version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 181
start: 6 29 117 21 55 3
data:
$ID,574
$MISSION,23
$DIVE,181
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,400
$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,133
$T_MISSION,143
$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,40
$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,74
$R_STBD_OVSHOOT,75
$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
$GPS1,290617,214321,-2952.9871,3122.8093,20,0.7,20,-24.8,0.8,281.7,11,52.6
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-71.4
$GPS2,290617,215417,-2953.0464,3122.7581,5,1.8,5,-24.8,0.0,0.0,4,135.7
$SPEED_LIMITS,0.328,0.338
$TGT_NAME,HEADING
$TGT_LATLONG,-2944.774,3130.753
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,64.8,20000,-13.3,-10.025,-16.52,4023
$D_GRID,400
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.45,-126.5,127,1953,686,578,0.0,0.0,0,102,0.00,0.00,-82.85,0.000,16390,0.000,0.000,127,1952,2981,2996,2967,0,0,0,0,0,0,26.16,24.84,26.17
$GC,105,-0.45,-126.5,127,1952,2997,2967,4.2,-6.4,11,122,9.82,2.12,0.00,0.000,2820,0.217,0.024,2682,3395,2983,2999,2967,0,0,0,0,0,0,25.66,25.90,25.81
$GC,419,-0.45,-126.5,2680,3399,3011,2958,70.7,-11.8,67,426,0.00,2.05,0.00,0.000,1030,0.000,0.027,2681,2014,2984,3012,2957,0,0,0,0,0,0,26.26,26.19,26.27
$GC,736,-0.45,-126.5,2681,2011,3017,2953,121.5,-14.9,115,740,0.00,1.98,0.00,0.000,260,0.000,0.031,2672,3368,2985,3018,2953,0,0,0,0,0,0,26.58,26.29,26.59
$GC,908,-0.45,-126.5,2671,3368,3017,2953,142.3,-12.8,131,915,0.00,2.08,0.00,0.000,1030,0.000,0.027,2672,1984,2985,3018,2953,0,0,0,0,0,0,26.38,26.35,26.40
$GC,1216,-0.45,-126.5,2671,1984,3019,2953,190.8,-13.3,162,1224,0.00,2.05,0.00,0.000,260,0.000,0.032,2662,3378,2986,3019,2953,0,0,0,0,0,0,26.64,26.39,26.65
$GC,1329,-0.45,-126.5,2661,3378,3019,2953,202.5,-11.0,171,1337,0.10,2.08,0.00,0.000,3078,0.141,0.026,2694,1991,2985,3018,2953,0,0,0,0,0,0,26.27,26.41,26.40
$GC,2137,-0.45,-126.5,2694,1987,3019,2947,291.8,-12.3,212,2142,0.00,2.03,0.00,0.000,260,0.000,0.033,2686,3368,2983,3019,2947,0,0,0,0,0,0,26.72,26.46,26.74
$GC,2169,-0.45,-126.5,2685,3368,3019,2947,294.2,-12.2,213,2176,0.00,2.08,0.00,0.000,1030,0.000,0.026,2686,1983,2983,3019,2947,0,0,0,0,0,0,26.51,26.48,26.53
$STATE,2975,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2975,begin apogee
$GC,2979,0.00,0.0,2685,1825,3019,2941,401.1,-12.0,254,3078,0.50,0.00,95.12,0.871,10246,0.125,0.000,2842,1823,2465,2518,2412,0,0,0,0,0,0,26.32,25.11,24.55
$STATE,3079,end apogee,CONTROL_FINISHED_OK
$STATE,3079,begin climb
$GC,3080,0.45,126.5,2842,1823,2517,2412,403.5,0.0,259,3184,0.38,0.00,99.38,0.877,10758,0.033,0.000,3023,1823,1949,2007,1891,0,0,0,0,0,0,25.28,24.79,24.27
$GC,3997,0.45,126.5,3023,1823,1993,1881,245.7,18.2,305,4003,0.08,2.17,0.00,0.000,4356,0.197,0.030,2997,3273,1937,1993,1881,0,0,0,0,0,0,26.08,26.23,26.17
$GC,4049,0.45,126.5,2996,3273,1994,1881,239.0,17.4,307,4056,0.00,2.10,0.00,0.000,1030,0.000,0.028,3005,1897,1937,1994,1881,0,0,0,0,0,0,26.29,26.26,26.32
$GC,4857,0.45,126.5,3005,1897,1991,1878,111.8,12.2,377,4865,0.00,2.12,0.00,0.000,516,0.000,0.035,3017,490,1933,1990,1877,0,0,0,0,0,0,26.68,26.38,26.70
$GC,4880,0.45,126.5,3016,490,1988,1877,109.1,12.4,379,4887,0.00,2.10,0.00,0.000,1030,0.000,0.028,3016,1863,1932,1989,1876,0,0,0,0,0,0,26.44,26.43,26.46
$GC,5200,0.58,229.5,3016,1868,1989,1875,75.5,7.4,433,5285,0.00,2.15,76.65,0.680,8964,0.000,0.034,3026,491,1527,1617,1437,0,0,0,0,0,0,26.71,25.44,24.92
$GC,5409,0.58,229.5,3026,490,1599,1437,48.6,14.2,470,5416,0.00,2.17,0.00,0.000,1030,0.000,0.031,3026,1899,1518,1600,1437,0,0,0,0,0,0,25.92,25.85,25.94
$STATE,5706,end climb,SURFACE_DEPTH_REACHED
$STATE,5706,begin surface coast
$FINISH,0.6,1.025021
$STATE,5725,end surface coast,CONTROL_FINISHED_OK
$STATE,5725,begin surface
$SM_CCo,5740,93.28,0.047,0,0,642,446.93
$SM_GC,1.56,7.53,0.12,93.28,0.025,0.054,0.047,125,2080,642,-8.46,-0.96,446.93,0,0,0,0,0,0,26.16,26.25,26.08
$IRIDIUM_FIX,-2940.11,3120.00,290617,214432
$TT8_MAMPS,0.025466,0.261401
$HUMID,56.57
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,350.4,67.7
$24V_AH,24.27,15.326
$10V_AH,10.36,7.145
$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,18.400,29.550,271.150,93.275,0.000,29.257,40.242,489.773,7.000,0.000,11.970,1240.168,3095.253,410.756,1705.639,70.410,0.000,912.220,0.000,1100.712,0.000,47.573,0.000
$DEVICE_MAMPS,217.260,125.460,876.690,47.430,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,358.811,90.066,376.991,382.383,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342364
$DATA_FILE_SIZE,33697,524
$CAP_FILE_SIZE,64567,0
$CFSIZE,2097086464,2074509312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,290617,233400,-2952.683,3123.959,70,0.9,70,-24.8,0.9,113.6,9,9.2