version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 485
start: 7 30 117 1 28 40
data:
$ID,574
$MISSION,23
$DIVE,485
$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,333
$T_MISSION,343
$T_ABORT,400
$T_TURN,225
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,120
$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,320
$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,2810
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,-6.8056469e+38
$PITCH_GAIN,57
$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,2050
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,33
$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,200
$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
$GPS1,300717,012202,-3305.2397,2813.2893,42,0.8,42,-27.4,0.0,0.0,10,8.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-78.0
$GPS2,300717,012751,-3305.2849,2813.2268,4,0.8,4,-27.4,0.8,226.6,10,63.5
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3310.684,2824.401
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,147.4,20000,-13.3,-10.010,-16.52,4021
$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,-0.45,-175.2,126,2056,1169,991,0.0,0.0,0,80,0.00,0.00,-62.80,0.000,16386,0.000,0.000,125,2057,2816,2804,2829,0,0,0,0,0,0,26.20,28.83,26.22
$GC,83,-0.45,-175.2,126,2057,2805,2829,3.2,-2.9,8,109,9.77,2.15,-7.57,0.000,18692,0.213,0.044,2647,3466,3183,3222,3144,0,0,0,0,0,0,25.31,25.35,25.51
$GC,171,-0.45,-175.2,2646,3465,3228,3138,20.5,-13.3,21,180,0.00,2.20,0.00,0.000,1030,0.000,0.028,2647,2035,3183,3231,3135,0,0,0,0,0,0,25.95,25.93,26.00
$GC,386,-0.45,-175.2,2647,2031,3234,3134,49.5,-12.6,58,393,0.00,2.10,0.00,0.000,516,0.000,0.031,2647,636,3183,3233,3134,0,0,0,0,0,0,26.43,26.03,26.44
$GC,458,-0.45,-175.2,2647,635,3233,3134,58.4,-11.2,71,465,0.00,2.17,0.00,0.000,1030,0.000,0.028,2637,2058,3183,3233,3134,0,0,0,0,0,0,26.15,26.07,26.18
$GC,658,-0.45,-175.2,2636,2058,3236,3134,83.1,-12.5,108,666,0.00,2.17,0.00,0.000,516,0.000,0.028,2637,635,3185,3236,3134,0,0,0,0,0,0,26.52,26.12,26.53
$GC,680,-0.45,-175.2,2636,635,3236,3134,85.9,-12.5,111,687,0.12,2.17,0.00,0.000,3078,0.153,0.028,2666,2062,3184,3235,3134,0,0,0,0,0,0,25.84,26.13,25.98
$GC,876,-0.45,-175.2,2665,2061,3237,3134,104.7,-9.1,143,885,0.00,2.08,0.00,0.000,260,0.000,0.034,2656,3460,3185,3237,3134,0,0,0,0,0,0,26.57,26.13,26.58
$GC,941,-0.45,-175.2,2656,3460,3237,3134,110.3,-9.0,149,947,0.00,2.08,0.00,0.000,1030,0.000,0.024,2656,2042,3186,3238,3134,0,0,0,0,0,0,26.27,26.20,26.29
$GC,1129,-0.45,-175.2,2656,2036,3239,3134,129.1,-10.2,168,1137,0.00,2.05,0.00,0.000,516,0.000,0.029,2656,643,3186,3238,3134,0,0,0,0,0,0,26.60,26.17,26.60
$GC,1163,-0.45,-175.2,2656,643,3238,3134,132.6,-11.1,171,1170,0.00,2.12,0.00,0.000,1030,0.000,0.028,2646,2056,3186,3238,3134,0,0,0,0,0,0,26.27,26.19,26.30
$GC,1350,-0.45,-175.2,2646,2056,3238,3134,154.5,-12.1,190,1353,0.00,2.10,0.00,0.000,260,0.000,0.033,2636,3466,3186,3238,3134,0,0,0,0,0,0,26.63,26.17,26.63
$GC,1403,-0.45,-175.2,2635,3467,3238,3133,160.2,-11.0,195,1411,0.00,2.12,0.00,0.000,1030,0.000,0.024,2636,2028,3185,3238,3133,0,0,0,0,0,0,26.29,26.22,26.32
$GC,1591,-0.45,-175.2,2635,2023,3238,3133,172.0,-0.2,214,1600,0.00,2.05,0.00,0.000,516,0.000,0.030,2635,645,3185,3238,3133,0,0,0,0,0,0,26.65,26.18,26.65
$STATE,1660,end dive,NO_VERTICAL_VELOCITY
$STATE,1661,begin apogee
