version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 384
start: 7 14 117 7 44 43
data:
$ID,574
$MISSION,23
$DIVE,384
$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,32
$R_STBD_OVSHOOT,65
$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
$GPS1,140717,073656,-2950.7942,3151.3894,36,0.9,36,-24.9,0.0,0.0,8,8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-78.8
$GPS2,140717,074357,-2950.7786,3151.4392,5,0.9,5,-24.9,0.0,0.0,9,14.5
$SPEED_LIMITS,0.325,0.335
$TGT_NAME,TGT1
$TGT_LATLONG,-3000.000,3200.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,166.1,21913,-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,-175.2,124,2301,1024,832,0.0,0.0,0,80,0.00,0.00,-62.72,0.000,16386,0.000,0.000,124,2301,2648,2637,2659,0,0,0,0,0,0,26.01,28.83,26.02
$GC,83,-0.48,-175.2,123,2301,2637,2659,3.0,-2.1,8,117,9.93,2.25,-11.18,0.000,18948,0.216,0.039,2676,844,3182,3225,3140,0,0,0,0,0,0,25.29,24.25,25.47
$GC,195,-0.48,-175.2,2675,844,3228,3140,28.2,-16.6,25,204,0.00,2.20,0.00,0.000,1030,0.000,0.028,2667,2249,3183,3228,3139,0,0,0,0,0,0,25.86,25.83,25.89
$GC,340,-0.48,-175.2,2666,2249,3230,3138,58.7,-21.7,50,347,0.00,2.15,0.00,0.000,260,0.000,0.034,2656,3680,3184,3230,3138,0,0,0,0,0,0,26.26,25.89,26.27
$GC,404,-0.48,-175.2,2655,3680,3232,3136,70.1,-13.7,61,411,0.00,2.12,0.00,0.000,1030,0.000,0.024,2656,2261,3184,3233,3135,0,0,0,0,0,0,26.03,25.95,26.06
$GC,727,-0.48,-175.2,2655,2257,3237,3133,124.6,-14.3,108,735,0.00,2.08,0.00,0.000,516,0.000,0.024,2656,846,3185,3237,3134,0,0,0,0,0,0,26.42,26.08,26.44
$GC,797,-0.48,-175.2,2655,846,3239,3134,134.2,-13.2,115,807,0.10,2.15,0.00,0.000,3078,0.153,0.028,2676,2275,3186,3238,3134,0,0,0,0,0,0,25.86,26.10,26.01
$GC,1107,-0.48,-175.2,2675,2275,3240,3134,172.7,-13.2,146,1116,0.00,2.10,0.00,0.000,516,0.000,0.026,2676,855,3187,3240,3134,0,0,0,0,0,0,26.51,26.15,26.53
$GC,1158,-0.48,-175.2,2675,855,3240,3134,179.0,-12.2,151,1167,0.00,2.12,0.00,0.000,1030,0.000,0.027,2667,2272,3187,3240,3134,0,0,0,0,0,0,26.25,26.18,26.27
$GC,1468,-0.48,-175.2,2666,2272,3240,3134,219.0,-13.1,175,1474,0.00,2.10,0.00,0.000,516,0.000,0.026,2668,850,3187,3240,3134,0,0,0,0,0,0,26.57,26.20,26.58
$GC,1512,-0.48,-175.2,2667,850,3240,3134,224.3,-13.2,177,1516,0.00,2.17,0.00,0.000,1030,0.000,0.027,2657,2271,3187,3240,3134,0,0,0,0,0,0,26.25,26.22,26.29
$GC,2330,-0.48,-175.2,2657,2271,3240,3131,329.3,-13.0,218,2336,0.00,2.10,0.00,0.000,516,0.000,0.027,2657,851,3186,3240,3132,0,0,0,0,0,0,26.65,26.27,26.66
$GC,2463,-0.48,-175.2,2656,851,3241,3131,344.0,-11.9,224,2470,0.10,2.12,0.00,0.000,3078,0.152,0.027,2678,2272,3185,3240,3131,0,0,0,0,0,0,26.04,26.29,26.17
$GC,3270,-0.48,-175.2,2677,2271,3240,3127,431.8,-10.2,265,3276,0.00,2.10,0.00,0.000,260,0.000,0.035,2669,3685,3183,3240,3127,0,0,0,0,0,0,26.66,26.27,26.67
