version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 375
start: 7 13 117 3 56 56
data:
$ID,574
$MISSION,23
$DIVE,375
$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,32
$R_STBD_OVSHOOT,40
$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
$GPS1,130717,035049,-2943.1687,3142.9534,5,1.0,5,-24.7,0.9,297.3,8,21.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-80.0
$GPS2,130717,035608,-2943.1631,3143.0232,4,1.0,4,-24.7,0.0,0.0,8,22.6
$SPEED_LIMITS,0.325,0.335
$TGT_NAME,TGT1
$TGT_LATLONG,-3000.000,3200.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,163.6,41397,-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,-175.2,126,1946,1109,927,0.0,0.0,0,87,0.00,0.00,-69.85,0.000,16386,0.000,0.000,126,1946,2989,3000,2978,0,0,0,0,0,0,26.22,28.83,26.23
$GC,90,-0.48,-175.2,126,1946,3001,2978,3.7,-5.2,9,108,9.62,2.17,-3.47,0.000,18692,0.211,0.044,2661,3356,3182,3213,3151,0,0,0,0,0,0,25.58,24.60,25.73
$GC,222,-0.48,-175.2,2660,3357,3228,3140,38.6,-15.7,30,231,0.00,2.17,0.00,0.000,1030,0.000,0.024,2660,1922,3183,3229,3137,0,0,0,0,0,0,26.11,26.09,26.13
$GC,365,-0.48,-175.2,2660,1919,3230,3136,65.7,-21.7,55,372,0.00,2.12,0.00,0.000,260,0.000,0.029,2650,3358,3183,3230,3136,0,0,0,0,0,0,26.45,26.13,26.46
$GC,480,-0.48,-175.2,2649,3358,3231,3136,84.7,-14.6,76,488,0.00,2.15,0.00,0.000,1030,0.000,0.024,2650,1931,3184,3232,3136,0,0,0,0,0,0,26.24,26.21,26.26
$GC,801,-0.48,-175.2,2649,1927,3234,3135,137.2,-16.6,116,810,0.00,2.10,0.00,0.000,260,0.000,0.031,2640,3353,3184,3233,3136,0,0,0,0,0,0,26.59,26.27,26.60
$GC,929,-0.48,-175.2,2639,3353,3234,3136,153.7,-12.0,128,936,0.12,2.08,0.00,0.000,3078,0.126,0.023,2681,1925,3185,3234,3136,0,0,0,0,0,0,26.12,26.32,26.25
$GC,1235,-0.48,-175.2,2681,1921,3234,3134,186.7,-8.9,159,1244,0.00,2.10,0.00,0.000,260,0.000,0.031,2673,3350,3185,3235,3135,0,0,0,0,0,0,26.65,26.32,26.67
$GC,1289,-0.48,-175.2,2672,3350,3235,3134,190.5,-7.0,164,1297,0.00,2.03,0.00,0.000,1030,0.000,0.021,2673,1942,3184,3235,3134,0,0,0,0,0,0,26.39,26.36,26.41
$GC,1599,-0.48,-175.2,2672,1942,3235,3132,222.8,-11.4,185,1604,0.00,2.05,0.00,0.000,260,0.000,0.031,2663,3344,3183,3234,3132,0,0,0,0,0,0,26.69,26.35,26.70
$GC,1686,-0.48,-175.2,2662,3344,3235,3131,230.8,-9.8,189,1690,0.00,2.05,0.00,0.000,1030,0.000,0.022,2663,1931,3183,3235,3132,0,0,0,0,0,0,26.45,26.39,26.47
$GC,2493,-0.48,-175.2,2662,1927,3234,3127,324.5,-12.8,229,2498,0.00,2.08,0.00,0.000,516,0.000,0.031,2663,529,3181,3235,3127,0,0,0,0,0,0,26.73,26.36,26.74
$GC,2593,-0.48,-175.2,2662,529,3234,3127,336.6,-11.5,234,2597,0.00,2.12,0.00,0.000,1030,0.000,0.031,2653,1939,3180,3234,3127,0,0,0,0,0,0,26.46,26.36,26.48
$GC,3410,-0.48,-175.2,2652,1940,3232,3120,445.6,-14.3,275,3415,0.00,2.08,0.00,0.000,260,0.000,0.035,2642,3349,3176,3232,3120,0,0,0,0,0,0,26.74,26.34,26.75
$GC,3457,-0.48,-175.2,2641,3349,3231,3119,450.7,-13.7,277,3462,0.12,2.08,0.00,0.000,3078,0.190,0.027,2681,1944,3175,3231,3119,0,0,0,0,0,0,25.98,26.38,26.20
$STATE,3723,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3723,begin apogee
