version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 373
start: 7 13 117 1 37 30
data:
$ID,574
$MISSION,23
$DIVE,373
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$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,335
$T_MISSION,350
$T_ABORT,400
$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,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$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,31
$R_STBD_OVSHOOT,33
$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,1
$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
$GPS1,130717,012651,-2942.7900,3141.9246,5,1.2,5,-24.7,0.6,55.0,7,31.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-77.9
$GPS2,130717,013641,-2942.7627,3142.0000,4,1.2,4,-24.7,0.0,0.0,7,146.1
$SPEED_LIMITS,0.325,0.335
$TGT_NAME,TGT1
$TGT_LATLONG,-3000.000,3200.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,162.6,43042,-13.3,-9.950,-16.52,4010
$D_GRID,1000
$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,-175.2,126,1948,1293,1153,0.0,0.0,0,80,0.00,0.00,-62.42,0.000,16386,0.000,0.000,126,1948,3013,3023,3004,0,0,0,0,0,0,26.27,28.83,26.29
$GC,83,-0.48,-175.2,126,1948,3024,3003,4.1,-7.2,8,102,9.75,2.20,-2.92,0.000,18948,0.216,0.037,2671,511,3181,3212,3151,0,0,0,0,0,0,25.58,24.56,25.75
$GC,152,-0.48,-175.2,2670,510,3220,3149,30.5,-25.8,18,161,0.00,2.22,0.00,0.000,1030,0.000,0.030,2662,1942,3185,3224,3146,0,0,0,0,0,0,26.06,26.03,26.10
$GC,296,-0.48,-175.2,2661,1942,3225,3144,65.4,-25.4,43,303,0.00,2.10,0.00,0.000,260,0.000,0.034,2650,3354,3184,3226,3143,0,0,0,0,0,0,26.44,26.10,26.46
$GC,396,-0.48,-175.2,2650,3354,3228,3141,84.5,-15.9,61,403,0.00,2.12,0.00,0.000,1030,0.000,0.026,2651,1922,3184,3228,3140,0,0,0,0,0,0,26.25,26.17,26.27
$GC,715,-0.48,-175.2,2650,1919,3232,3139,135.2,-16.9,101,724,0.00,2.12,0.00,0.000,260,0.000,0.032,2641,3358,3185,3232,3139,0,0,0,0,0,0,26.59,26.25,26.60
$GC,779,-0.48,-175.2,2640,3358,3233,3139,143.6,-12.6,107,787,0.12,2.08,0.00,0.000,3078,0.126,0.024,2682,1933,3186,3233,3139,0,0,0,0,0,0,26.08,26.29,26.22
$GC,1087,-0.48,-175.2,2681,1929,3234,3139,180.1,-12.5,138,1095,0.00,2.10,0.00,0.000,260,0.000,0.031,2674,3354,3186,3234,3139,0,0,0,0,0,0,26.63,26.31,26.63
$GC,1158,-0.48,-175.2,2673,3354,3234,3139,187.9,-10.1,145,1167,0.00,2.08,0.00,0.000,1030,0.000,0.023,2674,1931,3186,3234,3139,0,0,0,0,0,0,26.42,26.35,26.44
$GC,1467,-0.48,-175.2,2673,1928,3234,3138,224.2,-12.0,166,1473,0.00,2.10,0.00,0.000,260,0.000,0.032,2663,3353,3186,3234,3138,0,0,0,0,0,0,26.69,26.34,26.70
$GC,1537,-0.48,-175.2,2663,3353,3234,3138,230.8,-11.4,169,1541,0.00,2.05,0.00,0.000,1030,0.000,0.023,2663,1940,3186,3234,3138,0,0,0,0,0,0,26.45,26.38,26.46
$GC,2343,-0.48,-175.2,2663,1937,3234,3133,327.7,-11.6,209,2348,0.00,2.08,0.00,0.000,516,0.000,0.030,2663,538,3183,3234,3133,0,0,0,0,0,0,26.73,26.35,26.74
