version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 377
start: 7 13 117 8 45 2
data:
$ID,574
$MISSION,23
$DIVE,377
$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,44
$R_STBD_OVSHOOT,77
$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
$GPS1,130717,083653,-2944.5105,3144.3298,19,1.0,19,-24.7,0.0,0.0,8,23.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-76.3
$GPS2,130717,084416,-2944.3923,3144.4380,5,1.3,5,-24.7,0.0,0.0,6,53.9
$SPEED_LIMITS,0.325,0.335
$TGT_NAME,TGT1
$TGT_LATLONG,-3000.000,3200.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,163.9,38190,-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,15,-0.48,-175.2,127,1934,1214,1048,0.0,0.0,0,80,0.00,0.00,-62.70,0.000,16386,0.000,0.000,127,1934,2914,2924,2905,0,0,0,0,0,0,26.14,28.83,26.16
$GC,83,-0.48,-175.2,128,1934,2925,2906,3.7,-4.8,8,109,9.62,2.12,-4.75,0.000,18692,0.209,0.042,2658,3327,3183,3216,3150,0,0,0,0,0,0,25.43,24.44,25.61
$GC,194,-0.48,-175.2,2657,3327,3227,3141,34.5,-16.4,25,203,0.00,2.12,0.00,0.000,1030,0.000,0.026,2658,1941,3183,3228,3139,0,0,0,0,0,0,26.01,25.96,26.04
$GC,334,-0.48,-175.2,2657,1937,3230,3138,63.7,-23.0,50,341,0.00,2.03,0.00,0.000,260,0.000,0.028,2647,3314,3184,3230,3138,0,0,0,0,0,0,26.38,26.04,26.39
$GC,421,-0.48,-175.2,2647,3314,3231,3138,79.6,-14.6,65,429,0.10,2.05,0.00,0.000,3078,0.135,0.024,2680,1933,3185,3232,3138,0,0,0,0,0,0,25.91,26.10,26.03
$GC,741,-0.48,-175.2,2679,1930,3236,3136,126.3,-13.7,109,750,0.00,2.05,0.00,0.000,260,0.000,0.031,2671,3316,3186,3236,3137,0,0,0,0,0,0,26.53,26.17,26.55
$GC,876,-0.48,-175.2,2671,3316,3236,3137,141.9,-10.7,122,884,0.00,2.08,0.00,0.000,1030,0.000,0.022,2672,1930,3187,3237,3137,0,0,0,0,0,0,26.27,26.25,26.31
$GC,1184,-0.48,-175.2,2671,1927,3237,3137,184.7,-13.6,153,1188,0.00,2.05,0.00,0.000,260,0.000,0.031,2661,3319,3187,3237,3137,0,0,0,0,0,0,26.63,26.25,26.63
$GC,1305,-0.48,-175.2,2661,3319,3238,3137,198.1,-10.9,164,1312,0.00,2.03,0.00,0.000,1030,0.000,0.024,2662,1933,3187,3238,3137,0,0,0,0,0,0,26.38,26.30,26.40
$GC,1623,-0.48,-175.2,2661,1932,3238,3137,246.6,-15.8,181,1628,0.00,2.03,0.00,0.000,260,0.000,0.030,2651,3312,3187,3238,3136,0,0,0,0,0,0,26.67,26.30,26.68
$GC,1670,-0.48,-175.2,2651,3313,3238,3136,252.3,-14.9,183,1674,0.00,2.03,0.00,0.000,1030,0.000,0.024,2652,1932,3187,3238,3136,0,0,0,0,0,0,26.40,26.33,26.43
$GC,2483,-0.48,-175.2,2651,1931,3238,3131,375.4,-14.0,224,2488,0.00,2.08,0.00,0.000,516,0.000,0.030,2652,520,3185,3238,3132,0,0,0,0,0,0,26.71,26.32,26.72
$GC,2590,-0.48,-175.2,2651,519,3237,3131,386.7,-10.4,229,2595,0.12,2.08,0.00,0.000,3078,0.140,0.027,2682,1913,3184,3237,3131,0,0,0,0,0,0,26.10,26.35,26.25
$GC,3397,-0.48,-175.2,2681,1913,3236,3127,466.3,-11.2,269,3402,0.00,2.12,0.00,0.000,260,0.000,0.036,2673,3342,3181,3236,3127,0,0,0,0,0,0,26.73,26.30,26.74
$GC,3465,-0.48,-175.2,2672,3341,3236,3127,472.2,-10.5,272,3469,0.00,2.05,0.00,0.000,1030,0.000,0.024,2673,1942,3181,3236,3127,0,0,0,0,0,0,26.44,26.36,26.46
$GC,4273,-0.48,-175.2,2672,1938,3233,3122,595.3,-14.9,312,4278,0.00,2.10,0.00,0.000,516,0.000,0.032,2672,538,3177,3233,3122,0,0,0,0,0,0,26.74,26.29,26.75
$GC,4401,-0.48,-175.2,2672,537,3232,3122,611.4,-12.7,318,4405,0.00,2.10,0.00,0.000,1030,0.000,0.029,2662,1937,3177,3232,3122,0,0,0,0,0,0,26.43,26.34,26.45
$STATE,4728,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4728,begin apogee
