version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 376
start: 7 13 117 6 12 47
data:
$ID,574
$MISSION,23
$DIVE,376
$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,71
$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
$GPS1,130717,055733,-2943.9043,3143.6028,19,0.9,19,-24.7,0.7,134.0,9,105.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-76.6
$GPS2,130717,061201,-2943.8914,3143.8743,38,1.1,38,-24.7,0.6,34.4,7,9.1
$SPEED_LIMITS,0.325,0.335
$TGT_NAME,TGT1
$TGT_LATLONG,-3000.000,3200.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,163.8,39484,-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,14,begin dive
$GC,16,-0.48,-175.2,127,1906,1292,1160,0.0,0.0,0,80,0.00,0.00,-62.28,0.000,16386,0.000,0.000,127,1906,3012,3021,3003,0,0,0,0,0,0,26.23,28.83,26.24
$GC,83,-0.48,-175.2,127,1907,3022,3003,4.0,-6.3,8,102,9.75,2.25,-2.97,0.000,18692,0.214,0.046,2662,3356,3183,3209,3157,0,0,0,0,0,0,25.53,24.52,25.70
$GC,111,-0.48,-175.2,2661,3356,3217,3150,17.5,-37.5,11,120,0.00,2.10,0.00,0.000,1030,0.000,0.021,2662,1961,3185,3220,3150,0,0,0,0,0,0,26.02,25.99,26.03
$GC,170,-0.48,-175.2,2662,1959,3226,3145,36.8,-28.2,20,178,0.00,2.12,0.00,0.000,260,0.000,0.031,2654,3355,3185,3226,3145,0,0,0,0,0,0,26.32,26.00,26.33
$GC,235,-0.48,-175.2,2653,3355,3227,3142,49.9,-14.9,31,242,0.00,2.10,0.00,0.000,1030,0.000,0.024,2653,1942,3184,3228,3141,0,0,0,0,0,0,26.13,26.06,26.15
$GC,564,-0.48,-175.2,2652,1936,3232,3140,112.8,-17.0,86,572,0.00,2.10,0.00,0.000,260,0.000,0.031,2644,3350,3186,3232,3141,0,0,0,0,0,0,26.52,26.18,26.53
$GC,696,-0.48,-175.2,2642,3350,3232,3141,130.8,-12.2,99,705,0.10,2.05,0.00,0.000,3078,0.132,0.022,2676,1932,3186,3233,3140,0,0,0,0,0,0,26.02,26.25,26.10
$GC,1005,-0.48,-175.2,2676,1928,3235,3140,171.3,-13.0,130,1014,0.00,2.10,0.00,0.000,260,0.000,0.031,2668,3350,3187,3235,3140,0,0,0,0,0,0,26.59,26.27,26.60
$GC,1137,-0.48,-175.2,2666,3350,3235,3140,186.6,-11.4,143,1146,0.00,2.08,0.00,0.000,1030,0.000,0.023,2668,1934,3187,3235,3139,0,0,0,0,0,0,26.39,26.32,26.41
$GC,1456,-0.48,-175.2,2667,1933,3236,3138,229.7,-13.0,164,1460,0.00,2.10,0.00,0.000,260,0.000,0.031,2658,3350,3187,3236,3138,0,0,0,0,0,0,26.67,26.32,26.69
$GC,1559,-0.48,-175.2,2657,3351,3236,3138,240.3,-10.1,169,1564,0.00,2.10,0.00,0.000,1030,0.000,0.023,2657,1946,3187,3236,3138,0,0,0,0,0,0,26.39,26.36,26.41
$GC,2378,-0.48,-175.2,2657,1942,3235,3133,355.9,-15.0,210,2384,0.00,2.10,0.00,0.000,516,0.000,0.030,2657,530,3184,3235,3133,0,0,0,0,0,0,26.72,26.34,26.73
$GC,2525,-0.48,-175.2,2657,529,3233,3133,373.0,-11.7,217,2530,0.10,2.12,0.00,0.000,3078,0.149,0.028,2679,1950,3183,3233,3133,0,0,0,0,0,0,26.15,26.36,26.28
$GC,3334,-0.48,-175.2,2678,1950,3232,3128,472.0,-10.5,257,3339,0.00,2.10,0.00,0.000,516,0.000,0.030,2679,538,3179,3231,3128,0,0,0,0,0,0,26.72,26.32,26.72
$GC,3360,-0.48,-175.2,2678,537,3232,3128,474.1,-10.5,258,3364,0.00,2.10,0.00,0.000,1030,0.000,0.028,2674,1939,3180,3232,3128,0,0,0,0,0,0,26.44,26.36,26.47
$GC,4168,-0.48,-175.2,2673,1940,3228,3123,571.4,-12.9,298,4173,0.00,2.12,0.00,0.000,260,0.000,0.037,2663,3348,3175,3228,3123,0,0,0,0,0,0,26.71,26.32,26.72
$GC,4207,-0.48,-175.2,2662,3348,3228,3123,576.2,-12.5,300,4211,0.00,2.08,0.00,0.000,1030,0.000,0.025,2663,1942,3175,3227,3123,0,0,0,0,0,0,26.45,26.36,26.48
