version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 358
start: 7 12 117 7 8 13
data:
$ID,574
$MISSION,23
$DIVE,358
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$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,167
$T_MISSION,177
$T_ABORT,200
$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,47
$R_STBD_OVSHOOT,45
$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,20
$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
$GPS1,120717,070124,-2939.9795,3133.3945,38,0.8,38,-24.5,0.0,0.0,10,8.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-78.9
$GPS2,120717,070725,-2939.9658,3133.4692,5,1.0,5,-24.5,1.1,101.0,9,18.0
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,TGT1
$TGT_LATLONG,-3000.000,3200.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,155.6,56456,-13.3,-9.980,-16.52,4015
$D_GRID,500
$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,-175.2,126,1945,1133,941,0.0,0.0,0,88,0.00,0.00,-70.60,0.000,16386,0.000,0.000,127,1946,3072,3081,3064,0,0,0,0,0,0,26.28,28.83,26.29
$GC,91,-0.48,-175.2,127,1946,3082,3064,4.4,-6.8,9,109,9.60,2.12,-1.75,0.000,18692,0.211,0.046,2663,3352,3178,3206,3150,0,0,0,0,0,0,25.67,25.48,25.84
$GC,162,-0.48,-175.2,2662,3353,3218,3140,32.6,-21.8,19,171,0.00,2.15,0.00,0.000,1030,0.000,0.024,2663,1938,3178,3220,3136,0,0,0,0,0,0,26.11,26.10,26.15
$GC,306,-0.48,-175.2,2661,1934,3222,3134,69.2,-22.5,44,315,0.00,2.15,0.00,0.000,260,0.000,0.034,2653,3346,3178,3222,3134,0,0,0,0,0,0,26.48,26.17,26.49
$GC,370,-0.48,-175.2,2652,3347,3223,3134,81.5,-17.1,55,377,0.00,2.08,0.00,0.000,1030,0.000,0.024,2652,1938,3178,3224,3133,0,0,0,0,0,0,26.28,26.22,26.30
$GC,683,-0.48,-175.2,2652,1936,3226,3132,138.5,-16.6,95,691,0.00,2.10,0.00,0.000,260,0.000,0.034,2643,3349,3179,3226,3132,0,0,0,0,0,0,26.61,26.29,26.63
$GC,733,-0.48,-175.2,2642,3348,3226,3132,146.1,-14.7,100,743,0.10,2.08,0.00,0.000,3078,0.149,0.024,2676,1934,3179,3226,3132,0,0,0,0,0,0,26.15,26.33,26.28
$GC,1043,-0.48,-175.2,2675,1931,3227,3132,181.9,-11.8,131,1047,0.00,2.10,0.00,0.000,260,0.000,0.034,2667,3348,3179,3227,3131,0,0,0,0,0,0,26.67,26.34,26.68
$GC,1155,-0.48,-175.2,2667,3348,3227,3131,192.6,-9.4,141,1161,0.00,2.05,0.00,0.000,1030,0.000,0.023,2667,1935,3180,3228,3132,0,0,0,0,0,0,26.46,26.39,26.48
$STATE,1442,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1442,begin apogee
$GC,1447,0.00,0.0,2667,1825,3227,3131,231.4,-14.4,159,1580,0.52,0.00,128.65,0.730,10246,0.125,0.000,2833,1823,2464,2529,2399,0,0,0,0,0,0,26.17,25.15,24.65
$STATE,1581,end apogee,CONTROL_FINISHED_OK
$STATE,1581,begin climb
$GC,1583,0.48,175.2,2833,1823,2529,2399,235.9,0.0,166,1723,0.38,2.30,133.23,0.715,11012,0.034,0.033,3025,3266,1749,1838,1660,0,0,0,0,0,0,25.35,25.03,24.53
$GC,1728,0.48,175.2,3024,3266,1836,1660,222.6,14.7,173,1733,0.15,2.10,0.00,0.000,5126,0.182,0.021,2994,1920,1748,1836,1660,0,0,0,0,0,0,25.08,25.25,25.23
$GC,2538,0.48,175.2,2994,1920,1833,1650,92.7,11.4,254,2545,0.00,2.20,0.00,0.000,516,0.000,0.032,3004,462,1740,1831,1650,0,0,0,0,0,0,26.58,26.25,26.60
$GC,2579,0.48,175.2,3004,462,1825,1650,87.9,11.6,261,2586,0.00,2.12,0.00,0.000,1030,0.000,0.028,3004,1870,1738,1826,1650,0,0,0,0,0,0,26.36,26.29,26.39
$GC,2904,0.60,274.2,3004,1872,1828,1650,52.4,7.4,322,2989,0.00,2.15,76.32,0.616,8452,0.000,0.034,3004,3278,1345,1470,1221,0,0,0,0,0,0,26.65,25.52,25.04
$GC,3062,0.75,390.1,3004,3278,1465,1221,41.7,7.0,349,3158,0.20,2.12,83.85,0.596,11270,0.057,0.026,3118,1868,873,1005,741,0,0,0,0,0,0,25.84,25.83,24.81
$STATE,3236,end climb,SURFACE_DEPTH_REACHED
$STATE,3236,begin surface coast
$FINISH,0.6,1.025238
$STATE,3249,end surface coast,CONTROL_FINISHED_OK
$STATE,3249,begin surface
$SM_CCo,3326,0.00,0.000,0,0,865,392.47
$SM_GC,1.55,7.85,0.10,0.00,0.028,0.070,0.000,126,2023,865,-8.39,-1.10,392.47,0,0,0,0,0,0,25.79,25.84,25.84
$IRIDIUM_FIX,-2925.24,3129.30,120717,070246
$TT8_MAMPS,0.024717,0.289863
$HUMID,58.86
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,18.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,231.4,11.8
$24V_AH,24.53,30.744
$10V_AH,10.28,15.488
$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,18.800,30.050,422.050,0.000,0.000,32.952,61.810,169.996,5.750,0.000,11.969,872.448,1261.092,439.621,1072.534,73.999,0.000,844.158,0.000,771.696,0.000,37.630,0.000
$DEVICE_MAMPS,211.140,126.990,729.810,0.000,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,255.496,67.623,279.682,292.632,0.000,0.000,0.000,0.000,0.000,0.000
$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,23721,377
$CAP_FILE_SIZE,47927,0
$CFSIZE,2097086464,2057142272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,120717,080416,-2940.073,3133.936,5,1.1,5,-24.5,1.4,302.9,7,90.3