version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 486
start: 7 30 117 2 35 23
data:
$ID,574
$MISSION,23
$DIVE,486
$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,37
$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,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
$GPS1,300717,022802,-3305.6780,2812.8044,4,1.1,4,-27.4,0.0,0.0,7,140.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-79.9
$GPS2,300717,023436,-3305.7036,2812.7490,4,1.0,4,-27.4,0.0,0.0,8,99.3
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3311.103,2823.924
$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,-175.2,125,2061,1172,992,0.0,0.0,0,80,0.00,0.00,-62.45,0.000,16386,0.000,0.000,125,2061,2804,2795,2814,0,0,0,0,0,0,26.20,28.83,26.21
$GC,83,-0.45,-175.2,125,2061,2795,2814,3.3,-2.9,8,109,9.70,2.12,-7.85,0.000,18692,0.210,0.043,2644,3461,3183,3221,3145,0,0,0,0,0,0,25.32,25.34,25.51
$GC,175,-0.45,-175.2,2644,3461,3228,3139,21.4,-14.0,22,184,0.00,2.17,0.00,0.000,1030,0.000,0.026,2644,2043,3183,3230,3136,0,0,0,0,0,0,25.98,25.95,26.01
$GC,389,-0.45,-175.2,2644,2040,3232,3134,51.1,-12.4,59,395,0.00,2.10,0.00,0.000,516,0.000,0.031,2644,641,3183,3233,3134,0,0,0,0,0,0,26.44,26.03,26.45
$GC,425,-0.45,-175.2,2644,641,3233,3135,55.8,-13.7,65,433,0.10,2.15,0.00,0.000,3078,0.155,0.028,2665,2056,3184,3233,3135,0,0,0,0,0,0,25.82,26.06,25.96
$GC,624,-0.45,-175.2,2664,2056,3235,3134,77.6,-11.2,102,632,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2056,3184,3235,3134,0,0,0,0,0,0,26.51,26.53,26.53
$GC,825,-0.45,-175.2,2664,2055,3236,3135,99.0,-10.7,139,831,0.00,2.12,0.00,0.000,516,0.000,0.028,2665,636,3185,3236,3135,0,0,0,0,0,0,26.56,26.15,26.57
$GC,850,-0.45,-175.2,2665,635,3236,3135,101.9,-11.2,142,858,0.00,2.12,0.00,0.000,1030,0.000,0.028,2657,2049,3185,3236,3134,0,0,0,0,0,0,26.20,26.17,26.22
$GC,1040,-0.45,-175.2,2656,2049,3237,3135,123.7,-11.8,161,1049,0.00,2.08,0.00,0.000,260,0.000,0.033,2646,3461,3186,3237,3135,0,0,0,0,0,0,26.60,26.16,26.60
$GC,1104,-0.45,-175.2,2645,3461,3237,3135,130.0,-9.8,167,1111,0.00,2.10,0.00,0.000,1030,0.000,0.024,2647,2035,3185,3237,3134,0,0,0,0,0,0,26.29,26.21,26.32
$GC,1291,-0.45,-175.2,2645,2030,3238,3134,150.0,-10.6,186,1300,0.00,2.08,0.00,0.000,516,0.000,0.030,2646,641,3185,3237,3134,0,0,0,0,0,0,26.63,26.18,26.63
$GC,1334,-0.45,-175.2,2645,640,3237,3134,154.7,-11.5,190,1341,0.00,2.12,0.00,0.000,1030,0.000,0.028,2636,2050,3185,3237,3134,0,0,0,0,0,0,26.29,26.21,26.32
$GC,1522,-0.45,-175.2,2635,2050,3237,3134,178.2,-13.1,209,1531,0.00,2.10,0.00,0.000,260,0.000,0.034,2625,3458,3185,3237,3134,0,0,0,0,0,0,26.64,26.19,26.65
$STATE,1701,end dive,NO_VERTICAL_VELOCITY
$STATE,1701,begin apogee
$GC,1709,0.00,0.0,2624,1784,3238,3133,181.0,0.0,227,1844,0.52,0.00,130.55,0.702,10246,0.060,0.000,2842,1781,2465,2533,2398,0,0,0,0,0,0,26.18,25.05,24.46
$STATE,1845,end apogee,CONTROL_FINISHED_OK
$STATE,1845,begin climb
$GC,1847,0.45,175.2,2842,1781,2531,2398,180.9,0.0,241,1989,0.32,2.20,133.27,0.700,10756,0.049,0.032,2996,408,1750,1844,1656,0,0,0,0,0,0,25.25,24.72,24.32
