version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 382
start: 7 14 117 0 30 56
data:
$ID,574
$MISSION,23
$DIVE,382
$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,36
$R_STBD_OVSHOOT,48
$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
$GPS1,140717,002332,-2949.2505,3148.8645,60,1.0,60,-24.9,0.6,86.4,9,11.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-80.6
$GPS2,140717,003010,-2949.2766,3148.9421,5,0.8,5,-24.9,0.9,106.7,11,13.0
$SPEED_LIMITS,0.325,0.335
$TGT_NAME,TGT1
$TGT_LATLONG,-3000.000,3200.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,163.1,26626,-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,-175.2,123,2292,1299,1154,0.0,0.0,0,73,0.00,0.00,-55.12,0.000,16386,0.000,0.000,123,2292,2764,2751,2778,0,0,0,0,0,0,26.12,28.83,26.13
$GC,76,-0.48,-175.2,123,2292,2751,2779,3.2,-3.2,7,101,9.90,2.12,-8.07,0.000,18692,0.216,0.045,2659,3680,3180,3217,3143,0,0,0,0,0,0,25.37,25.29,25.54
$GC,145,-0.48,-175.2,2658,3680,3224,3140,23.1,-18.7,17,154,0.00,2.17,0.00,0.000,1030,0.000,0.025,2658,2267,3181,3226,3137,0,0,0,0,0,0,25.90,25.86,25.91
$GC,292,-0.48,-175.2,2658,2267,3227,3134,52.7,-22.3,42,301,0.00,2.17,0.00,0.000,516,0.000,0.031,2659,852,3181,3228,3134,0,0,0,0,0,0,26.30,25.93,26.32
$GC,367,-0.48,-175.2,2658,852,3228,3134,67.7,-17.2,55,375,0.10,2.15,0.00,0.000,3078,0.161,0.027,2678,2269,3181,3228,3134,0,0,0,0,0,0,25.74,26.01,25.89
$GC,695,-0.48,-175.2,2677,2269,3233,3134,116.5,-12.9,105,704,0.00,2.08,0.00,0.000,260,0.000,0.033,2668,3675,3183,3233,3134,0,0,0,0,0,0,26.47,26.08,26.48
$GC,736,-0.48,-175.2,2668,3676,3233,3134,121.0,-10.9,109,745,0.00,2.10,0.00,0.000,1030,0.000,0.022,2668,2255,3184,3235,3133,0,0,0,0,0,0,26.20,26.13,26.22
$GC,1046,-0.48,-175.2,2668,2251,3237,3133,163.6,-13.4,140,1050,0.00,2.05,0.00,0.000,516,0.000,0.028,2668,865,3185,3237,3133,0,0,0,0,0,0,26.55,26.17,26.56
$GC,1103,-0.48,-175.2,2668,864,3237,3133,171.2,-12.2,145,1111,0.00,2.10,0.00,0.000,1030,0.000,0.027,2658,2271,3185,3237,3133,0,0,0,0,0,0,26.27,26.20,26.29
$GC,1422,-0.48,-175.2,2658,2270,3238,3133,215.6,-14.5,172,1427,0.00,2.10,0.00,0.000,516,0.000,0.026,2658,861,3185,3238,3133,0,0,0,0,0,0,26.60,26.23,26.62
$GC,1451,-0.48,-175.2,2658,861,3238,3133,218.6,-14.7,173,1456,0.10,2.10,0.00,0.000,3078,0.148,0.027,2679,2271,3185,3237,3133,0,0,0,0,0,0,26.01,26.24,26.14
$GC,2257,-0.48,-175.2,2679,2271,3237,3132,314.2,-10.2,213,2263,0.00,2.08,0.00,0.000,516,0.000,0.027,2679,865,3184,3238,3131,0,0,0,0,0,0,26.67,26.27,26.69
$GC,2398,-0.48,-175.2,2679,864,3237,3132,327.8,-9.4,220,2404,0.00,2.08,0.00,0.000,1030,0.000,0.028,2674,2261,3184,3237,3131,0,0,0,0,0,0,26.33,26.29,26.36