$GC,3728,0.00,0.0,2681,1787,3231,3117,483.2,-11.9,290,3865,0.47,0.12,132.32,0.920,10246,0.113,0.066,2834,1935,2464,2531,2398,0,0,0,0,0,0,26.10,24.91,24.32
$STATE,3866,end apogee,CONTROL_FINISHED_OK
$STATE,3866,begin climb
$GC,3868,0.48,175.2,2833,1935,2530,2398,489.4,0.0,297,4018,0.40,2.45,138.15,0.920,10756,0.033,0.032,3034,462,1748,1838,1659,0,0,0,0,0,0,25.13,24.77,24.18
$GC,4113,0.48,175.2,3033,462,1824,1659,462.6,17.2,309,4118,0.15,2.20,0.00,0.000,5126,0.171,0.025,2994,1882,1741,1824,1659,0,0,0,0,0,0,25.29,25.52,25.49
$GC,4920,0.48,175.2,2993,1887,1824,1652,324.6,18.4,349,4924,0.00,2.08,0.00,0.000,260,0.000,0.031,2994,3281,1738,1824,1652,0,0,0,0,0,0,26.53,26.20,26.54
$GC,4936,0.48,175.2,2993,3281,1823,1653,321.4,18.8,350,4942,0.00,2.10,0.00,0.000,1030,0.000,0.027,3002,1871,1737,1823,1652,0,0,0,0,0,0,26.29,26.22,26.32
$GC,5746,0.48,175.2,3002,1871,1821,1649,169.7,18.0,398,5755,0.00,2.12,0.00,0.000,516,0.000,0.034,3013,468,1734,1819,1649,0,0,0,0,0,0,26.66,26.27,26.67
$GC,5870,0.48,175.2,3013,467,1814,1650,148.8,16.5,410,5877,0.00,2.10,0.00,0.000,1030,0.000,0.028,3013,1868,1732,1815,1650,0,0,0,0,0,0,26.41,26.33,26.44
$GC,6177,0.48,175.2,3013,1872,1816,1650,100.5,15.0,441,6186,0.00,2.10,0.00,0.000,260,0.000,0.033,3013,3284,1732,1816,1649,0,0,0,0,0,0,26.69,26.32,26.70
$GC,6320,0.48,175.2,3013,3284,1815,1650,83.1,12.9,467,6328,0.10,2.10,0.00,0.000,5126,0.183,0.027,2995,1867,1733,1816,1650,0,0,0,0,0,0,26.05,26.35,26.26
$GC,6647,0.50,190.6,2995,1867,1816,1649,47.4,9.6,528,6667,0.00,2.17,10.93,0.605,8708,0.000,0.032,3005,465,1687,1776,1598,0,0,0,0,0,0,26.71,26.19,25.58
$GC,6701,0.50,190.6,3005,464,1770,1598,41.9,10.4,537,6708,0.00,2.12,0.00,0.000,1030,0.000,0.027,3005,1870,1684,1770,1598,0,0,0,0,0,0,26.34,26.27,26.36
$GC,7066,0.58,252.7,3004,1875,1772,1598,7.6,8.4,598,7099,0.00,2.15,28.12,0.551,8452,0.000,0.030,3005,3280,1432,1541,1323,0,0,0,0,0,0,26.65,25.99,25.48
$STATE,7113,end climb,SURFACE_DEPTH_REACHED
$STATE,7113,begin surface coast
$FINISH,0.6,1.011313
$STATE,7144,end surface coast,CONTROL_FINISHED_OK
$STATE,7144,begin surface
$SM_CCo,7162,20.05,0.047,0,0,1241,300.24
$SM_GC,1.41,7.45,2.00,20.05,0.027,0.014,0.047,126,1910,1241,-8.39,1.36,300.24,0,0,0,0,0,0,26.05,26.15,26.04
$IRIDIUM_FIX,-2932.67,3142.96,130717,035158
$TT8_MAMPS,0.025466,0.289863
$HUMID,59.88
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,461.4,34.7
$24V_AH,24.18,32.229
$10V_AH,10.26,16.189
$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,18.450,55.400,309.525,20.050,0.000,31.749,39.067,157.586,11.000,0.000,11.937,1497.465,3917.119,385.550,1629.435,110.160,0.000,1000.846,0.000,1337.330,0.000,70.616,0.000
$DEVICE_MAMPS,211.140,78.795,920.295,47.430,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,418.890,106.779,458.493,465.319,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343288
$DATA_FILE_SIZE,40331,609
$CAP_FILE_SIZE,76664,0
$CFSIZE,2097086464,2055405568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,130717,055733,-2943.904,3143.603,19,0.9,19,-24.7,0.7,134.0,9,105.2