$GC,3384,-0.48,-175.2,2668,3684,3239,3126,440.4,-8.0,270,3391,0.00,2.10,0.00,0.000,1030,0.000,0.024,2668,2259,3182,3239,3126,0,0,0,0,0,0,26.39,26.32,26.41
$GC,4191,-0.48,-175.2,2668,2256,3238,3120,532.4,-11.7,311,4197,0.00,2.10,0.00,0.000,260,0.000,0.034,2659,3671,3179,3239,3120,0,0,0,0,0,0,26.70,26.27,26.72
$GC,4218,-0.48,-175.2,2658,3671,3238,3121,534.7,-11.6,312,4222,0.00,2.08,0.00,0.000,1030,0.000,0.024,2659,2265,3179,3237,3121,0,0,0,0,0,0,26.40,26.32,26.42
$GC,5025,-0.48,-175.2,2658,2262,3236,3117,631.7,-11.8,352,5031,0.00,2.15,0.00,0.000,260,0.000,0.035,2648,3677,3176,3236,3117,0,0,0,0,0,0,26.68,26.26,26.70
$GC,5074,-0.48,-175.2,2648,3677,3234,3117,636.2,-11.6,354,5079,0.10,2.08,0.00,0.000,3078,0.121,0.024,2683,2272,3175,3234,3116,0,0,0,0,0,0,26.14,26.31,26.25
$GC,5880,-0.48,-175.2,2682,2268,3234,3113,709.4,-8.7,394,5886,0.00,2.10,0.00,0.000,260,0.000,0.036,2675,3673,3173,3234,3113,0,0,0,0,0,0,26.72,26.25,26.73
$GC,5908,-0.48,-175.2,2674,3673,3233,3113,711.2,-8.8,395,5912,0.00,2.08,0.00,0.000,1030,0.000,0.024,2675,2267,3172,3232,3113,0,0,0,0,0,0,26.39,26.30,26.41
$GC,6715,-0.48,-175.2,2674,2264,3232,3108,796.9,-10.5,435,6720,0.00,2.12,0.00,0.000,260,0.000,0.037,2664,3672,3170,3232,3108,0,0,0,0,0,0,26.72,26.22,26.74
$GC,6743,-0.48,-175.2,2664,3672,3230,3108,799.0,-10.4,436,6747,0.00,2.08,0.00,0.000,1030,0.000,0.025,2664,2275,3169,3230,3108,0,0,0,0,0,0,26.37,26.29,26.40
$GC,7550,-0.48,-175.2,2663,2270,3229,3107,884.6,-10.3,476,7555,0.00,2.15,0.00,0.000,260,0.000,0.037,2654,3680,3168,3229,3107,0,0,0,0,0,0,26.72,26.21,26.74
$GC,7583,-0.48,-175.2,2653,3680,3228,3107,886.5,-10.2,477,7589,0.00,2.10,0.00,0.000,1030,0.000,0.026,2654,2271,3167,3228,3107,0,0,0,0,0,0,26.36,26.27,26.39
$STATE,7988,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7988,begin apogee
$GC,7994,0.00,0.0,2654,1837,3228,3106,933.5,-11.4,498,8138,0.57,0.00,140.65,1.250,10246,0.118,0.000,2833,1836,2465,2533,2397,0,0,0,0,0,0,25.79,24.47,23.74
$STATE,8139,end apogee,CONTROL_FINISHED_OK
$STATE,8139,begin climb
$GC,8141,0.48,175.2,2833,1836,2532,2396,939.0,0.0,505,8300,0.40,2.38,149.73,1.220,10500,0.049,0.031,2991,3270,1750,1846,1654,0,0,0,0,0,0,24.65,23.87,23.15
$GC,8347,0.48,175.2,2991,3269,1840,1654,916.8,18.0,516,8353,0.00,2.25,0.00,0.000,1030,0.000,0.030,3001,1893,1746,1840,1653,0,0,0,0,0,0,24.63,24.55,24.64
$GC,9167,0.48,175.2,3001,1893,1831,1648,745.3,21.1,557,9172,0.00,2.10,0.00,0.000,260,0.000,0.028,3001,3288,1740,1831,1649,0,0,0,0,0,0,26.29,25.96,26.31
$GC,9215,0.48,175.2,3001,3289,1831,1649,737.4,20.8,559,9219,0.00,2.17,0.00,0.000,1030,0.000,0.031,3011,1864,1739,1830,1648,0,0,0,0,0,0,26.04,25.95,26.08
$GC,10022,0.48,175.2,3011,1864,1828,1646,558.1,22.0,599,10027,0.00,2.17,0.00,0.000,516,0.000,0.038,3022,455,1736,1827,1646,0,0,0,0,0,0,26.51,26.08,26.53
