version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 383
start: 7 14 117 4 8 25
data:
$ID,574
$MISSION,23
$DIVE,383
$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,40
$R_STBD_OVSHOOT,47
$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
$GPS1,140717,040031,-2949.9365,3149.9556,33,0.9,33,-24.9,0.8,85.4,9,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-80.1
$GPS2,140717,040737,-2949.9050,3149.9893,6,0.7,6,-24.9,0.6,57.0,11,349.3
$SPEED_LIMITS,0.325,0.335
$TGT_NAME,TGT1
$TGT_LATLONG,-3000.000,3200.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,164.2,24644,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.48,-175.2,122,2296,1304,1158,0.0,0.0,0,73,0.00,0.00,-54.58,0.000,16386,0.000,0.000,122,2296,2741,2728,2755,0,0,0,0,0,0,26.05,28.83,26.06
$GC,76,-0.48,-175.2,123,2296,2729,2756,3.2,-2.6,7,101,9.95,2.20,-8.68,0.000,18948,0.217,0.037,2671,850,3181,3217,3146,0,0,0,0,0,0,25.30,25.20,25.48
$GC,215,-0.48,-175.2,2670,850,3225,3143,36.7,-17.0,29,224,0.00,2.22,0.00,0.000,1030,0.000,0.028,2662,2273,3184,3227,3141,0,0,0,0,0,0,25.89,25.86,25.92
$GC,352,-0.48,-175.2,2661,2273,3229,3139,67.4,-18.8,54,361,0.00,2.17,0.00,0.000,260,0.000,0.034,2651,3678,3184,3229,3139,0,0,0,0,0,0,26.29,25.92,26.30
$GC,428,-0.48,-175.2,2651,3678,3229,3139,77.8,-11.7,67,435,0.00,2.10,0.00,0.000,1030,0.000,0.022,2651,2265,3184,3229,3139,0,0,0,0,0,0,26.06,25.99,26.09
$GC,745,-0.48,-175.2,2651,2262,3236,3136,128.9,-18.1,111,755,0.00,2.08,0.00,0.000,516,0.000,0.028,2651,864,3186,3236,3136,0,0,0,0,0,0,26.45,26.08,26.46
$GC,817,-0.48,-175.2,2650,864,3236,3136,140.3,-14.2,118,827,0.12,2.15,0.00,0.000,3078,0.149,0.028,2678,2290,3186,3236,3136,0,0,0,0,0,0,25.83,26.11,25.98
$GC,1127,-0.48,-175.2,2678,2290,3239,3136,183.3,-13.5,149,1135,0.00,2.12,0.00,0.000,516,0.000,0.025,2679,855,3187,3238,3136,0,0,0,0,0,0,26.53,26.15,26.55
$GC,1209,-0.48,-175.2,2677,855,3238,3136,194.3,-12.9,157,1213,0.00,2.12,0.00,0.000,1030,0.000,0.027,2670,2272,3187,3238,3136,0,0,0,0,0,0,26.27,26.19,26.29
$GC,1515,-0.48,-175.2,2669,2272,3239,3136,237.0,-12.6,174,1521,0.00,2.08,0.00,0.000,516,0.000,0.025,2670,862,3187,3239,3136,0,0,0,0,0,0,26.59,26.21,26.60
$GC,1574,-0.48,-175.2,2669,863,3239,3136,243.7,-11.4,177,1578,0.00,2.12,0.00,0.000,1030,0.000,0.028,2660,2278,3187,3239,3136,0,0,0,0,0,0,26.31,26.22,26.33
$GC,2391,-0.48,-175.2,2659,2282,3238,3133,352.4,-13.4,218,2397,0.00,2.08,0.00,0.000,516,0.000,0.028,2660,866,3186,3239,3133,0,0,0,0,0,0,26.63,26.27,26.65
$GC,2490,-0.48,-175.2,2659,866,3238,3133,365.1,-12.2,223,2494,0.00,2.12,0.00,0.000,1030,0.000,0.027,2650,2281,3186,3239,3133,0,0,0,0,0,0,26.36,26.29,26.39
