,1940,2921,2937,2905,0,0,0,0,0,0,26.25,28.83,26.27
$GC,106,-0.48,-175.2,125,1940,2937,2905,3.5,-3.9,11,124,10.00,0.00,-4.70,0.000,19206,0.228,0.000,2671,1933,3181,3214,3149,0,0,0,0,0,0,25.60,24.80,25.77
$GC,174,-0.48,-175.2,2670,1935,3220,3148,30.1,-31.8,21,183,0.00,2.15,0.00,0.000,260,0.000,0.030,2662,3357,3183,3220,3147,0,0,0,0,0,0,26.34,26.05,26.36
$GC,203,-0.48,-175.2,2661,3357,3221,3146,38.5,-28.0,25,212,0.00,2.20,0.00,0.000,1030,0.000,0.029,2662,1924,3184,3223,3145,0,0,0,0,0,0,26.10,26.06,26.13
$GC,341,-0.48,-175.2,2661,1924,3224,3143,76.2,-28.1,50,348,0.00,2.12,0.00,0.000,260,0.000,0.028,2651,3366,3183,3224,3143,0,0,0,0,0,0,26.45,26.15,26.46
$GC,365,-0.48,-175.2,2651,3365,3225,3143,80.9,-19.6,54,374,0.08,2.17,0.00,0.000,3078,0.189,0.024,2675,1927,3184,3225,3143,0,0,0,0,0,0,25.91,26.17,26.01
$GC,686,-0.48,-175.2,2674,1926,3226,3142,132.7,-12.1,95,690,0.00,2.05,0.00,0.000,516,0.000,0.028,2674,534,3184,3227,3142,0,0,0,0,0,0,26.58,26.25,26.58
$GC,732,-0.48,-175.2,2674,534,3227,3142,138.3,-12.2,99,736,0.00,2.10,0.00,0.000,1030,0.000,0.026,2666,1948,3184,3227,3142,0,0,0,0,0,0,26.35,26.29,26.37
$GC,1037,-0.48,-175.2,2665,1948,3227,3142,176.4,-13.0,129,1041,0.00,2.05,0.00,0.000,260,0.000,0.032,2656,3348,3185,3228,3142,0,0,0,0,0,0,26.65,26.32,26.65
$GC,1168,-0.48,-175.2,2655,3348,3228,3142,191.0,-10.9,141,1175,0.00,2.05,0.00,0.000,1030,0.000,0.022,2655,1932,3185,3228,3142,0,0,0,0,0,0,26.44,26.37,26.45
$GC,1475,-0.48,-175.2,2655,1930,3228,3142,237.9,-15.2,160,1481,0.00,2.08,0.00,0.000,260,0.000,0.031,2645,3346,3185,3228,3142,0,0,0,0,0,0,26.69,26.36,26.70
$GC,1578,-0.48,-175.2,2645,3346,3228,3141,251.1,-12.5,165,1583,0.08,2.10,0.00,0.000,3078,0.189,0.023,2671,1932,3184,3228,3141,0,0,0,0,0,0,26.10,26.40,26.22
$STATE,2154,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2154,begin apogee
$GC,2159,0.00,0.0,2670,1928,3228,3139,332.8,-13.8,194,2296,0.50,0.00,131.55,0.823,10246,0.135,0.000,2828,1927,2464,2518,2411,0,0,0,0,0,0,26.15,25.00,24.45
$STATE,2297,end apogee,CONTROL_FINISHED_OK
$STATE,2297,begin climb
$GC,2299,0.48,175.2,2828,1927,2518,2411,338.7,0.0,201,2444,0.40,2.15,134.80,0.815,10500,0.041,0.028,3025,3275,1747,1815,1680,0,0,0,0,0,0,25.22,24.86,24.32
$GC,2510,0.48,175.2,3025,3275,1813,1677,316.5,19.0,211,2517,0.15,2.15,0.00,0.000,5126,0.181,0.028,2994,1875,1744,1813,1675,0,0,0,0,0,0,25.29,25.46,25.44
$GC,3317,0.48,175.2,2994,1875,1808,1669,171.5,16.2,260,3321,0.00,2.10,0.00,0.000,260,0.000,0.028,2994,3287,1738,1808,1669,0,0,0,0,0,0,26.54,26.24,26.55