$STATE,4422,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4422,begin apogee
$GC,4427,0.00,0.0,2662,1816,3227,3121,604.1,-13.2,311,4567,0.55,0.08,135.50,1.018,10246,0.123,0.089,2834,1910,2464,2535,2394,0,0,0,0,0,0,25.98,24.81,24.17
$STATE,4568,end apogee,CONTROL_FINISHED_OK
$STATE,4568,begin climb
$GC,4570,0.48,175.2,2834,1910,2534,2394,609.7,0.0,318,4724,0.40,2.12,140.85,1.001,10500,0.036,0.028,3014,3239,1749,1841,1658,0,0,0,0,0,0,25.01,24.45,24.00
$GC,4734,0.48,175.2,3013,3239,1840,1658,597.3,15.0,326,4739,0.12,2.15,0.00,0.000,5126,0.189,0.026,2992,1872,1749,1840,1658,0,0,0,0,0,0,24.81,24.98,24.97
$GC,5541,0.48,175.2,2991,1872,1834,1651,449.5,17.4,366,5545,0.00,2.05,0.00,0.000,260,0.000,0.028,2992,3246,1742,1834,1650,0,0,0,0,0,0,26.46,26.14,26.47
$GC,5699,0.48,175.2,2991,3246,1832,1651,424.7,15.9,374,5704,0.00,2.05,0.00,0.000,1030,0.000,0.029,3000,1874,1741,1833,1650,0,0,0,0,0,0,26.21,26.17,26.25
$GC,6518,0.48,175.2,2999,1874,1830,1650,264.0,19.7,415,6521,0.00,2.05,0.00,0.000,260,0.000,0.029,3000,3250,1740,1830,1650,0,0,0,0,0,0,26.64,26.29,26.65
$GC,6681,0.48,175.2,3000,3250,1830,1649,238.9,15.1,423,6685,0.00,2.10,0.00,0.000,1030,0.000,0.029,3010,1868,1739,1830,1649,0,0,0,0,0,0,26.34,26.29,26.36
$GC,7488,0.48,175.2,3009,1868,1829,1650,102.8,15.6,492,7492,0.00,2.05,0.00,0.000,260,0.000,0.028,3010,3255,1740,1830,1650,0,0,0,0,0,0,26.70,26.33,26.71
$GC,7673,0.48,175.2,3010,3254,1829,1650,78.7,11.6,524,7681,0.00,2.10,0.00,0.000,1030,0.000,0.028,3021,1871,1740,1830,1650,0,0,0,0,0,0,26.37,26.33,26.40
$GC,7998,0.48,175.2,3019,1871,1829,1650,46.3,11.6,585,8005,0.00,2.05,0.00,0.000,260,0.000,0.029,3020,3253,1740,1830,1650,0,0,0,0,0,0,26.71,26.33,26.72
$GC,8048,0.48,175.2,3019,3253,1829,1650,41.0,10.6,594,8057,0.12,2.10,0.00,0.000,5126,0.160,0.026,2993,1861,1739,1829,1650,0,0,0,0,0,0,25.98,26.35,26.09
$GC,8416,0.66,321.0,2992,1858,1832,1650,13.5,6.2,655,8488,0.15,2.15,66.20,0.565,10500,0.061,0.027,3079,3248,1153,1283,1024,0,0,0,0,0,0,26.44,25.66,25.18
$STATE,8495,end climb,SURFACE_DEPTH_REACHED
$STATE,8495,begin surface coast
$FINISH,0.7,1.025050
$STATE,8516,end surface coast,CONTROL_FINISHED_OK
$STATE,8517,begin surface
$SM_CCo,8595,0.00,0.000,0,0,1141,324.53
$SM_GC,1.69,7.70,2.00,0.00,0.022,0.021,0.000,127,1938,1141,-8.41,1.39,324.53,0,0,0,0,0,0,25.82,25.81,25.86
$IRIDIUM_FIX,-2932.67,3142.96,130717,060621
$TT8_MAMPS,0.024717,0.289114
$HUMID,58.38
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,20.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,580.2,37.2
$24V_AH,24.00,32.347
$10V_AH,10.21,16.253
$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,19.000,58.850,342.550,0.000,0.000,96.482,111.232,329.494,13.750,0.000,45.440,1640.873,5161.382,373.483,2183.167,130.580,0.000,1073.481,0.000,1476.972,0.000,86.945,0.000
$DEVICE_MAMPS,214.200,95.625,1018.215,0.000,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,460.866,100.613,433.891,443.496,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343208
$DATA_FILE_SIZE,43828,668
$CAP_FILE_SIZE,91527,0
$CFSIZE,2097086464,2055307264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,130717,083653,-2944.510,3144.330,19,1.0,19,-24.7,0.0,0.0,8,23.2