$GC,3308,-0.48,-175.2,2649,2281,3236,3130,482.5,-13.7,264,3314,0.08,2.10,0.00,0.000,2564,0.174,0.026,2679,872,3183,3237,3129,0,0,0,0,0,0,26.17,26.27,26.21
$GC,3422,-0.48,-175.2,2678,871,3236,3130,493.1,-9.8,269,3429,0.00,2.10,0.00,0.000,1030,0.000,0.028,2670,2269,3183,3236,3130,0,0,0,0,0,0,26.39,26.30,26.41
$GC,4228,-0.48,-175.2,2670,2269,3234,3125,579.2,-10.6,310,4233,0.00,2.08,0.00,0.000,516,0.000,0.028,2670,861,3180,3234,3126,0,0,0,0,0,0,26.71,26.29,26.72
$GC,4340,-0.48,-175.2,2670,860,3234,3125,590.0,-10.5,315,4349,0.00,2.12,0.00,0.000,1030,0.000,0.028,2661,2273,3179,3234,3125,0,0,0,0,0,0,26.39,26.30,26.41
$GC,5147,-0.48,-175.2,2659,2273,3231,3121,695.9,-11.5,356,5152,0.00,2.10,0.00,0.000,516,0.000,0.028,2660,862,3176,3231,3121,0,0,0,0,0,0,26.72,26.27,26.74
$GC,5229,-0.48,-175.2,2659,862,3231,3121,704.4,-10.5,360,5233,0.00,2.15,0.00,0.000,1030,0.000,0.028,2651,2262,3176,3231,3121,0,0,0,0,0,0,26.33,26.29,26.36
$GC,6048,-0.48,-175.2,2650,2262,3228,3117,813.0,-13.8,401,6053,0.00,2.08,0.00,0.000,516,0.000,0.028,2651,868,3172,3228,3117,0,0,0,0,0,0,26.72,26.25,26.73
$GC,6128,-0.48,-175.2,2650,868,3228,3117,823.2,-12.3,405,6135,0.12,2.12,0.00,0.000,3078,0.148,0.028,2680,2275,3172,3228,3117,0,0,0,0,0,0,25.97,26.29,26.11
$GC,6949,-0.48,-175.2,2679,2275,3227,3113,902.9,-9.5,446,6955,0.00,2.10,0.00,0.000,516,0.000,0.030,2680,862,3170,3227,3113,0,0,0,0,0,0,26.72,26.23,26.74
$STATE,7068,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7068,begin apogee
$GC,7074,0.00,0.0,2674,1876,3227,3113,913.7,-8.8,452,7219,0.50,0.00,141.07,1.229,10246,0.116,0.000,2831,1876,2464,2541,2388,0,0,0,0,0,0,25.84,24.49,23.76
$STATE,7220,end apogee,CONTROL_FINISHED_OK
$STATE,7220,begin climb
$GC,7222,0.48,175.2,2831,1876,2540,2388,919.6,0.0,459,7382,0.43,2.35,149.50,1.197,10500,0.043,0.031,3002,3266,1749,1844,1654,0,0,0,0,0,0,24.68,23.94,23.23
$GC,7489,0.48,175.2,3002,3267,1836,1654,885.4,17.7,473,7495,0.00,2.22,0.00,0.000,1030,0.000,0.031,3012,1875,1745,1837,1654,0,0,0,0,0,0,25.01,24.94,25.03
$GC,8311,0.48,175.2,3012,1875,1828,1649,708.1,21.1,514,8316,0.00,2.10,0.00,0.000,260,0.000,0.028,3012,3281,1738,1828,1649,0,0,0,0,0,0,26.33,25.99,26.34
$GC,8417,0.48,175.2,3011,3281,1827,1649,690.1,17.4,519,8422,0.10,2.15,0.00,0.000,5126,0.197,0.030,2996,1865,1738,1828,1649,0,0,0,0,0,0,25.70,26.01,25.92
$GC,9224,0.48,175.2,2996,1865,1826,1648,545.0,17.8,559,9230,0.00,2.17,0.00,0.000,516,0.000,0.038,3006,458,1736,1826,1647,0,0,0,0,0,0,26.53,26.08,26.55
$GC,9344,0.48,175.2,3005,457,1818,1646,525.3,15.6,565,9350,0.00,2.15,0.00,0.000,1030,0.000,0.028,3006,1866,1732,1819,1646,0,0,0,0,0,0,26.26,26.17,26.29
