version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 343
start: 7 11 117 15 31 55
data:
$ID,574
$MISSION,23
$DIVE,343
$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,20
$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,300
$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,96
$R_STBD_OVSHOOT,45
$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
$GPS1,110717,152531,-2946.6458,3122.3103,29,0.9,29,-24.6,0.6,74.7,9,7.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-79.1
$GPS2,110717,153107,-2946.6143,3122.3625,6,0.9,6,-24.6,0.0,0.0,9,41.6
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,-2936.467,3126.611
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,44.6,20000,-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,14,begin dive
$GC,16,-0.48,-175.2,125,1948,1191,1037,0.0,0.0,0,80,0.00,0.00,-62.53,0.000,16386,0.000,0.000,125,1949,2895,2904,2887,0,0,0,0,0,0,26.27,28.83,26.27
$GC,83,-0.48,-175.2,125,1949,2905,2887,3.9,-6.0,8,109,9.57,2.08,-5.15,0.000,19204,0.211,0.038,2671,576,3182,3215,3149,0,0,0,0,0,0,25.65,24.68,25.82
$GC,236,-0.48,-175.2,2671,576,3220,3148,46.4,-15.2,33,243,0.00,2.08,0.00,0.000,1030,0.000,0.028,2662,1948,3185,3225,3145,0,0,0,0,0,0,26.20,26.13,26.21
$GC,556,-0.48,-175.2,2662,1950,3228,3142,117.4,-22.2,86,560,0.00,2.08,0.00,0.000,260,0.000,0.032,2652,3346,3185,3228,3142,0,0,0,0,0,0,26.55,26.25,26.57
$GC,657,-0.48,-175.2,2651,3347,3229,3139,132.0,-12.8,96,661,0.00,2.00,0.00,0.000,1030,0.000,0.023,2651,1978,3183,3228,3139,0,0,0,0,0,0,26.36,26.29,26.38
$GC,962,-0.48,-175.2,2651,1976,3232,3138,183.7,-15.6,126,966,0.00,2.03,0.00,0.000,260,0.000,0.031,2642,3359,3185,3232,3138,0,0,0,0,0,0,26.65,26.34,26.65
$GC,1061,-0.48,-175.2,2641,3358,3232,3138,195.7,-12.0,135,1069,0.12,2.08,0.00,0.000,3078,0.147,0.023,2683,1934,3185,3233,3138,0,0,0,0,0,0,26.17,26.37,26.30
$GC,1378,-0.48,-175.2,2683,1934,3233,3138,233.0,-11.8,153,1382,0.00,2.08,0.00,0.000,260,0.000,0.032,2674,3347,3185,3232,3138,0,0,0,0,0,0,26.69,26.37,26.70
$GC,1442,-0.48,-175.2,2674,3347,3233,3138,239.1,-11.3,156,1446,0.00,2.05,0.00,0.000,1030,0.000,0.023,2675,1936,3185,3233,3137,0,0,0,0,0,0,26.47,26.40,26.49
$STATE,1653,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1653,begin apogee
$GC,1658,0.00,0.0,2675,1818,3233,3137,267.0,-13.7,167,1795,0.50,0.00,130.10,0.767,10246,0.120,0.000,2834,1817,2464,2526,2403,0,0,0,0,0,0,26.18,24.94,24.57
$STATE,1796,end apogee,CONTROL_FINISHED_OK
$STATE,1796,begin climb
$GC,1798,0.48,175.2,2833,1817,2525,2403,273.2,0.0,174,1935,0.40,0.00,134.00,0.760,10758,0.035,0.000,3037,1817,1750,1832,1668,0,0,0,0,0,0,25.31,24.92,24.42
$GC,2734,0.48,175.2,3036,1817,1824,1659,105.9,15.0,247,2744,0.12,2.17,0.00,0.000,4356,0.187,0.030,2993,3277,1741,1824,1658,0,0,0,0,0,0,26.01,26.20,26.12
$GC,2748,0.48,175.2,2992,3277,1824,1659,104.8,14.7,248,2756,0.00,2.12,0.00,0.000,1030,0.000,0.027,3002,1873,1741,1824,1658,0,0,0,0,0,0,26.29,26.25,26.32
$GC,3071,0.54,225.9,3001,1872,1824,1656,69.4,8.7,306,3117,0.00,2.17,38.67,0.649,8708,0.000,0.032,3013,466,1543,1645,1442,0,0,0,0,0,0,26.62,25.64,25.28
$GC,3162,0.57,243.3,3012,466,1632,1442,61.4,9.5,321,3188,0.00,2.15,14.75,0.601,9222,0.000,0.028,3013,1870,1472,1575,1370,0,0,0,0,0,0,26.02,25.95,25.20
$GC,3526,0.57,243.3,3012,1872,1573,1365,23.1,10.5,385,3535,0.00,2.17,0.00,0.000,516,0.000,0.033,3023,465,1467,1569,1366,0,0,0,0,0,0,26.39,26.13,26.40
$GC,3668,0.60,270.1,3022,464,1563,1366,9.5,9.3,408,3685,0.00,2.17,11.98,0.501,9222,0.000,0.030,3023,1869,1362,1474,1250,0,0,0,0,0,0,26.26,26.22,25.50
$GC,3736,0.67,327.7,3022,1875,1471,1247,3.5,8.5,418,3745,0.00,0.00,7.50,0.049,8450,0.000,0.000,3022,1874,1292,1412,1172,0,0,0,0,0,0,26.43,28.83,26.44
$STATE,3746,end climb,SURFACE_DEPTH_REACHED
$STATE,3746,begin surface coast
$FINISH,0.7,1.023913
$STATE,3784,end surface coast,CONTROL_FINISHED_OK
$STATE,3784,begin surface
$SM_CCo,3800,4.88,0.050,0,0,1240,300.24
$SM_GC,3.35,7.47,0.08,4.88,0.029,0.090,0.050,126,1989,1240,-8.38,-1.30,300.24,0,0,0,0,0,0,26.16,26.27,26.13
$IRIDIUM_FIX,-2935.15,3122.95,110717,141145
$TT8_MAMPS,0.025466,0.289114
$HUMID,58.03
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,18.40
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,250.9,30.1
$24V_AH,24.42,29.474
$10V_AH,10.26,14.906
$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,18.200,29.550,337.000,4.875,0.000,32.949,28.356,178.733,6.000,0.000,14.711,1018.074,1459.881,382.967,1237.344,77.019,0.000,802.287,0.000,956.913,0.000,36.796,0.000
$DEVICE_MAMPS,211.140,130.050,766.530,50.490,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,293.330,100.248,434.034,438.302,0.000,0.000,0.000,0.000,0.000,0.000
$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,26911,425
$CAP_FILE_SIZE,52654,0
$CFSIZE,2097086464,2058616832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,110717,163601,-2946.039,3123.182,6,1.0,6,-24.6,0.8,45.5,7,64.1