$GC,1667,0.00,0.0,2635,1830,3238,3133,171.9,0.0,221,1803,0.47,0.00,130.52,0.691,10246,0.078,0.000,2814,1832,2463,2528,2399,0,0,0,0,0,0,26.07,25.06,24.49
$STATE,1804,end apogee,CONTROL_FINISHED_OK
$STATE,1804,begin climb
$GC,1806,0.45,175.2,2813,1832,2528,2399,172.0,0.0,235,1949,0.35,2.12,133.18,0.675,10500,0.054,0.028,2960,3184,1748,1847,1650,0,0,0,0,0,0,25.22,24.74,24.37
$GC,1974,0.45,175.2,2959,3184,1845,1650,160.2,10.2,251,1981,0.00,2.15,0.00,0.000,1030,0.000,0.029,2969,1805,1747,1845,1649,0,0,0,0,0,0,25.36,25.28,25.37
$GC,2161,0.45,175.2,2968,1805,1841,1648,138.1,12.0,270,2170,0.00,2.20,0.00,0.000,516,0.000,0.035,2980,382,1742,1836,1648,0,0,0,0,0,0,26.12,25.72,26.13
$GC,2215,0.45,175.2,2979,382,1829,1648,132.1,11.7,275,2222,0.00,2.15,0.00,0.000,1030,0.000,0.028,2980,1780,1739,1830,1648,0,0,0,0,0,0,25.93,25.85,25.96
$GC,2402,0.45,175.2,2979,1781,1832,1648,107.8,13.0,294,2411,0.00,2.15,0.00,0.000,260,0.000,0.031,2980,3211,1740,1832,1648,0,0,0,0,0,0,26.35,25.97,26.36
$GC,2456,0.45,175.2,2979,3211,1832,1648,101.6,12.1,299,2464,0.12,2.15,0.00,0.000,5126,0.174,0.031,2955,1797,1740,1832,1648,0,0,0,0,0,0,25.67,26.00,25.89
$GC,2652,0.45,175.2,2954,1797,1832,1648,80.6,10.2,335,2659,0.00,2.15,0.00,0.000,516,0.000,0.036,2963,393,1739,1830,1648,0,0,0,0,0,0,26.46,26.01,26.47
$GC,2700,0.45,175.2,2963,393,1825,1648,75.9,10.6,343,2706,0.00,2.15,0.00,0.000,1030,0.000,0.027,2964,1806,1737,1826,1648,0,0,0,0,0,0,26.17,26.10,26.21
$GC,2899,0.49,209.9,2963,1807,1828,1648,55.3,9.1,380,2932,0.00,2.17,27.20,0.614,8452,0.000,0.031,2964,3214,1607,1711,1504,0,0,0,0,0,0,26.53,25.79,25.18
$GC,2945,0.55,259.7,2963,3213,1710,1504,51.3,8.7,387,2994,0.00,2.15,40.58,0.607,9222,0.000,0.029,2973,1800,1404,1522,1287,0,0,0,0,0,0,25.98,25.90,24.88
$GC,3204,0.59,286.1,2973,1800,1516,1283,25.8,9.3,431,3222,0.00,2.22,12.75,0.550,8452,0.000,0.029,2973,3219,1297,1425,1169,0,0,0,0,0,0,26.25,25.67,25.05
$GC,3307,0.62,312.2,2973,3219,1418,1169,16.1,9.3,447,3325,0.00,2.20,12.57,0.513,9222,0.000,0.028,2983,1797,1191,1319,1064,0,0,0,0,0,0,25.94,25.89,25.06
$GC,3376,0.65,335.0,2983,1798,1313,1060,9.5,9.4,457,3394,0.10,2.20,10.43,0.480,10756,0.086,0.037,3068,394,1098,1232,965,0,0,0,0,0,0,25.94,25.41,25.03
$STATE,3424,end climb,SURFACE_DEPTH_REACHED
$STATE,3424,begin surface coast
$FINISH,0.9,1.026031
$STATE,3445,end surface coast,CONTROL_FINISHED_OK
$STATE,3446,begin surface
$SM_CCo,3525,0.00,0.000,0,0,1088,337.77
$SM_GC,1.96,7.68,2.60,0.00,0.026,0.022,0.000,125,2054,1088,-8.33,-1.13,337.77,0,0,0,0,0,0,25.89,25.87,25.94
$IRIDIUM_FIX,-3251.89,2810.55,300717,001737
$TT8_MAMPS,0.025466,0.290612
$HUMID,59.64
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,17.20
$XPDR_PINGS,3
$24V_AH,24.37,47.214
$10V_AH,10.14,24.371
$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,18.625,60.175,367.225,0.000,0.000,22.653,28.437,194.852,0.750,0.000,11.562,1075.723,956.312,411.776,1352.678,108.318,0.000,926.223,0.000,1079.400,0.000,1.000,0.000
$DEVICE_MAMPS,212.670,95.625,690.795,0.000,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,321.839,117.981,500.956,508.678,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343388
$DATA_FILE_SIZE,30395,467
$CAP_FILE_SIZE,62900,0
$CFSIZE,2097086464,2041577472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,300717,022802,-3305.678,2812.804,4,1.1,4,-27.4,0.0,0.0,7,140.0