version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 372
start: 7 13 117 0 3 25
data:
$ID,574
$MISSION,23
$DIVE,372
$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,41
$R_STBD_OVSHOOT,46
$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,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
$GPS1,120717,235626,-2942.5071,3141.0562,53,1.0,53,-24.6,0.0,0.0,8,20.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-77.6
$GPS2,130717,000239,-2942.4780,3141.1047,5,0.9,5,-24.6,0.0,0.0,9,16.8
$SPEED_LIMITS,0.325,0.335
$TGT_NAME,TGT1
$TGT_LATLONG,-3000.000,3200.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,161.6,44401,-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,-175.2,125,1959,1306,1159,0.0,0.0,0,80,0.00,0.00,-62.65,0.000,16386,0.000,0.000,126,1959,3007,3016,2998,0,0,0,0,0,0,26.25,28.83,26.27
$GC,83,-0.48,-175.2,125,1960,3016,2999,3.8,-5.3,8,102,9.77,2.20,-3.05,0.000,18948,0.227,0.036,2671,514,3181,3208,3155,0,0,0,0,0,0,25.56,24.60,25.75
$GC,205,-0.48,-175.2,2670,514,3220,3149,39.4,-18.6,27,214,0.00,2.22,0.00,0.000,1030,0.000,0.032,2662,1938,3184,3224,3145,0,0,0,0,0,0,26.10,26.06,26.13
$GC,345,-0.48,-175.2,2661,1939,3225,3143,69.5,-19.4,52,353,0.00,2.15,0.00,0.000,260,0.000,0.034,2652,3351,3184,3225,3143,0,0,0,0,0,0,26.46,26.13,26.47
$GC,414,-0.48,-175.2,2650,3352,3226,3141,77.5,-6.5,64,421,0.00,2.12,0.00,0.000,1030,0.000,0.023,2651,1937,3183,3227,3140,0,0,0,0,0,0,26.22,26.20,26.25
$GC,737,-0.48,-175.2,2650,1933,3231,3140,138.9,-18.1,108,741,0.00,2.10,0.00,0.000,260,0.000,0.033,2641,3351,3185,3231,3140,0,0,0,0,0,0,26.59,26.25,26.60
$GC,793,-0.48,-175.2,2640,3351,3231,3140,146.8,-13.2,113,803,0.12,2.08,0.00,0.000,3078,0.131,0.023,2682,1931,3186,3232,3140,0,0,0,0,0,0,26.08,26.30,26.22
$GC,1103,-0.48,-175.2,2681,1927,3232,3139,183.9,-13.2,144,1112,0.00,2.10,0.00,0.000,260,0.000,0.033,2674,3348,3186,3233,3140,0,0,0,0,0,0,26.65,26.31,26.66
$GC,1214,-0.48,-175.2,2673,3348,3233,3139,196.4,-10.6,155,1223,0.00,2.05,0.00,0.000,1030,0.000,0.021,2673,1936,3186,3233,3139,0,0,0,0,0,0,26.43,26.36,26.45
$GC,1525,-0.48,-175.2,2673,1933,3233,3139,238.9,-13.6,172,1531,0.00,2.10,0.00,0.000,260,0.000,0.033,2663,3354,3186,3233,3139,0,0,0,0,0,0,26.69,26.34,26.70
$GC,1628,-0.48,-175.2,2663,3354,3233,3139,251.9,-12.5,177,1632,0.00,2.10,0.00,0.000,1030,0.000,0.023,2663,1946,3185,3233,3138,0,0,0,0,0,0,26.41,26.39,26.44
$STATE,2284,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2284,begin apogee
$GC,2290,0.00,0.0,2663,1816,3233,3135,351.3,-14.1,210,2427,0.55,0.08,132.23,0.842,10246,0.121,0.090,2837,1910,2464,2532,2397,0,0,0,0,0,0,26.09,24.99,24.43
$STATE,2428,end apogee,CONTROL_FINISHED_OK
$STATE,2428,begin climb