$GC,2415,-0.48,-175.2,2662,537,3234,3132,333.5,-10.2,212,2422,0.00,2.10,0.00,0.000,1030,0.000,0.029,2653,1940,3183,3234,3132,0,0,0,0,0,0,26.46,26.38,26.48
$STATE,2861,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2861,begin apogee
$GC,2866,0.00,0.0,2653,1808,3233,3130,387.5,-12.9,235,3004,0.57,0.08,132.07,0.850,10246,0.124,0.090,2832,1905,2465,2533,2397,0,0,0,0,0,0,26.05,24.98,24.41
$STATE,3005,end apogee,CONTROL_FINISHED_OK
$STATE,3005,begin climb
$GC,3007,0.48,175.2,2832,1905,2532,2396,393.1,0.0,242,3152,0.40,2.08,136.35,0.830,10500,0.032,0.027,3037,3246,1749,1839,1659,0,0,0,0,0,0,25.21,24.84,24.29
$GC,3226,0.48,175.2,3037,3246,1833,1659,365.6,21.9,253,3231,0.17,2.15,0.00,0.000,5126,0.167,0.027,2985,1875,1746,1833,1659,0,0,0,0,0,0,25.26,25.48,25.44
$GC,4044,0.48,175.2,2985,1875,1829,1650,229.5,13.9,294,4050,0.00,2.15,0.00,0.000,516,0.000,0.035,2995,466,1739,1828,1650,0,0,0,0,0,0,26.53,26.17,26.55
$GC,4132,0.48,175.2,2994,465,1819,1650,218.5,13.9,298,4136,0.00,2.08,0.00,0.000,1030,0.000,0.029,2995,1837,1734,1820,1649,0,0,0,0,0,0,26.32,26.24,26.34
$GC,4945,0.48,175.2,2995,1842,1822,1649,89.8,13.4,379,4951,0.00,2.15,0.00,0.000,260,0.000,0.034,2995,3282,1735,1822,1649,0,0,0,0,0,0,26.67,26.32,26.69
$GC,5053,0.50,191.9,2995,3282,1821,1649,77.8,9.5,399,5073,0.00,2.12,12.50,0.614,9222,0.000,0.028,3006,1858,1681,1773,1589,0,0,0,0,0,0,26.42,26.34,25.58
$GC,5391,0.50,191.9,3005,1858,1770,1586,44.3,10.0,462,5399,0.00,2.15,0.00,0.000,260,0.000,0.031,3005,3284,1678,1770,1587,0,0,0,0,0,0,26.61,26.29,26.63
$GC,5588,0.50,191.9,3005,3284,1770,1587,23.0,11.8,495,5597,0.00,2.12,0.00,0.000,1030,0.000,0.025,3015,1873,1678,1770,1587,0,0,0,0,0,0,26.36,26.35,26.38
$GC,5742,0.50,191.9,3014,1873,1770,1587,4.9,11.2,520,5751,0.00,2.15,0.00,0.000,516,0.000,0.033,3026,470,1676,1766,1586,0,0,0,0,0,0,26.66,26.27,26.67
$STATE,5758,end climb,SURFACE_DEPTH_REACHED
$STATE,5758,begin surface coast
$FINISH,0.6,1.024782
$STATE,5790,end surface coast,CONTROL_FINISHED_OK
$STATE,5790,begin surface
$SM_CCo,5808,46.03,0.047,0,0,1239,300.24
$SM_GC,1.62,7.47,2.25,46.03,0.028,0.021,0.047,125,1959,1239,-8.42,-1.02,300.24,0,0,0,0,0,0,26.35,26.36,26.25
$IRIDIUM_FIX,-2930.19,3145.07,130717,013403
$TT8_MAMPS,0.025466,0.296604
$HUMID,59.05
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,370.4,29.6
$24V_AH,24.29,32.057
$10V_AH,10.25,16.105
$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,18.500,47.050,280.925,46.025,0.000,59.896,38.006,298.434,8.750,0.000,13.040,1294.965,3067.393,386.133,1623.442,107.315,0.000,912.948,0.000,1149.102,0.000,56.936,0.000
$DEVICE_MAMPS,215.730,90.270,849.915,47.430,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,362.329,96.408,398.217,406.661,0.000,0.000,0.000,0.000,0.000,0.000
$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,33556,527
$CAP_FILE_SIZE,70770,0
$CFSIZE,2097086464,2055602176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,130717,031618,-2943.067,3142.618,38,1.0,38,-24.7,0.0,0.0,8,7.7