version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 380
start: 7 13 117 17 45 42
data:
$ID,574
$MISSION,23
$DIVE,380
$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,2271
$C_ROLL_CLIMB,1870
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,41
$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,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
$GPS1,130717,173402,-2946.7031,3146.8672,37,0.8,37,-24.8,0.0,0.0,9,7.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-76.6
$GPS2,130717,174455,-2946.6477,3146.8582,5,0.8,5,-24.8,0.5,350.7,10,58.1
$SPEED_LIMITS,0.325,0.335
$TGT_NAME,TGT1
$TGT_LATLONG,-3000.000,3200.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,164.4,32493,-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,-175.2,123,2286,1297,1160,0.0,0.0,0,73,0.00,0.00,-55.35,0.000,16386,0.000,0.000,123,2285,2816,2803,2829,0,0,0,0,0,0,26.08,28.83,26.09
$GC,76,-0.48,-175.2,123,2285,2804,2829,3.7,-4.7,7,102,9.77,2.17,-6.85,0.000,19204,0.212,0.042,2657,3690,3184,3218,3150,0,0,0,0,0,0,25.33,25.25,25.50
$GC,203,-0.48,-175.2,2656,3690,3226,3144,34.4,-16.0,27,213,0.00,2.20,0.00,0.000,1030,0.000,0.024,2657,2257,3184,3228,3141,0,0,0,0,0,0,25.94,25.89,25.99
$GC,343,-0.48,-175.2,2657,2254,3232,3138,61.7,-22.6,52,350,0.00,2.12,0.00,0.000,516,0.000,0.029,2657,863,3185,3232,3138,0,0,0,0,0,0,26.32,25.96,26.33
$GC,412,-0.48,-175.2,2656,862,3232,3138,72.7,-13.5,64,420,0.08,2.17,0.00,0.000,3078,0.160,0.026,2670,2275,3185,3233,3138,0,0,0,0,0,0,25.77,26.03,25.85
$GC,733,-0.48,-175.2,2669,2275,3236,3138,121.9,-14.8,111,742,0.00,2.08,0.00,0.000,260,0.000,0.034,2661,3674,3187,3236,3138,0,0,0,0,0,0,26.48,26.10,26.49
$GC,766,-0.48,-175.2,2660,3674,3236,3138,126.4,-14.1,114,774,0.00,2.12,0.00,0.000,1030,0.000,0.023,2660,2266,3187,3236,3138,0,0,0,0,0,0,26.18,26.15,26.19
$GC,1074,-0.48,-175.2,2660,2262,3238,3137,168.1,-13.1,145,1078,0.00,2.08,0.00,0.000,516,0.000,0.028,2660,856,3187,3238,3137,0,0,0,0,0,0,26.55,26.18,26.57
$GC,1194,-0.48,-175.2,2660,856,3238,3137,182.1,-11.6,156,1200,0.00,2.12,0.00,0.000,1030,0.000,0.028,2650,2281,3187,3238,3137,0,0,0,0,0,0,26.30,26.22,26.32
$GC,1500,-0.48,-175.2,2649,2281,3239,3137,226.4,-14.7,178,1506,0.00,2.12,0.00,0.000,516,0.000,0.027,2650,852,3187,3238,3137,0,0,0,0,0,0,26.62,26.25,26.63
$GC,1528,-0.48,-175.2,2649,852,3238,3137,229.6,-15.0,179,1533,0.12,2.12,0.00,0.000,3078,0.145,0.026,2678,2277,3187,3238,3137,0,0,0,0,0,0,25.98,26.27,26.14
$GC,2336,-0.48,-175.2,2678,2280,3238,3133,322.0,-10.0,219,2341,0.00,2.10,0.00,0.000,260,0.000,0.035,2670,3679,3185,3238,3133,0,0,0,0,0,0,26.68,26.27,26.70
