version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 391
start: 7 15 117 12 19 35
data:
$ID,574
$MISSION,23
$DIVE,391
$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,2130
$C_ROLL_CLIMB,1840
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,85
$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
$GPS1,150717,121121,-3012.7593,3202.7007,17,0.8,17,-25.5,2.3,182.4,10,127.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-80.2
$GPS2,150717,121848,-3013.1248,3202.7002,5,0.8,6,-25.5,1.4,167.9,10,91.3
$SPEED_LIMITS,0.325,0.335
$TGT_NAME,TGT1
$TGT_LATLONG,-2939.970,3132.110
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,346.8,78699,-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,-175.2,125,2136,1294,1163,0.0,0.0,0,73,0.00,0.00,-55.25,0.000,16386,0.000,0.000,125,2137,2759,2745,2773,0,0,0,0,0,0,26.13,28.83,26.15
$GC,76,-0.48,-175.2,126,2136,2746,2774,3.4,-3.6,7,102,9.90,2.15,-8.25,0.000,18948,0.216,0.035,2669,697,3182,3218,3146,0,0,0,0,0,0,25.36,25.29,25.55
$GC,133,-0.48,-175.2,2668,697,3222,3145,22.4,-27.2,15,142,0.00,2.17,0.00,0.000,1030,0.000,0.028,2660,2092,3183,3225,3141,0,0,0,0,0,0,25.91,25.87,25.94
$GC,278,-0.48,-175.2,2659,2092,3228,3140,57.0,-26.0,40,285,0.00,2.20,0.00,0.000,260,0.000,0.033,2649,3536,3183,3227,3139,0,0,0,0,0,0,26.31,25.95,26.32
$GC,345,-0.48,-175.2,2648,3536,3228,3139,71.5,-18.6,52,352,0.00,2.15,0.00,0.000,1030,0.000,0.024,2649,2121,3183,3229,3138,0,0,0,0,0,0,26.05,26.04,26.07
$GC,661,-0.48,-175.2,2648,2116,3233,3136,135.7,-17.0,95,663,0.10,0.00,0.00,0.000,2054,0.168,0.000,2678,2116,3184,3233,3136,0,0,0,0,0,0,25.96,26.12,26.07
$GC,961,-0.48,-175.2,2677,2116,3236,3136,178.1,-13.2,125,965,0.00,2.05,0.00,0.000,516,0.000,0.027,2678,718,3185,3236,3135,0,0,0,0,0,0,26.55,26.19,26.56
$GC,977,-0.48,-175.2,2677,717,3236,3136,180.5,-13.8,126,981,0.00,2.12,0.00,0.000,1030,0.000,0.024,2669,2144,3186,3236,3136,0,0,0,0,0,0,26.28,26.20,26.29
$GC,1282,-0.48,-175.2,2669,2148,3237,3136,224.0,-14.9,148,1287,0.00,2.05,0.00,0.000,260,0.000,0.032,2658,3544,3186,3236,3136,0,0,0,0,0,0,26.60,26.22,26.62
$GC,1370,-0.48,-175.2,2658,3543,3236,3136,232.8,-10.9,152,1374,0.00,2.08,0.00,0.000,1030,0.000,0.021,2658,2119,3186,3237,3136,0,0,0,0,0,0,26.34,26.27,26.36
$GC,2178,-0.48,-175.2,2658,2115,3237,3133,343.2,-13.2,192,2183,0.00,2.05,0.00,0.000,516,0.000,0.028,2658,721,3185,3237,3133,0,0,0,0,0,0,26.68,26.29,26.70
$GC,2262,-0.48,-175.2,2658,720,3237,3133,354.1,-13.2,196,2266,0.10,2.10,0.00,0.000,3078,0.143,0.027,2680,2130,3185,3237,3133,0,0,0,0,0,0,26.09,26.32,26.22
$GC,3077,-0.48,-175.2,2680,2130,3236,3130,451.8,-9.9,237,3083,0.00,2.08,0.00,0.000,260,0.000,0.036,2671,3527,3183,3236,3130,0,0,0,0,0,0,26.70,26.29,26.71
$GC,3196,-0.48,-175.2,2670,3527,3234,3130,463.6,-9.7,243,3200,0.00,2.08,0.00,0.000,1030,0.000,0.023,2671,2120,3182,3235,3130,0,0,0,0,0,0,26.42,26.34,26.44