$GC,10142,0.48,175.2,3022,454,1818,1646,533.8,19.6,605,10148,0.10,2.17,0.00,0.000,5126,0.190,0.028,2996,1871,1732,1819,1646,0,0,0,0,0,0,25.84,26.16,26.05
$GC,10962,0.48,175.2,2995,1875,1822,1646,391.4,16.6,646,10963,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,1875,1734,1821,1647,0,0,0,0,0,0,26.60,26.62,26.62
$GC,11762,0.48,175.2,2995,1875,1821,1646,263.9,15.6,686,11768,0.00,2.17,0.00,0.000,516,0.000,0.036,3005,458,1734,1821,1647,0,0,0,0,0,0,26.65,26.17,26.66
$GC,11810,0.48,175.2,3005,457,1816,1646,257.6,15.7,688,11814,0.00,2.15,0.00,0.000,1030,0.000,0.027,3004,1873,1731,1816,1646,0,0,0,0,0,0,26.34,26.25,26.37
$GC,12618,0.48,175.2,3004,1878,1821,1647,130.1,14.3,750,12619,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1878,1734,1822,1646,0,0,0,0,0,0,26.67,26.69,26.69
$GC,12922,0.48,175.2,3004,1878,1822,1646,90.8,10.0,787,12929,0.00,2.12,0.00,0.000,260,0.000,0.032,3005,3291,1734,1823,1646,0,0,0,0,0,0,26.68,26.25,26.70
$GC,13000,0.48,175.2,3004,3290,1823,1647,81.8,12.0,801,13007,0.00,2.15,0.00,0.000,1030,0.000,0.029,3014,1859,1734,1823,1646,0,0,0,0,0,0,26.34,26.25,26.38
$GC,13324,0.52,209.2,3014,1859,1824,1647,48.2,9.1,862,13356,0.00,2.20,26.17,0.632,8708,0.000,0.034,3026,461,1611,1709,1513,0,0,0,0,0,0,26.68,25.97,25.39
$GC,13492,0.52,209.2,3025,460,1696,1513,29.5,11.3,890,13500,0.00,2.20,0.00,0.000,1030,0.000,0.028,3026,1875,1605,1697,1513,0,0,0,0,0,0,26.11,26.07,26.13
$GC,13646,0.52,209.2,3025,1880,1698,1514,10.5,12.3,915,13655,0.00,2.12,0.00,0.000,260,0.000,0.030,3025,3282,1605,1698,1513,0,0,0,0,0,0,26.46,26.10,26.48
$GC,13664,0.52,209.2,3025,3282,1699,1514,8.2,12.3,917,13673,0.08,2.15,0.00,0.000,5126,0.166,0.025,3012,1868,1606,1698,1514,0,0,0,0,0,0,25.84,26.12,25.92
$STATE,13715,end climb,SURFACE_DEPTH_REACHED
$STATE,13715,begin surface coast
$FINISH,1.0,1.025196
$STATE,13752,end surface coast,CONTROL_FINISHED_OK
$STATE,13754,begin surface
$SM_CCo,13769,39.30,0.050,0,0,1239,300.24
$SM_GC,2.64,7.55,0.60,39.30,0.031,0.021,0.050,122,2371,1239,-8.41,-1.16,300.24,0,0,0,0,0,0,26.07,26.27,26.03
$IRIDIUM_FIX,-2937.63,3149.79,140717,073820
$TT8_MAMPS,0.025466,0.286118
$HUMID,56.26
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,910.6,36.4
$24V_AH,23.15,33.351
$10V_AH,10.12,16.793
$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,18.925,82.625,316.550,39.300,0.000,31.753,45.144,233.395,22.000,0.000,11.939,2270.225,9141.589,437.647,2255.136,150.213,0.000,1322.227,0.000,1850.477,0.000,136.029,0.000
$DEVICE_MAMPS,215.730,39.015,1250.010,49.725,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,649.336,99.989,429.362,433.577,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343272
$DATA_FILE_SIZE,60452,931
$CAP_FILE_SIZE,114783,0
$CFSIZE,2097086464,2054455296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,140717,113602,-2951.435,3152.682,34,0.9,34,-25.0,0.0,0.0,10,8.6