version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 347
start: 7 11 117 20 15 52
data:
$ID,574
$MISSION,23
$DIVE,347
$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,32
$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
$GPS1,110717,200843,-2944.2329,3125.9126,7,1.1,7,-24.6,0.0,0.0,7,41.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-79.2
$GPS2,110717,201505,-2944.1917,3126.0303,5,1.1,5,-24.6,0.8,47.7,7,51.0
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,-2934.044,3130.277
$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,-175.2,127,1956,1243,1093,0.0,0.0,0,80,0.00,0.00,-62.78,0.000,16386,0.000,0.000,128,1956,2951,2960,2942,0,0,0,0,0,0,26.26,28.83,26.27
$GC,83,-0.48,-175.2,127,1956,2961,2942,3.8,-4.9,8,109,9.65,2.17,-4.05,0.000,18948,0.214,0.037,2672,512,3183,3213,3154,0,0,0,0,0,0,25.64,24.65,25.79
$GC,163,-0.48,-175.2,2671,513,3218,3151,32.8,-20.5,20,172,0.00,2.22,0.00,0.000,1030,0.000,0.031,2663,1938,3185,3222,3148,0,0,0,0,0,0,26.10,26.06,26.12
$GC,307,-0.48,-175.2,2662,1939,3224,3146,67.6,-27.6,45,313,0.00,2.12,0.00,0.000,516,0.000,0.025,2663,509,3185,3225,3146,0,0,0,0,0,0,26.46,26.15,26.46
$GC,322,-0.48,-175.2,2663,509,3224,3146,71.8,-28.5,47,329,0.00,2.15,0.00,0.000,1030,0.000,0.024,2652,1951,3185,3225,3146,0,0,0,0,0,0,26.25,26.17,26.26
$GC,637,-0.48,-175.2,2652,1950,3227,3145,133.2,-17.6,90,646,0.00,2.12,0.00,0.000,516,0.000,0.026,2652,509,3186,3227,3146,0,0,0,0,0,0,26.58,26.27,26.59
$GC,731,-0.48,-175.2,2652,509,3227,3146,146.0,-13.0,99,739,0.12,2.15,0.00,0.000,3078,0.158,0.029,2682,1947,3187,3228,3146,0,0,0,0,0,0,26.09,26.29,26.25
$GC,1038,-0.48,-175.2,2681,1946,3229,3144,184.6,-12.2,130,1042,0.00,2.05,0.00,0.000,260,0.000,0.033,2673,3347,3186,3229,3144,0,0,0,0,0,0,26.66,26.33,26.67
$GC,1187,-0.48,-175.2,2672,3347,3229,3142,199.8,-10.2,144,1195,0.00,2.08,0.00,0.000,1030,0.000,0.023,2672,1915,3186,3231,3142,0,0,0,0,0,0,26.45,26.39,26.47
$GC,1495,-0.48,-175.2,2672,1915,3232,3141,239.9,-13.5,160,1501,0.00,2.12,0.00,0.000,260,0.000,0.031,2662,3358,3186,3232,3141,0,0,0,0,0,0,26.71,26.38,26.72
$STATE,1533,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1533,begin apogee
$GC,1540,0.00,0.0,2662,1872,3232,3140,244.9,-13.0,162,1675,0.52,0.00,129.88,0.743,10246,0.112,0.000,2833,1867,2463,2528,2399,0,0,0,0,0,0,26.20,25.10,24.60
$STATE,1676,end apogee,CONTROL_FINISHED_OK
$STATE,1676,begin climb
$GC,1678,0.48,175.2,2833,1867,2528,2399,250.4,0.0,169,1819,0.38,2.25,132.40,0.728,10756,0.036,0.029,3051,466,1749,1833,1665,0,0,0,0,0,0,25.32,24.98,24.48
$GC,1839,0.48,175.2,3050,466,1824,1665,233.4,17.8,177,1844,0.20,2.20,0.00,0.000,5126,0.172,0.028,2996,1870,1744,1824,1665,0,0,0,0,0,0,25.15,25.32,25.30
$GC,2651,0.48,175.2,2995,1875,1824,1659,100.7,12.9,250,2652,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,1875,1741,1824,1659,0,0,0,0,0,0,26.56,26.58,26.58
$GC,2969,0.66,321.9,2995,1874,1824,1657,68.6,6.2,309,3091,0.12,2.28,114.97,0.641,11012,0.085,0.034,3085,474,1151,1280,1022,0,0,0,0,0,0,26.36,25.24,24.75
$GC,3158,0.66,321.9,3085,473,1260,1022,38.2,18.2,341,3168,0.10,2.20,0.00,0.000,5126,0.150,0.029,3054,1866,1141,1260,1022,0,0,0,0,0,0,25.51,25.67,25.63
$GC,3313,0.66,321.9,3053,1872,1260,1019,14.8,14.0,366,3321,0.00,2.15,0.00,0.000,260,0.000,0.028,3054,3284,1139,1260,1019,0,0,0,0,0,0,26.23,25.95,26.25
$GC,3330,0.66,321.9,3053,3284,1260,1019,11.9,15.3,368,3339,0.00,2.17,0.00,0.000,1030,0.000,0.029,3062,1878,1139,1260,1019,0,0,0,0,0,0,26.03,25.94,26.03
$STATE,3387,end climb,SURFACE_DEPTH_REACHED
$STATE,3387,begin surface coast
$FINISH,0.6,1.025512
$STATE,3407,end surface coast,CONTROL_FINISHED_OK
$STATE,3407,begin surface
$SM_CCo,3483,0.00,0.000,0,0,1133,326.24
$SM_GC,1.77,7.62,0.08,0.00,0.027,0.084,0.000,125,2045,1133,-8.43,-1.24,326.24,0,0,0,0,0,0,26.06,26.16,26.11
$IRIDIUM_FIX,-2932.67,3125.07,110717,200957
$TT8_MAMPS,0.025466,0.289863
$HUMID,58.58
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,231.9,25.8
$24V_AH,24.48,29.818
$10V_AH,10.27,15.073
$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,18.725,34.825,377.250,0.000,0.000,34.356,41.238,201.027,5.250,0.000,12.758,896.661,1356.730,393.488,1172.834,76.552,0.000,820.913,0.000,849.736,0.000,35.687,0.000
$DEVICE_MAMPS,214.200,94.095,742.815,0.000,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,258.732,74.428,327.263,329.926,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343352
$DATA_FILE_SIZE,23762,380
$CAP_FILE_SIZE,51151,0
$CFSIZE,2097086464,2058223616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,110717,211433,-2943.710,3126.729,6,1.5,6,-24.6,0.0,0.0,6,70.2