version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 346
start: 7 11 117 19 5 49
data:
$ID,574
$MISSION,23
$DIVE,346
$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,28
$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
$GPS1,110717,185901,-2944.7400,3125.0073,40,1.2,40,-24.6,0.0,0.0,7,86.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-78.0
$GPS2,110717,190500,-2944.7166,3125.0925,6,1.0,6,-24.6,1.0,47.5,8,66.1
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,-2934.569,3129.339
$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,13,begin dive
$GC,15,-0.48,-175.2,125,1947,1287,1164,0.0,0.0,0,73,0.00,0.00,-55.22,0.000,16386,0.000,0.000,125,1948,2781,2770,2792,0,0,0,0,0,0,26.32,28.83,26.34
$GC,76,-0.48,-175.2,125,1947,2771,2792,3.1,-3.2,7,101,9.48,2.17,-7.80,0.000,19204,0.210,0.040,2672,505,3183,3218,3149,0,0,0,0,0,0,25.68,25.51,25.83
$GC,220,-0.48,-175.2,2672,505,3220,3148,38.7,-15.3,30,229,0.00,2.20,0.00,0.000,1030,0.000,0.029,2663,1931,3185,3224,3146,0,0,0,0,0,0,26.17,26.14,26.21
$GC,362,-0.48,-175.2,2663,1932,3225,3143,69.2,-24.1,55,369,0.00,2.10,0.00,0.000,516,0.000,0.027,2663,516,3184,3225,3143,0,0,0,0,0,0,26.51,26.20,26.53
$GC,376,-0.48,-175.2,2663,517,3225,3143,74.0,-26.4,57,383,0.00,2.15,0.00,0.000,1030,0.000,0.024,2653,1958,3184,3225,3143,0,0,0,0,0,0,26.29,26.23,26.32
$GC,696,-0.48,-175.2,2652,1958,3227,3143,137.5,-18.2,100,700,0.00,2.12,0.00,0.000,516,0.000,0.027,2652,516,3185,3227,3143,0,0,0,0,0,0,26.62,26.29,26.63
$GC,844,-0.48,-175.2,2652,515,3227,3143,158.5,-13.2,114,849,0.10,2.12,0.00,0.000,3078,0.186,0.028,2674,1938,3185,3227,3143,0,0,0,0,0,0,26.10,26.34,26.27
$GC,1149,-0.48,-175.2,2674,1938,3229,3142,196.5,-12.2,144,1153,0.00,2.08,0.00,0.000,260,0.000,0.032,2665,3352,3186,3230,3142,0,0,0,0,0,0,26.69,26.36,26.70
$GC,1318,-0.48,-175.2,2664,3352,3231,3140,212.9,-10.2,153,1325,0.00,2.08,0.00,0.000,1030,0.000,0.022,2665,1918,3185,3232,3139,0,0,0,0,0,0,26.47,26.41,26.49
$STATE,1564,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1564,begin apogee
$GC,1569,0.00,0.0,2664,1918,3232,3138,247.0,-13.9,166,1706,0.52,0.00,129.93,0.747,10246,0.127,0.000,2829,1914,2464,2528,2401,0,0,0,0,0,0,26.16,24.96,24.60
$STATE,1706,end apogee,CONTROL_FINISHED_OK
$STATE,1707,begin climb
$GC,1708,0.48,175.2,2830,1914,2528,2401,252.7,0.0,173,1850,0.40,2.33,132.55,0.731,10756,0.035,0.030,3052,473,1749,1832,1667,0,0,0,0,0,0,25.33,24.98,24.48
$GC,1860,0.48,175.2,3051,472,1825,1667,240.5,14.6,180,1868,0.22,2.17,0.00,0.000,5126,0.177,0.024,2992,1872,1746,1825,1667,0,0,0,0,0,0,25.08,25.25,25.23
$GC,2667,0.48,175.2,2991,1876,1825,1658,109.6,11.6,251,2668,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,1876,1741,1824,1658,0,0,0,0,0,0,26.56,26.58,26.58
$GC,2979,0.48,175.2,2991,1877,1824,1656,77.1,12.5,301,2986,0.00,2.12,0.00,0.000,516,0.000,0.031,3000,467,1740,1824,1656,0,0,0,0,0,0,26.63,26.29,26.65
$GC,3015,0.48,175.2,3000,466,1818,1656,72.6,12.6,307,3022,0.00,2.10,0.00,0.000,1030,0.000,0.028,3001,1868,1737,1819,1656,0,0,0,0,0,0,26.40,26.34,26.43
$GC,3340,0.56,243.2,3000,1868,1821,1656,43.7,8.2,368,3402,0.00,2.20,51.80,0.613,8708,0.000,0.031,3010,470,1470,1578,1362,0,0,0,0,0,0,26.67,25.75,25.25
$GC,3504,0.65,312.5,3010,470,1564,1363,30.0,8.2,395,3546,0.10,2.17,34.95,0.579,11270,0.076,0.028,3096,1873,1190,1319,1062,0,0,0,0,0,0,25.96,25.99,25.10
$STATE,3646,end climb,SURFACE_DEPTH_REACHED
$STATE,3646,begin surface coast
$FINISH,0.8,1.013083
$STATE,3659,end surface coast,CONTROL_FINISHED_OK
$STATE,3660,begin surface
$SM_CCo,3736,0.00,0.000,0,0,1179,315.45
$SM_GC,1.61,7.68,0.08,0.00,0.024,0.088,0.000,127,2011,1179,-8.37,-1.30,315.45,0,0,0,0,0,0,25.91,26.02,25.98
$IRIDIUM_FIX,-2932.67,3122.95,110717,175122
$TT8_MAMPS,0.025466,0.267393
$HUMID,57.99
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,18.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,241.4,18.5
$24V_AH,24.48,29.727
$10V_AH,10.32,15.035
$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,18.500,30.325,349.225,0.000,0.000,32.889,48.261,181.296,5.250,0.000,14.168,1001.145,1444.712,360.613,1240.794,81.600,0.000,805.046,0.000,940.215,0.000,36.140,0.000
$DEVICE_MAMPS,210.375,90.270,747.405,0.000,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,291.830,89.629,365.717,375.501,0.000,0.000,0.000,0.000,0.000,0.000
$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,27082,419
$CAP_FILE_SIZE,52244,0
$CFSIZE,2097086464,2058321920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,110717,200843,-2944.233,3125.913,7,1.1,7,-24.6,0.0,0.0,7,41.7