$GC,2430,0.48,175.2,2835,1910,2532,2397,358.0,0.0,217,2574,0.45,2.35,135.60,0.832,10756,0.032,0.031,3050,474,1749,1839,1659,0,0,0,0,0,0,25.21,24.86,24.31
$GC,2655,0.48,175.2,3049,475,1824,1659,332.2,20.1,228,2660,0.20,2.12,0.00,0.000,5126,0.164,0.029,2995,1835,1741,1824,1659,0,0,0,0,0,0,25.29,25.51,25.50
$GC,3462,0.48,175.2,2994,1840,1825,1653,195.0,18.9,269,3471,0.00,2.17,0.00,0.000,260,0.000,0.034,2995,3291,1738,1824,1653,0,0,0,0,0,0,26.55,26.21,26.55
$GC,3553,0.48,175.2,2994,3291,1824,1653,178.0,17.5,278,3562,0.00,2.12,0.00,0.000,1030,0.000,0.028,3004,1865,1739,1825,1653,0,0,0,0,0,0,26.32,26.25,26.36
$GC,3863,0.48,175.2,3003,1865,1824,1650,129.7,14.8,309,3871,0.00,2.12,0.00,0.000,516,0.000,0.034,3015,463,1735,1821,1650,0,0,0,0,0,0,26.63,26.26,26.63
$GC,3956,0.48,175.2,3014,462,1816,1650,117.7,12.5,318,3963,0.00,2.17,0.00,0.000,1030,0.000,0.029,3015,1877,1733,1817,1650,0,0,0,0,0,0,26.35,26.32,26.38
$GC,4276,0.48,175.2,3014,1881,1819,1650,71.7,14.8,367,4282,0.00,2.10,0.00,0.000,260,0.000,0.034,3015,3291,1734,1819,1650,0,0,0,0,0,0,26.67,26.32,26.68
$GC,4411,0.48,175.2,3014,3291,1818,1650,52.1,17.2,392,4419,0.10,2.15,0.00,0.000,5126,0.167,0.026,2995,1865,1734,1819,1650,0,0,0,0,0,0,26.06,26.36,26.17
$GC,4769,0.54,220.3,2995,1864,1819,1650,12.3,8.8,453,4795,0.00,2.17,18.98,0.534,8708,0.000,0.032,3005,465,1564,1669,1459,0,0,0,0,0,0,26.70,26.13,25.61
$GC,4815,0.54,220.3,3004,465,1657,1460,7.6,10.2,459,4824,0.00,2.17,0.00,0.000,1030,0.000,0.031,3005,1864,1559,1659,1460,0,0,0,0,0,0,26.25,26.21,26.27
$GC,4874,0.57,243.9,3004,1870,1659,1460,3.6,9.3,468,4883,0.00,0.00,7.47,0.049,8450,0.000,0.000,3005,1870,1492,1603,1381,0,0,0,0,0,0,26.53,28.83,26.54
$STATE,4884,end climb,SURFACE_DEPTH_REACHED
$STATE,4884,begin surface coast
$FINISH,0.6,1.003064
$STATE,4922,end surface coast,CONTROL_FINISHED_OK
$STATE,4922,begin surface
$SM_CCo,4938,26.73,0.049,0,0,1240,300.24
$SM_GC,1.86,7.35,0.10,26.73,0.020,0.063,0.049,125,2050,1240,-8.42,-0.96,300.24,0,0,0,0,0,0,26.26,26.37,26.17
$IRIDIUM_FIX,-2930.19,3139.54,120717,235740
$TT8_MAMPS,0.025466,0.260652
$HUMID,58.42
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,331.5,32.2
$24V_AH,24.31,31.968
$10V_AH,10.27,16.054
$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,18.550,43.150,294.275,26.725,0.000,36.593,44.468,194.940,7.500,0.000,11.959,1175.278,2304.205,372.771,1422.526,95.800,0.000,877.268,0.000,1103.309,0.000,48.037,0.000
$DEVICE_MAMPS,227.205,94.095,842.265,48.960,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,327.371,97.281,443.273,434.821,0.000,0.000,0.000,0.000,0.000,0.000
$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,30339,475
$CAP_FILE_SIZE,63705,0
$CFSIZE,2097086464,2055766016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,130717,012651,-2942.790,3141.925,5,1.2,5,-24.7,0.6,55.0,7,31.9