$GC,2457,-0.48,-175.2,2669,3679,3237,3133,331.5,-7.4,225,2462,0.00,2.05,0.00,0.000,1030,0.000,0.024,2669,2274,3185,3237,3133,0,0,0,0,0,0,26.35,26.32,26.37
$GC,3275,-0.48,-175.2,2669,2271,3236,3130,424.2,-12.0,266,3280,0.00,2.12,0.00,0.000,516,0.000,0.031,2669,858,3183,3236,3130,0,0,0,0,0,0,26.71,26.29,26.72
$GC,3298,-0.48,-175.2,2669,858,3236,3129,426.7,-12.2,267,3302,0.00,2.10,0.00,0.000,1030,0.000,0.027,2659,2268,3182,3236,3129,0,0,0,0,0,0,26.41,26.33,26.44
$GC,4111,-0.48,-175.2,2658,2268,3233,3126,537.5,-13.5,308,4117,0.00,2.10,0.00,0.000,516,0.000,0.028,2659,856,3179,3233,3126,0,0,0,0,0,0,26.72,26.30,26.73
$GC,4250,-0.48,-175.2,2658,855,3233,3126,555.4,-12.4,315,4256,0.10,2.12,0.00,0.000,3078,0.151,0.028,2680,2272,3179,3233,3126,0,0,0,0,0,0,26.08,26.33,26.21
$GC,5070,-0.48,-175.2,2679,2272,3231,3121,648.1,-11.2,356,5075,0.00,2.10,0.00,0.000,516,0.000,0.030,2680,865,3176,3231,3121,0,0,0,0,0,0,26.73,26.28,26.74
$GC,5218,-0.48,-175.2,2679,865,3230,3121,663.3,-10.8,363,5222,0.00,2.12,0.00,0.000,1030,0.000,0.029,2672,2273,3174,3229,3120,0,0,0,0,0,0,26.39,26.30,26.42
$GC,6027,-0.48,-175.2,2671,2273,3228,3116,757.0,-11.4,403,6032,0.00,2.08,0.00,0.000,516,0.000,0.031,2672,871,3172,3228,3116,0,0,0,0,0,0,26.73,26.27,26.74
$GC,6170,-0.48,-175.2,2671,871,3227,3116,771.5,-10.1,410,6175,0.00,2.15,0.00,0.000,1030,0.000,0.028,2661,2271,3171,3227,3116,0,0,0,0,0,0,26.34,26.31,26.37
$STATE,6346,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6347,begin apogee
$GC,6352,0.00,0.0,2661,1840,3227,3114,793.4,-12.0,419,6494,0.55,0.00,138.93,1.154,10246,0.119,0.000,2833,1838,2464,2538,2391,0,0,0,0,0,0,25.86,24.60,23.90
$STATE,6495,end apogee,CONTROL_FINISHED_OK
$STATE,6496,begin climb
$GC,6497,0.48,175.2,2833,1838,2538,2391,798.1,0.0,426,6653,0.40,2.33,146.48,1.129,10500,0.042,0.031,2999,3273,1749,1845,1653,0,0,0,0,0,0,24.79,24.25,23.56
$GC,6725,0.48,175.2,2999,3273,1838,1654,771.5,17.9,438,6731,0.00,2.17,0.00,0.000,1030,0.000,0.029,3009,1901,1745,1838,1653,0,0,0,0,0,0,25.07,24.99,25.09
$GC,7545,0.48,175.2,3009,1901,1830,1648,608.3,19.5,479,7551,0.00,2.08,0.00,0.000,260,0.000,0.028,3009,3283,1739,1830,1648,0,0,0,0,0,0,26.38,26.05,26.39
$GC,7613,0.48,175.2,3009,3283,1830,1648,597.4,18.5,482,7617,0.00,2.15,0.00,0.000,1030,0.000,0.030,3019,1869,1738,1829,1648,0,0,0,0,0,0,26.14,26.06,26.17
$GC,8425,0.48,175.2,3019,1868,1826,1646,440.1,18.5,523,8431,0.00,2.17,0.00,0.000,516,0.000,0.037,3031,456,1736,1826,1646,0,0,0,0,0,0,26.56,26.14,26.58
$GC,8554,0.48,175.2,3030,455,1817,1646,417.5,17.8,529,8559,0.12,2.15,0.00,0.000,5126,0.177,0.027,2996,1876,1731,1817,1646,0,0,0,0,0,0,25.85,26.22,26.08