$GC,3218,-0.48,-175.2,2673,2260,3236,3129,421.9,-11.8,261,3223,0.00,2.08,0.00,0.000,516,0.000,0.027,2673,859,3182,3236,3129,0,0,0,0,0,0,26.67,26.29,26.69
$GC,3298,-0.48,-175.2,2673,859,3235,3129,430.9,-11.2,265,3303,0.00,2.12,0.00,0.000,1030,0.000,0.028,2663,2277,3181,3235,3128,0,0,0,0,0,0,26.40,26.32,26.42
$GC,4117,-0.48,-175.2,2662,2277,3232,3126,526.1,-11.4,306,4123,0.00,2.10,0.00,0.000,516,0.000,0.028,2663,864,3178,3232,3125,0,0,0,0,0,0,26.72,26.29,26.73
$GC,4221,-0.48,-175.2,2662,863,3232,3125,536.6,-10.2,311,4225,0.00,2.10,0.00,0.000,1030,0.000,0.028,2653,2271,3178,3232,3125,0,0,0,0,0,0,26.40,26.32,26.42
$GC,5034,-0.48,-175.2,2652,2271,3229,3121,656.0,-14.6,352,5039,0.00,2.10,0.00,0.000,516,0.000,0.029,2653,868,3174,3228,3121,0,0,0,0,0,0,26.72,26.28,26.74
$GC,5162,-0.48,-175.2,2653,868,3228,3120,671.9,-12.5,358,5166,0.10,2.10,0.00,0.000,3078,0.151,0.028,2674,2271,3174,3228,3121,0,0,0,0,0,0,26.05,26.31,26.17
$GC,5969,-0.48,-175.2,2673,2271,3227,3115,760.9,-9.9,398,5974,0.00,2.10,0.00,0.000,516,0.000,0.031,2674,861,3171,3227,3115,0,0,0,0,0,0,26.70,26.25,26.71
$GC,6123,-0.48,-175.2,2673,861,3227,3115,773.9,-8.9,405,6130,0.00,2.12,0.00,0.000,1030,0.000,0.028,2665,2274,3170,3226,3115,0,0,0,0,0,0,26.38,26.29,26.41
$GC,6928,-0.48,-175.2,2665,2274,3225,3112,857.3,-10.5,446,6934,0.00,2.12,0.00,0.000,516,0.000,0.030,2665,860,3168,3225,3111,0,0,0,0,0,0,26.73,26.24,26.74
$GC,7081,-0.48,-175.2,2664,860,3225,3111,871.4,-9.7,453,7085,0.00,2.12,0.00,0.000,1030,0.000,0.028,2655,2271,3167,3224,3111,0,0,0,0,0,0,26.36,26.27,26.39
$STATE,7206,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7206,begin apogee
$GC,7211,0.00,0.0,2655,1831,3224,3109,886.7,-12.3,459,7356,0.55,0.00,140.73,1.232,10246,0.117,0.000,2829,1829,2465,2540,2390,0,0,0,0,0,0,25.83,24.50,23.76
$STATE,7357,end apogee,CONTROL_FINISHED_OK
$STATE,7357,begin climb
$GC,7359,0.48,175.2,2829,1829,2539,2390,891.1,0.0,466,7517,0.40,2.40,149.27,1.208,11012,0.044,0.031,2991,3282,1749,1847,1652,0,0,0,0,0,0,24.70,24.00,23.27
$GC,7673,0.48,175.2,2990,3283,1839,1651,851.3,17.4,482,7677,0.00,2.15,0.00,0.000,1030,0.000,0.030,3000,1916,1745,1839,1651,0,0,0,0,0,0,25.24,25.16,25.27
$GC,8480,0.48,175.2,2999,1915,1832,1648,688.0,20.5,522,8485,0.00,2.05,0.00,0.000,260,0.000,0.028,3000,3283,1740,1832,1649,0,0,0,0,0,0,26.36,26.02,26.37
$GC,8582,0.48,175.2,2999,3283,1830,1649,669.6,18.0,527,8586,0.00,2.15,0.00,0.000,1030,0.000,0.030,3010,1866,1740,1831,1649,0,0,0,0,0,0,26.12,26.03,26.15
$GC,9394,0.48,175.2,3009,1866,1828,1647,504.9,20.6,568,9400,0.00,2.12,0.00,0.000,260,0.000,0.028,3010,3289,1738,1828,1648,0,0,0,0,0,0,26.55,26.17,26.56
