version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 352
start: 7 12 117 1 37 46
data:
$ID,574
$MISSION,23
$DIVE,352
$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,26
$R_STBD_OVSHOOT,42
$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
$GPS1,120717,012703,-2941.6538,3129.8813,7,0.7,7,-24.5,0.6,297.8,12,343.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-80.0
$GPS2,120717,013659,-2941.5474,3130.0312,9,0.8,9,-24.5,0.0,0.0,11,316.6
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,-2931.399,3134.276
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,44.5,20000,-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,16,-0.48,-175.2,125,1944,1295,1139,0.0,0.0,0,80,0.00,0.00,-62.42,0.000,16386,0.000,0.000,125,1944,3035,3047,3024,0,0,0,0,0,0,26.29,28.83,26.31
$GC,83,-0.48,-175.2,125,1944,3047,3025,4.2,-6.7,8,102,9.57,2.20,-2.47,0.000,19204,0.213,0.037,2671,498,3183,3212,3154,0,0,0,0,0,0,25.65,24.68,25.82
$GC,213,-0.48,-175.2,2671,497,3219,3150,43.0,-16.7,29,219,0.00,2.20,0.00,0.000,1030,0.000,0.030,2662,1947,3185,3223,3148,0,0,0,0,0,0,26.20,26.12,26.22
$GC,539,-0.48,-175.2,2661,1951,3226,3144,116.3,-17.2,82,543,0.00,2.08,0.00,0.000,260,0.000,0.032,2651,3357,3185,3226,3144,0,0,0,0,0,0,26.58,26.26,26.58
$GC,676,-0.48,-175.2,2651,3357,3227,3142,136.4,-13.3,95,680,0.00,2.10,0.00,0.000,1030,0.000,0.023,2651,1919,3184,3227,3142,0,0,0,0,0,0,26.39,26.32,26.40
$GC,981,-0.48,-175.2,2651,1918,3229,3140,191.2,-17.1,125,982,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,1918,3184,3229,3140,0,0,0,0,0,0,26.63,26.65,26.64
$STATE,1159,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1159,begin apogee
$GC,1163,0.00,0.0,2650,1918,3230,3140,219.4,-14.5,137,1301,0.57,0.00,129.00,0.713,10246,0.138,0.000,2830,1914,2464,2529,2399,0,0,0,0,0,0,26.13,25.15,24.65
$STATE,1302,end apogee,CONTROL_FINISHED_OK
$STATE,1302,begin climb
$GC,1304,0.48,175.2,2829,1914,2528,2399,224.4,0.0,144,1444,0.40,2.33,131.57,0.698,10756,0.036,0.031,3046,473,1748,1835,1661,0,0,0,0,0,0,25.38,25.03,24.53
$GC,1482,0.48,175.2,3045,472,1824,1662,199.6,22.4,153,1492,0.20,2.17,0.00,0.000,5126,0.168,0.028,2990,1873,1743,1825,1662,0,0,0,0,0,0,25.29,25.46,25.46
$GC,1793,0.48,175.2,2989,1876,1826,1658,149.5,15.4,184,1801,0.00,2.15,0.00,0.000,516,0.000,0.031,2999,462,1741,1825,1658,0,0,0,0,0,0,26.34,26.04,26.36
$GC,1836,0.48,175.2,2998,461,1822,1658,144.4,12.4,188,1843,0.00,2.17,0.00,0.000,1030,0.000,0.027,2999,1877,1740,1822,1658,0,0,0,0,0,0,26.13,26.10,26.16
$GC,2144,0.48,175.2,2998,1881,1824,1657,104.1,11.9,219,2147,0.00,2.08,0.00,0.000,260,0.000,0.031,2998,3282,1740,1824,1657,0,0,0,0,0,0,26.54,26.23,26.55
$GC,2221,0.48,175.2,2998,3282,1824,1657,94.5,11.1,230,2228,0.00,2.08,0.00,0.000,1030,0.000,0.025,3009,1872,1740,1824,1657,0,0,0,0,0,0,26.34,26.27,26.36
$GC,2548,0.65,312.1,3009,1871,1824,1654,66.0,6.5,291,2665,0.10,2.25,106.60,0.620,10756,0.106,0.034,3091,466,1190,1317,1063,0,0,0,0,0,0,26.36,25.32,24.84
$GC,2744,0.65,312.1,3090,466,1299,1062,34.8,15.7,324,2754,0.12,2.20,0.00,0.000,5126,0.156,0.028,3052,1873,1180,1299,1062,0,0,0,0,0,0,25.58,25.77,25.67
$GC,2899,0.65,312.1,3051,1877,1299,1060,8.5,18.4,349,2908,0.00,2.12,0.00,0.000,260,0.000,0.029,3052,3273,1178,1298,1059,0,0,0,0,0,0,26.29,26.00,26.30
$GC,2923,0.65,312.1,3051,3273,1298,1059,4.1,18.0,352,2932,0.00,2.12,0.00,0.000,1030,0.000,0.026,3061,1878,1178,1298,1059,0,0,0,0,0,0,26.07,26.03,26.09
$STATE,2939,end climb,SURFACE_DEPTH_REACHED
$STATE,2939,begin surface coast
$FINISH,0.6,1.024467
$STATE,2959,end surface coast,CONTROL_FINISHED_OK
$STATE,2959,begin surface
$SM_CCo,3035,0.00,0.000,0,0,1175,316.43
$SM_GC,1.49,7.50,0.08,0.00,0.022,0.095,0.000,127,1975,1175,-8.39,-1.30,316.43,0,0,0,0,0,0,26.09,26.16,26.13
$IRIDIUM_FIX,-2927.71,3132.71,120717,013257
$TT8_MAMPS,0.025466,0.295855
$HUMID,56.34
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,19.60
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,201.5,31.9
$24V_AH,24.53,30.245
$10V_AH,10.28,15.266
$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,18.475,30.425,367.175,0.000,0.000,69.261,88.270,247.074,5.000,0.000,16.453,842.258,1083.184,385.993,1271.880,79.666,0.000,784.102,0.000,805.692,0.000,28.300,0.000
$DEVICE_MAMPS,212.670,94.860,712.980,0.000,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,244.901,77.198,323.442,332.813,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343316
$DATA_FILE_SIZE,23706,357
$CAP_FILE_SIZE,51097,0
$CFSIZE,2097086464,2057732096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,120717,022931,-2941.053,3130.603,38,1.2,38,-24.5,0.5,73.2,6,22.3