$GC,10164,0.48,175.2,3005,1869,1821,1646,369.2,20.5,606,10170,0.00,2.17,0.00,0.000,516,0.000,0.035,3016,454,1733,1820,1646,0,0,0,0,0,0,26.62,26.15,26.63
$GC,10197,0.48,175.2,3016,454,1817,1646,365.2,20.6,607,10204,0.00,2.17,0.00,0.000,1030,0.000,0.028,3016,1881,1732,1818,1647,0,0,0,0,0,0,26.32,26.22,26.35
$GC,11004,0.48,175.2,3015,1885,1820,1647,204.2,19.3,648,11010,0.00,2.20,0.00,0.000,516,0.000,0.035,3026,458,1733,1820,1647,0,0,0,0,0,0,26.66,26.17,26.67
$GC,11074,0.48,175.2,3026,458,1815,1647,191.2,18.3,653,11084,0.12,2.15,0.00,0.000,5126,0.168,0.028,2991,1874,1732,1818,1646,0,0,0,0,0,0,25.88,26.25,26.10
$GC,11384,0.48,175.2,2991,1878,1821,1646,144.6,12.7,684,11393,0.00,2.17,0.00,0.000,516,0.000,0.034,3000,455,1732,1819,1646,0,0,0,0,0,0,26.67,26.18,26.68
$GC,11419,0.48,175.2,3000,455,1817,1646,140.3,13.7,687,11425,0.00,2.12,0.00,0.000,1030,0.000,0.026,3000,1870,1732,1818,1647,0,0,0,0,0,0,26.35,26.26,26.39
$GC,11728,0.48,175.2,3000,1874,1821,1646,94.7,12.6,721,11734,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,1874,1733,1821,1646,0,0,0,0,0,0,26.67,26.69,26.69
$GC,12053,0.72,372.5,3000,1875,1823,1647,58.6,4.9,782,12218,0.17,2.25,157.45,0.659,10500,0.060,0.027,3096,3281,944,1076,813,0,0,0,0,0,0,26.36,24.90,24.39
$GC,12262,0.72,372.5,3096,3282,1069,813,22.1,18.9,815,12271,0.10,2.25,0.00,0.000,5126,0.153,0.031,3077,1877,941,1069,813,0,0,0,0,0,0,25.10,25.26,25.19
$STATE,12349,end climb,SURFACE_DEPTH_REACHED
$STATE,12349,begin surface coast
$FINISH,0.9,0.998969
$STATE,12364,end surface coast,CONTROL_FINISHED_OK
$STATE,12364,begin surface
$SM_CCo,12441,0.00,0.000,0,0,935,375.30
$SM_GC,2.13,7.80,0.60,0.00,0.022,0.025,0.000,124,2295,935,-8.41,-1.27,375.30,0,0,0,0,0,0,25.56,25.61,25.61
$IRIDIUM_FIX,-2935.15,3149.79,140717,040156
$TT8_MAMPS,0.025466,0.262899
$HUMID,58.38
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,18.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,891.5,36.5
$24V_AH,23.23,33.225
$10V_AH,10.16,16.719
$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,19.500,77.325,448.025,0.000,0.000,33.534,43.633,239.689,21.500,0.000,13.250,2023.742,8126.046,472.065,2129.958,138.909,0.000,1358.498,0.000,1719.443,0.000,132.984,0.000
$DEVICE_MAMPS,217.260,38.250,1228.590,0.000,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,573.679,72.466,304.670,311.725,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343308
$DATA_FILE_SIZE,53684,831
$CAP_FILE_SIZE,108544,0
$CFSIZE,2097086464,2054553600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,140717,073656,-2950.794,3151.389,36,0.9,36,-24.9,0.0,0.0,8,8.7