$GC,9535,0.48,175.2,3009,3289,1827,1647,480.3,16.9,575,9541,0.00,2.15,0.00,0.000,1030,0.000,0.031,3020,1870,1737,1827,1647,0,0,0,0,0,0,26.27,26.17,26.30
$GC,10354,0.48,175.2,3019,1869,1825,1648,313.0,19.6,616,10360,0.00,2.12,0.00,0.000,260,0.000,0.029,3020,3292,1736,1825,1648,0,0,0,0,0,0,26.63,26.22,26.65
$GC,10514,0.48,175.2,3020,3292,1825,1648,285.7,16.2,624,10521,0.12,2.15,0.00,0.000,5126,0.182,0.031,2997,1867,1736,1825,1648,0,0,0,0,0,0,25.84,26.22,26.07
$GC,11324,0.48,175.2,2996,1866,1825,1647,159.8,16.3,677,11333,0.00,2.15,0.00,0.000,516,0.000,0.036,3006,462,1735,1824,1647,0,0,0,0,0,0,26.67,26.17,26.69
$GC,11458,0.48,175.2,3005,461,1817,1648,138.9,15.2,690,11467,0.00,2.12,0.00,0.000,1030,0.000,0.029,3006,1868,1733,1819,1648,0,0,0,0,0,0,26.29,26.26,26.33
$GC,11770,0.48,175.2,3005,1871,1822,1648,88.9,16.2,727,11777,0.00,2.10,0.00,0.000,260,0.000,0.031,3005,3284,1735,1823,1648,0,0,0,0,0,0,26.67,26.25,26.69
$GC,11784,0.48,175.2,3005,3284,1823,1648,86.6,14.9,729,11791,0.00,2.12,0.00,0.000,1030,0.000,0.027,3015,1863,1735,1823,1648,0,0,0,0,0,0,26.35,26.26,26.39
$GC,12108,0.48,175.6,3015,1863,1823,1648,45.4,9.9,790,12115,0.00,2.10,0.00,0.000,260,0.000,0.028,3015,3285,1736,1824,1648,0,0,0,0,0,0,26.68,26.27,26.70
$GC,12207,0.61,279.1,3014,3285,1824,1648,37.6,7.3,807,12293,0.00,2.15,75.05,0.649,9222,0.000,0.028,3026,1871,1326,1446,1206,0,0,0,0,0,0,26.35,26.29,24.87
$GC,12437,0.61,279.1,3025,1871,1440,1201,6.1,14.8,842,12445,0.00,2.22,0.00,0.000,516,0.000,0.036,3036,467,1318,1437,1200,0,0,0,0,0,0,26.06,25.67,26.08
$STATE,12458,end climb,SURFACE_DEPTH_REACHED
$STATE,12458,begin surface coast
$FINISH,0.9,1.015023
$STATE,12478,end surface coast,CONTROL_FINISHED_OK
$STATE,12478,begin surface
$SM_CCo,12497,8.35,0.050,0,0,1239,300.24
$SM_GC,2.66,7.68,2.83,8.35,0.027,0.018,0.050,122,2290,1239,-8.42,-0.93,300.24,0,0,0,0,0,0,25.75,25.80,25.72
$IRIDIUM_FIX,-2935.15,3147.68,140717,002502
$TT8_MAMPS,0.025466,0.261401
$HUMID,59.37
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,18.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,871.4,28.3
$24V_AH,23.27,33.076
$10V_AH,10.17,16.652
$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,18.950,82.075,365.050,8.350,0.000,38.740,19.521,233.635,21.250,0.000,11.980,2115.109,8022.075,416.650,2227.656,147.831,0.000,1330.529,0.000,1846.391,0.000,130.988,0.000
$DEVICE_MAMPS,216.495,45.135,1231.650,50.490,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,586.704,85.813,375.665,377.775,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343320
$DATA_FILE_SIZE,53876,848
$CAP_FILE_SIZE,112561,0
$CFSIZE,2097086464,2054684672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,140717,040031,-2949.937,3149.956,33,0.9,33,-24.9,0.8,85.4,9,16.3