$GC,2044,0.45,175.2,2995,408,1829,1656,165.8,12.5,260,2052,0.12,2.17,0.00,0.000,5126,0.158,0.026,2962,1805,1743,1830,1656,0,0,0,0,0,0,25.16,25.42,25.37
$GC,2232,0.45,175.2,2961,1809,1830,1655,145.4,10.9,279,2241,0.00,2.12,0.00,0.000,260,0.000,0.030,2961,3214,1742,1830,1655,0,0,0,0,0,0,26.16,25.82,26.17
$GC,2333,0.45,175.2,2961,3214,1830,1655,134.7,10.4,289,2342,0.00,2.12,0.00,0.000,1030,0.000,0.029,2969,1810,1742,1830,1655,0,0,0,0,0,0,25.99,25.91,26.02
$GC,2523,0.45,175.2,2969,1810,1830,1653,113.9,10.9,308,2532,0.00,2.17,0.00,0.000,516,0.000,0.035,2980,393,1740,1828,1652,0,0,0,0,0,0,26.39,25.96,26.41
$GC,2585,0.45,175.2,2980,393,1823,1652,107.4,10.5,314,2593,0.00,2.15,0.00,0.000,1030,0.000,0.028,2980,1800,1738,1824,1652,0,0,0,0,0,0,26.13,26.05,26.16
$GC,2781,0.45,175.2,2980,1801,1825,1652,84.7,12.2,345,2788,0.00,2.12,0.00,0.000,260,0.000,0.031,2980,3219,1738,1825,1652,0,0,0,0,0,0,26.49,26.09,26.51
$GC,2827,0.45,175.2,2979,3219,1825,1652,79.3,11.3,353,2835,0.12,2.12,0.00,0.000,5126,0.174,0.029,2955,1801,1738,1825,1652,0,0,0,0,0,0,25.77,26.10,25.98
$GC,3027,0.56,263.9,2954,1801,1825,1652,62.1,7.7,390,3109,0.10,2.25,69.53,0.646,10756,0.090,0.035,3031,393,1386,1500,1273,0,0,0,0,0,0,26.27,25.39,24.81
$GC,3158,0.56,263.9,3031,393,1488,1273,46.1,12.5,412,3166,0.12,2.22,0.00,0.000,5126,0.151,0.029,2994,1794,1380,1488,1273,0,0,0,0,0,0,25.38,25.65,25.48
$GC,3379,0.61,305.4,2994,1797,1488,1269,22.0,8.9,449,3405,0.00,2.22,19.92,0.581,8452,0.000,0.031,2994,3224,1218,1348,1089,0,0,0,0,0,0,26.29,25.67,25.07
$GC,3490,0.67,356.2,2994,3224,1340,1089,12.3,8.7,466,3522,0.00,2.20,24.27,0.563,9222,0.000,0.028,3003,1806,1010,1148,873,0,0,0,0,0,0,25.90,25.86,24.98
$GC,3573,0.67,356.2,3002,1806,1140,872,3.1,12.2,478,3582,0.00,2.25,0.00,0.000,516,0.000,0.039,3014,393,1004,1137,871,0,0,0,0,0,0,26.09,25.71,26.10
$STATE,3589,end climb,SURFACE_DEPTH_REACHED
$STATE,3589,begin surface coast
$FINISH,0.9,1.025794
$STATE,3614,end surface coast,CONTROL_FINISHED_OK
$STATE,3614,begin surface
$SM_CCo,3694,0.00,0.000,0,0,998,359.85
$SM_GC,1.88,7.57,2.60,0.00,0.028,0.021,0.000,126,2053,998,-8.34,-1.10,359.85,0,0,0,0,0,0,25.89,25.84,25.93
$IRIDIUM_FIX,-3254.46,2814.04,300717,012337
$TT8_MAMPS,0.025466,0.290612
$HUMID,59.37
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,17.10
$XPDR_PINGS,0
$24V_AH,24.32,47.301
$10V_AH,10.14,24.420
$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,18.700,56.725,377.550,0.000,0.000,30.509,40.554,209.451,0.000,0.000,11.534,1106.866,1030.412,424.642,1442.876,111.151,0.000,968.151,0.000,1130.816,0.000,1.000,0.000
$DEVICE_MAMPS,210.375,42.840,701.505,0.000,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,332.248,117.759,504.552,514.063,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343348
$DATA_FILE_SIZE,33697,484
$CAP_FILE_SIZE,63426,0
$CFSIZE,2097086464,2041446400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,300717,033734,-3306.110,2812.352,4,1.0,4,-27.4,0.0,0.0,7,123.6