version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 365
start: 7 12 117 16 4 10
data:
$ID,574
$MISSION,23
$DIVE,365
$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,37
$R_STBD_OVSHOOT,50
$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,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
$GPS1,120717,155727,-2941.1780,3137.1924,55,1.0,55,-24.6,0.7,126.2,8,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-79.8
$GPS2,120717,160324,-2941.1990,3137.2729,3,1.0,3,-24.6,1.1,53.1,8,69.5
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,TGT1
$TGT_LATLONG,-3000.000,3200.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,158.3,50409,-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,16,-0.48,-175.2,125,1955,1306,1163,0.0,0.0,0,73,0.00,0.00,-54.85,0.000,16386,0.000,0.000,126,1956,2770,2759,2782,0,0,0,0,0,0,26.27,28.83,26.29
$GC,76,-0.48,-175.2,126,1955,2759,2782,3.1,-3.3,7,101,9.77,2.17,-7.90,0.000,18948,0.217,0.040,2670,524,3181,3215,3147,0,0,0,0,0,0,25.60,25.46,25.78
$GC,141,-0.48,-175.2,2670,524,3220,3147,25.1,-26.0,16,150,0.00,2.20,0.00,0.000,1030,0.000,0.033,2661,1927,3182,3222,3143,0,0,0,0,0,0,26.07,26.03,26.09
$GC,290,-0.48,-175.2,2661,1927,3223,3142,58.6,-18.8,41,296,0.00,2.15,0.00,0.000,260,0.000,0.037,2650,3353,3183,3224,3142,0,0,0,0,0,0,26.45,26.10,26.46
$GC,442,-0.48,-175.2,2650,3353,3227,3138,79.9,-11.1,69,449,0.00,2.10,0.00,0.000,1030,0.000,0.024,2650,1931,3183,3228,3138,0,0,0,0,0,0,26.29,26.22,26.30
$GC,760,-0.48,-175.2,2650,1926,3229,3137,122.8,-15.6,114,768,0.00,2.12,0.00,0.000,260,0.000,0.034,2640,3358,3183,3229,3137,0,0,0,0,0,0,26.60,26.27,26.61
$GC,893,-0.48,-175.2,2639,3359,3231,3137,144.7,-17.3,127,901,0.10,2.12,0.00,0.000,3078,0.135,0.024,2675,1931,3184,3231,3137,0,0,0,0,0,0,26.11,26.33,26.20
$GC,1201,-0.48,-175.2,2675,1927,3233,3136,191.9,-11.9,158,1209,0.00,2.12,0.00,0.000,260,0.000,0.034,2666,3365,3184,3233,3136,0,0,0,0,0,0,26.67,26.33,26.67
$GC,1275,-0.48,-175.2,2665,3365,3233,3136,197.4,-6.1,165,1281,0.00,2.08,0.00,0.000,1030,0.000,0.023,2666,1939,3184,3233,3136,0,0,0,0,0,0,26.44,26.37,26.46
$GC,1594,-0.48,-175.2,2666,1938,3233,3136,235.1,-12.4,183,1599,0.00,2.08,0.00,0.000,260,0.000,0.034,2656,3350,3184,3233,3136,0,0,0,0,0,0,26.70,26.36,26.72
$GC,1644,-0.48,-175.2,2656,3350,3233,3136,239.5,-11.8,185,1652,0.00,2.05,0.00,0.000,1030,0.000,0.022,2656,1939,3184,3233,3136,0,0,0,0,0,0,26.46,26.40,26.48
$STATE,2350,end dive,NO_VERTICAL_VELOCITY
$STATE,2350,begin apogee
$GC,2355,0.00,0.0,2656,1812,3233,3133,307.3,0.0,221,2493,0.52,0.10,130.70,0.801,10246,0.075,0.076,2846,1935,2465,2528,2402,0,0,0,0,0,0,26.32,25.04,24.50
$STATE,2494,end apogee,CONTROL_FINISHED_OK
$STATE,2494,begin climb
$GC,2495,0.48,175.2,2846,1935,2527,2401,307.4,0.0,228,2634,0.38,0.00,134.50,0.797,10758,0.080,0.000,2985,1935,1750,1856,1644,0,0,0,0,0,0,25.18,24.88,24.37
$GC,3453,0.66,321.9,2985,1935,1844,1639,249.0,6.2,276,3579,0.12,2.35,117.00,0.758,10756,0.108,0.033,3048,470,1151,1285,1017,0,0,0,0,0,0,26.20,24.93,24.55
$GC,3644,0.78,415.2,3048,470,1267,1017,236.2,7.6,285,3732,0.12,2.17,76.75,0.747,11270,0.133,0.030,3082,1878,770,909,632,0,0,0,0,0,0,25.48,25.59,24.51
$GC,4531,0.78,415.2,3081,1879,893,632,141.8,14.6,350,4540,0.00,2.10,0.00,0.000,260,0.000,0.034,3081,3280,762,892,632,0,0,0,0,0,0,26.53,26.21,26.55
$GC,4572,0.78,415.2,3081,3284,890,632,137.1,11.4,354,4576,0.00,2.10,0.00,0.000,1030,0.000,0.028,3092,1873,761,890,632,0,0,0,0,0,0,26.32,26.25,26.34
$GC,4886,0.78,415.2,3091,1873,890,632,57.5,18.1,402,4895,0.00,2.12,0.00,0.000,260,0.000,0.028,3092,3286,761,890,632,0,0,0,0,0,0,26.61,26.30,26.63
$GC,4938,0.78,415.2,3091,3286,889,632,49.2,13.3,411,4945,0.00,2.12,0.00,0.000,1030,0.000,0.028,3102,1868,760,889,632,0,0,0,0,0,0,26.39,26.30,26.41
$STATE,5185,end climb,SURFACE_DEPTH_REACHED
$STATE,5185,begin surface coast
$FINISH,0.8,1.025213
$STATE,5199,end surface coast,CONTROL_FINISHED_OK
$STATE,5199,begin surface
$SM_CCo,5275,0.00,0.000,0,0,757,418.97
$SM_GC,1.49,7.62,0.10,0.00,0.024,0.086,0.000,125,2038,757,-8.41,-1.16,418.97,0,0,0,0,0,0,26.34,26.41,26.40
$IRIDIUM_FIX,-2927.71,3136.12,120717,155846
$TT8_MAMPS,0.025466,0.259903
$HUMID,61.97
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,16.20
$XPDR_PINGS,0
$24V_AH,24.37,31.418
$10V_AH,10.28,15.780
$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,18.650,34.450,458.950,0.000,0.000,37.710,41.414,181.768,8.000,0.000,11.987,1097.560,2712.152,463.431,1301.445,87.743,0.000,967.771,0.000,992.816,0.000,52.622,0.000
$DEVICE_MAMPS,217.260,94.860,800.955,0.000,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,315.755,73.583,295.109,305.314,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343312
$DATA_FILE_SIZE,30437,456
$CAP_FILE_SIZE,58670,0
$CFSIZE,2097086464,2056454144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,120717,173243,-2941.417,3137.560,6,1.3,6,-24.6,0.0,0.0,6,42.2