$GC,4733,0.00,0.0,2662,1822,3232,3120,656.6,-13.7,334,4874,0.55,0.05,136.15,1.050,10246,0.122,0.117,2833,1895,2464,2534,2395,0,0,0,0,0,0,25.94,24.74,24.10
$STATE,4875,end apogee,CONTROL_FINISHED_OK
$STATE,4875,begin climb
$GC,4877,0.48,175.2,2833,1895,2534,2395,662.9,0.0,341,5029,0.40,2.25,142.23,1.040,10756,0.035,0.031,3025,521,1749,1841,1657,0,0,0,0,0,0,24.97,24.36,23.89
$GC,5045,0.48,175.2,3025,521,1833,1657,651.0,14.4,349,5052,0.12,2.10,0.00,0.000,5126,0.182,0.023,2994,1846,1745,1833,1657,0,0,0,0,0,0,24.75,24.91,24.90
$GC,5852,0.48,175.2,2993,1850,1828,1650,499.1,15.7,390,5855,0.00,2.17,0.00,0.000,260,0.000,0.031,2994,3285,1738,1828,1649,0,0,0,0,0,0,26.43,26.09,26.45
$GC,5872,0.48,175.2,2993,3288,1827,1649,495.7,15.8,391,5876,0.00,2.05,0.00,0.000,1030,0.000,0.028,3002,1926,1738,1827,1649,0,0,0,0,0,0,26.19,26.11,26.22
$GC,6688,0.48,175.2,3002,1926,1825,1648,358.2,17.9,432,6692,0.00,2.00,0.00,0.000,260,0.000,0.027,3002,3283,1736,1825,1648,0,0,0,0,0,0,26.61,26.26,26.62
$GC,6708,0.48,175.2,3002,3282,1824,1648,355.2,18.1,433,6711,0.00,2.03,0.00,0.000,1030,0.000,0.028,3011,1924,1736,1824,1648,0,0,0,0,0,0,26.34,26.26,26.37
$GC,7519,0.48,175.2,3011,1924,1823,1648,201.0,17.8,474,7523,0.00,2.00,0.00,0.000,260,0.000,0.028,3011,3283,1736,1824,1648,0,0,0,0,0,0,26.67,26.31,26.68
$GC,7605,0.48,175.2,3011,3284,1822,1648,187.0,15.3,482,7615,0.10,2.03,0.00,0.000,5126,0.186,0.029,2994,1925,1735,1822,1648,0,0,0,0,0,0,26.00,26.30,26.20
$GC,7916,0.48,175.2,2993,1925,1822,1648,149.9,11.7,513,7919,0.00,2.15,0.00,0.000,516,0.000,0.035,3003,517,1735,1822,1648,0,0,0,0,0,0,26.69,26.25,26.70
$GC,8058,0.48,175.2,3002,516,1816,1647,135.6,10.7,527,8066,0.00,2.03,0.00,0.000,1030,0.000,0.026,3003,1874,1732,1818,1647,0,0,0,0,0,0,26.41,26.33,26.44
$GC,8371,0.48,175.2,3002,1874,1819,1647,88.4,14.6,565,8378,0.00,2.08,0.00,0.000,260,0.000,0.031,3003,3276,1733,1820,1647,0,0,0,0,0,0,26.70,26.30,26.71
$GC,8490,0.53,216.2,3003,3276,1820,1647,74.1,8.9,587,8528,0.00,2.00,31.33,0.666,9222,0.000,0.025,3013,1919,1582,1680,1484,0,0,0,0,0,0,26.41,26.34,25.35
$GC,8855,0.53,216.2,3012,1918,1675,1483,32.2,10.8,653,8864,0.00,2.05,0.00,0.000,260,0.000,0.029,3013,3274,1579,1675,1483,0,0,0,0,0,0,26.47,26.13,26.48
$GC,8962,0.54,224.9,3012,3273,1675,1483,20.1,9.7,670,8971,0.00,2.15,3.88,0.386,9222,0.000,0.029,3023,1869,1547,1647,1447,0,0,0,0,0,0,26.18,26.16,25.37
$STATE,9094,end climb,SURFACE_DEPTH_REACHED
$STATE,9094,begin surface coast
$FINISH,0.8,1.015272
$STATE,9114,end surface coast,CONTROL_FINISHED_OK
$STATE,9114,begin surface
$SM_CCo,9130,32.15,0.048,0,0,1241,300.24
$SM_GC,2.32,7.45,0.10,32.15,0.023,0.073,0.048,126,2018,1241,-8.42,-1.10,300.24,0,0,0,0,0,0,26.20,26.31,26.10
$IRIDIUM_FIX,-2932.67,3142.96,130717,083817
$TT8_MAMPS,0.025466,0.285369
$HUMID,59.45
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,640.2,29.1
$24V_AH,23.89,32.456
$10V_AH,10.19,16.313
$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,18.475,62.400,313.575,32.150,0.000,36.803,41.477,256.705,15.250,0.000,11.929,1712.788,5519.131,403.057,1876.111,123.293,0.000,1096.455,0.000,1467.382,0.000,95.099,0.000
$DEVICE_MAMPS,208.845,117.045,1050.345,48.195,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,482.634,93.874,399.108,408.691,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343340
$DATA_FILE_SIZE,46968,695
$CAP_FILE_SIZE,90012,0
$CFSIZE,2097086464,2055208960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,130717,111902,-2945.153,3145.079,41,1.1,41,-24.7,0.0,0.0,7,12.0