$GC,3428,0.48,175.2,2993,3287,1808,1668,156.1,13.2,271,3432,0.00,2.12,0.00,0.000,1030,0.000,0.030,3003,1870,1738,1808,1669,0,0,0,0,0,0,26.34,26.26,26.36
$GC,3733,0.48,175.2,3003,1869,1808,1667,113.9,13.0,301,3737,0.00,2.12,0.00,0.000,516,0.000,0.033,3014,463,1737,1808,1667,0,0,0,0,0,0,26.63,26.28,26.64
$GC,3831,0.48,175.2,3013,463,1799,1667,103.3,10.7,310,3839,0.00,2.15,0.00,0.000,1030,0.000,0.028,3014,1867,1734,1801,1667,0,0,0,0,0,0,26.43,26.32,26.45
$GC,4152,0.48,175.2,3013,1870,1802,1667,69.6,11.7,368,4160,0.00,2.17,0.00,0.000,516,0.000,0.032,3024,463,1734,1801,1667,0,0,0,0,0,0,26.67,26.34,26.68
$GC,4220,0.49,185.9,3024,463,1796,1667,62.8,9.7,380,4234,0.00,2.15,7.25,0.557,9222,0.000,0.030,3024,1863,1707,1777,1637,0,0,0,0,0,0,26.40,26.36,25.60
$GC,4561,0.54,221.8,3024,1863,1776,1636,35.8,9.1,442,4602,0.00,2.17,29.33,0.617,8708,0.000,0.034,3034,468,1556,1634,1478,0,0,0,0,0,0,26.65,25.96,25.44
$GC,4629,0.54,221.8,3034,468,1629,1478,28.5,11.5,451,4638,0.00,2.17,0.00,0.000,1030,0.000,0.028,3034,1869,1553,1629,1478,0,0,0,0,0,0,26.09,26.06,26.11
$GC,4783,0.54,221.8,3034,1872,1630,1478,11.3,10.6,476,4792,0.00,2.12,0.00,0.000,260,0.000,0.033,3034,3275,1554,1630,1478,0,0,0,0,0,0,26.44,26.14,26.45
$GC,4817,0.54,221.8,3034,3275,1629,1478,7.2,11.6,481,4827,0.10,2.15,0.00,0.000,5126,0.186,0.027,3014,1860,1553,1629,1478,0,0,0,0,0,0,25.94,26.17,26.06
$STATE,4858,end climb,SURFACE_DEPTH_REACHED
$STATE,4858,begin surface coast
$FINISH,0.9,1.025225
$STATE,4889,end surface coast,CONTROL_FINISHED_OK
$STATE,4889,begin surface
$SM_CCo,4905,113.03,0.046,0,0,498,482.01
$SM_GC,1.60,7.53,0.10,113.03,0.031,0.070,0.046,125,2006,498,-8.41,-1.30,482.01,0,0,0,0,0,0,26.17,26.30,26.10
$IRIDIUM_FIX,-2940.11,3113.17,110717,065538
$TT8_MAMPS,0.025466,0.264397
$HUMID,56.65
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,312.9,32.8
$24V_AH,24.32,28.912
$10V_AH,10.28,14.634
$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,18.825,47.075,302.925,113.025,0.000,34.636,29.749,201.567,7.000,0.000,12.732,1206.721,2218.239,475.857,1426.108,88.972,0.000,1011.911,0.000,1114.164,0.000,45.877,0.000
$DEVICE_MAMPS,227.970,78.030,823.140,45.900,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,337.614,95.098,411.720,415.737,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343308
$DATA_FILE_SIZE,33818,492
$CAP_FILE_SIZE,67115,0
$CFSIZE,2097086464,2059141120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,110717,082536,-2950.234,3117.854,6,1.1,6,-24.7,0.0,0.0,7,19.4