version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 177
start: 6 29 117 15 0 2
data:
$ID,574
$MISSION,23
$DIVE,177
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$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,100
$T_MISSION,115
$T_ABORT,360
$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,130
$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,50
$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,446.92932
$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,1
$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,2845
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,-6.8056469e+38
$PITCH_GAIN,45
$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,1990
$C_ROLL_CLIMB,1896
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,56
$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,100
$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
$GPS1,290617,145052,-2953.6465,3120.3333,6,1.3,6,-24.8,0.0,0.0,7,95.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-76.0
$GPS2,290617,145916,-2953.8040,3120.2258,4,1.3,4,-24.8,0.8,234.4,7,155.6
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-2946.862,3129.757
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,74.8,20000,-13.3,-10.000,-16.52,4019
$D_GRID,300
$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,-0.45,-126.5,126,2014,693,575,0.0,0.0,0,103,0.00,0.00,-83.62,0.000,16390,0.000,0.000,126,2015,2982,2995,2969,0,0,0,0,0,0,26.20,24.93,26.22
$GC,105,-0.45,-126.5,126,2015,2995,2969,4.2,-6.3,11,122,9.77,2.17,0.00,0.000,2564,0.218,0.025,2688,573,2983,2998,2969,0,0,0,0,0,0,25.71,25.95,25.86
$GC,239,-0.45,-126.5,2687,573,3007,2963,41.8,-18.1,33,246,0.00,2.15,0.00,0.000,1030,0.000,0.031,2679,1978,2984,3009,2960,0,0,0,0,0,0,26.18,26.12,26.20
$GC,567,-0.45,-126.5,2678,1982,3013,2957,108.3,-18.6,91,571,0.00,2.10,0.00,0.000,516,0.000,0.029,2679,578,2985,3013,2957,0,0,0,0,0,0,26.55,26.27,26.57
$GC,617,-0.45,-126.5,2679,577,3014,2957,116.3,-15.3,96,621,0.00,2.12,0.00,0.000,1030,0.000,0.028,2669,1996,2985,3014,2957,0,0,0,0,0,0,26.36,26.30,26.38
$GC,922,-0.45,-126.5,2668,1995,3016,2957,165.0,-17.2,126,926,0.00,2.08,0.00,0.000,260,0.000,0.034,2658,3407,2986,3016,2956,0,0,0,0,0,0,26.65,26.36,26.66
$GC,1011,-0.45,-126.5,2657,3407,3016,2956,178.1,-13.8,134,1019,0.12,2.12,0.00,0.000,3078,0.133,0.026,2699,1991,2986,3016,2956,0,0,0,0,0,0,26.25,26.39,26.38
$GC,1318,-0.45,-126.5,2697,1990,3020,2954,212.3,-9.4,159,1320,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,1990,2987,3020,2954,0,0,0,0,0,0,26.71,26.72,26.72
$GC,2118,-0.45,-126.5,2698,1987,3019,2949,298.7,-10.5,199,2122,0.00,2.08,0.00,0.000,260,0.000,0.034,2691,3398,2984,3020,2949,0,0,0,0,0,0,26.77,26.48,26.78
$STATE,2133,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2133,begin apogee
$GC,2140,0.00,0.0,2690,1883,3019,2949,300.2,-10.5,200,2238,0.47,0.00,94.28,0.788,10246,0.109,0.000,2844,1881,2464,2516,2413,0,0,0,0,0,0,26.34,25.22,24.68
$STATE,2239,end apogee,CONTROL_FINISHED_OK
$STATE,2239,begin climb
$GC,2241,0.45,126.5,2844,1881,2515,2413,303.0,0.0,205,2343,0.38,0.00,97.53,0.800,10758,0.033,0.000,3024,1881,1948,2006,1891,0,0,0,0,0,0,25.39,24.89,24.39
$GC,3150,0.45,126.5,3024,1881,1994,1881,152.8,15.3,265,3154,0.08,2.10,0.00,0.000,4612,0.197,0.032,3006,494,1937,1994,1881,0,0,0,0,0,0,26.12,26.26,26.21
$GC,3246,0.45,126.5,3006,494,1991,1880,136.1,17.0,274,3250,0.00,2.12,0.00,0.000,1030,0.000,0.028,3007,1907,1935,1991,1880,0,0,0,0,0,0,26.38,26.31,26.40
$GC,3556,0.45,126.5,3006,1911,1992,1878,92.7,12.4,309,3563,0.00,2.15,0.00,0.000,516,0.000,0.032,3017,489,1935,1992,1878,0,0,0,0,0,0,26.65,26.35,26.66
$GC,3590,0.45,126.5,3016,489,1991,1878,88.9,11.2,315,3597,0.00,2.12,0.00,0.000,1030,0.000,0.029,3017,1894,1934,1991,1878,0,0,0,0,0,0,26.44,26.38,26.46
$GC,3914,0.45,126.5,3016,1898,1991,1876,48.3,11.4,376,3921,0.00,2.12,0.00,0.000,260,0.000,0.032,3017,3306,1934,1991,1877,0,0,0,0,0,0,26.70,26.42,26.71
$GC,3986,0.57,222.0,3016,3306,1991,1878,42.9,7.6,389,4063,0.00,2.08,71.20,0.653,9222,0.000,0.027,3027,1896,1558,1647,1469,0,0,0,0,0,0,26.49,26.43,25.01
$GC,4206,0.57,222.0,3026,1895,1637,1467,8.1,18.5,424,4215,0.00,2.22,0.00,0.000,516,0.000,0.036,3038,487,1551,1637,1465,0,0,0,0,0,0,26.20,25.94,26.21
$STATE,4240,end climb,SURFACE_DEPTH_REACHED
$STATE,4240,begin surface coast
$FINISH,0.8,1.025291
$STATE,4259,end surface coast,CONTROL_FINISHED_OK
$STATE,4259,begin surface
$SM_CCo,4276,96.47,0.047,0,0,642,446.93
$SM_GC,1.57,7.55,2.33,96.47,0.027,0.021,0.047,126,2010,642,-8.40,-1.19,446.93,0,0,0,0,0,0,25.98,26.03,25.99
$IRIDIUM_FIX,-2940.11,3118.71,290617,145203
$TT8_MAMPS,0.025466,0.263648
$HUMID,56.81
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,18.80
$XPDR_PINGS,0
$24V_AH,24.39,14.973
$10V_AH,10.36,6.941
$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,18.375,34.350,263.000,96.475,0.000,32.066,21.496,356.137,5.250,0.000,11.953,1042.465,2045.884,393.667,1361.679,66.135,0.000,833.306,0.000,917.003,0.000,34.523,0.000
$DEVICE_MAMPS,218.025,35.955,800.190,46.665,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,299.758,82.221,344.149,350.929,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342316
$DATA_FILE_SIZE,27068,432
$CAP_FILE_SIZE,57200,0
$CFSIZE,2097086464,2074935296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,290617,161338,-2953.912,3121.037,9,0.8,9,-24.8,0.5,153.6,10,219.6