$GC,9362,0.48,175.2,2996,1880,1821,1646,277.9,16.1,569,9367,0.00,2.15,0.00,0.000,516,0.000,0.035,3005,466,1733,1820,1646,0,0,0,0,0,0,26.65,26.17,26.66
$GC,9380,0.48,175.2,3004,466,1817,1646,274.8,16.1,570,9386,0.00,2.12,0.00,0.000,1030,0.000,0.026,3005,1875,1732,1818,1646,0,0,0,0,0,0,26.36,26.27,26.39
$GC,10190,0.48,175.2,3004,1878,1820,1646,138.5,16.4,629,10199,0.00,2.08,0.00,0.000,260,0.000,0.030,3005,3278,1733,1820,1646,0,0,0,0,0,0,26.68,26.27,26.70
$GC,10204,0.48,175.2,3005,3278,1820,1646,137.2,16.4,630,10211,0.00,2.10,0.00,0.000,1030,0.000,0.028,3015,1865,1733,1821,1646,0,0,0,0,0,0,26.36,26.27,26.40
$GC,10518,0.48,175.2,3015,1864,1821,1646,90.5,10.9,669,10525,0.00,2.15,0.00,0.000,516,0.000,0.036,3026,460,1733,1820,1646,0,0,0,0,0,0,26.68,26.21,26.70
$GC,10687,0.52,203.0,3025,460,1814,1646,73.1,9.2,700,10714,0.00,2.17,21.00,0.652,9222,0.000,0.030,3026,1865,1637,1732,1542,0,0,0,0,0,0,26.32,26.28,25.44
$GC,11043,0.52,203.0,3025,1867,1728,1540,29.1,14.3,764,11051,0.00,2.17,0.00,0.000,516,0.000,0.033,3036,465,1633,1726,1540,0,0,0,0,0,0,26.51,26.11,26.53
$GC,11090,0.52,203.0,3036,465,1722,1540,22.3,14.3,771,11100,0.10,2.17,0.00,0.000,5126,0.147,0.027,3006,1877,1632,1724,1540,0,0,0,0,0,0,25.89,26.20,25.99
$GC,11245,0.52,203.0,3005,1883,1727,1540,3.7,11.9,796,11254,0.00,2.10,0.00,0.000,260,0.000,0.029,3006,3277,1633,1727,1540,0,0,0,0,0,0,26.55,26.22,26.57
$STATE,11263,end climb,SURFACE_DEPTH_REACHED
$STATE,11263,begin surface coast
$FINISH,0.9,1.025691
$STATE,11282,end surface coast,CONTROL_FINISHED_OK
$STATE,11282,begin surface
$SM_CCo,11299,42.05,0.049,0,0,1239,300.24
$SM_GC,2.25,7.35,1.52,42.05,0.020,0.019,0.049,124,2253,1239,-8.39,0.99,300.24,0,0,0,0,0,0,26.23,26.26,26.09
$IRIDIUM_FIX,-2935.15,3146.37,130717,173923
$TT8_MAMPS,0.025466,0.291361
$HUMID,57.83
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,771.5,34.9
$24V_AH,23.56,32.824
$10V_AH,10.16,16.515
$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,18.600,76.875,306.400,42.050,0.000,66.545,68.056,309.114,18.500,0.000,11.958,1988.803,7216.013,411.857,2253.630,152.337,0.000,1220.193,0.000,1693.111,0.000,114.826,0.000
$DEVICE_MAMPS,211.905,87.210,1153.620,48.960,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,554.895,95.768,398.620,404.693,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343316
$DATA_FILE_SIZE,50285,801
$CAP_FILE_SIZE,107449,0
$CFSIZE,2097086464,2054881280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,130717,205601,-2947.958,3147.455,41,0.7,41,-24.8,0.7,323.8,12,49.5