$GC,4019,-0.48,-175.2,2670,2116,3233,3126,578.6,-12.7,284,4024,0.00,2.08,0.00,0.000,516,0.000,0.029,2671,705,3179,3233,3126,0,0,0,0,0,0,26.72,26.31,26.74
$GC,4126,-0.48,-175.2,2670,704,3232,3126,589.2,-10.3,289,4130,0.00,2.12,0.00,0.000,1030,0.000,0.028,2661,2126,3179,3232,3126,0,0,0,0,0,0,26.41,26.33,26.44
$GC,4933,-0.48,-175.2,2660,2126,3229,3121,679.0,-12.5,329,4938,0.00,2.10,0.00,0.000,260,0.000,0.035,2650,3536,3174,3228,3121,0,0,0,0,0,0,26.73,26.28,26.74
$GC,5003,-0.48,-175.2,2649,3536,3228,3121,685.9,-11.6,332,5007,0.00,2.08,0.00,0.000,1030,0.000,0.024,2650,2125,3174,3228,3121,0,0,0,0,0,0,26.41,26.33,26.44
$GC,5811,-0.48,-175.2,2649,2121,3227,3115,791.0,-12.0,372,5817,0.00,2.08,0.00,0.000,516,0.000,0.031,2650,717,3170,3226,3115,0,0,0,0,0,0,26.71,26.28,26.72
$GC,5912,-0.48,-175.2,2649,716,3226,3115,801.5,-10.1,377,5917,0.10,2.17,0.00,0.000,3078,0.134,0.029,2673,2128,3170,3226,3115,0,0,0,0,0,0,26.02,26.30,26.09
$GC,6730,-0.48,-175.2,2672,2128,3224,3108,875.5,-9.5,418,6735,0.00,2.12,0.00,0.000,260,0.000,0.040,2663,3534,3165,3223,3108,0,0,0,0,0,0,26.73,26.22,26.74
$GC,6763,-0.48,-175.2,2663,3533,3223,3108,877.5,-9.8,419,6770,0.00,2.08,0.00,0.000,1030,0.000,0.026,2663,2133,3165,3223,3108,0,0,0,0,0,0,26.38,26.29,26.41
$GC,7569,-0.48,-175.2,2662,2129,3220,3105,963.2,-10.7,460,7575,0.00,2.12,0.00,0.000,260,0.000,0.040,2653,3532,3161,3219,3104,0,0,0,0,0,0,26.73,26.20,26.74
$GC,7670,-0.48,-175.2,2652,3532,3218,3105,972.2,-8.5,465,7676,0.00,2.10,0.00,0.000,1030,0.000,0.027,2653,2125,3161,3218,3105,0,0,0,0,0,0,26.36,26.27,26.39
$STATE,7929,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7929,begin apogee
$GC,7934,0.00,0.0,2653,1810,3218,3102,1000.9,-11.6,478,8079,0.57,0.00,141.23,1.292,10246,0.125,0.000,2829,1810,2465,2540,2390,0,0,0,0,0,0,25.75,24.49,23.72
$STATE,8080,end apogee,CONTROL_FINISHED_OK
$STATE,8080,begin climb
$GC,8082,0.48,175.2,2829,1810,2538,2390,1007.6,0.0,485,8243,0.43,2.33,150.82,1.264,10756,0.057,0.037,3000,473,1749,1844,1654,0,0,0,0,0,0,24.67,23.92,23.18
$GC,8319,0.48,175.2,3000,472,1830,1653,981.4,18.7,497,8323,0.00,2.22,0.00,0.000,1030,0.000,0.031,3000,1838,1741,1829,1654,0,0,0,0,0,0,24.89,24.82,24.91
$GC,9126,0.48,175.2,2999,1842,1828,1650,816.7,20.7,537,9131,0.00,2.15,0.00,0.000,516,0.000,0.037,3010,463,1739,1828,1650,0,0,0,0,0,0,26.34,25.94,26.36
$GC,9186,0.48,175.2,3009,462,1824,1650,804.5,20.4,540,9191,0.00,2.15,0.00,0.000,1030,0.000,0.031,3010,1852,1737,1824,1650,0,0,0,0,0,0,26.10,26.01,26.13
$GC,10006,0.48,175.2,3009,1856,1825,1650,642.8,18.2,581,10011,0.00,2.15,0.00,0.000,516,0.000,0.037,3020,464,1738,1825,1651,0,0,0,0,0,0,26.55,26.10,26.56
$GC,10168,0.48,175.2,3019,463,1821,1650,612.6,18.0,589,10172,0.00,2.12,0.00,0.000,1030,0.000,0.031,3020,1847,1735,1820,1651,0,0,0,0,0,0,26.27,26.17,26.29
$GC,10986,0.48,175.2,3020,1850,1824,1650,459.3,17.6,630,10990,0.00,2.12,0.00,0.000,260,0.000,0.034,3020,3253,1737,1824,1651,0,0,0,0,0,0,26.63,26.20,26.65
$GC,11047,0.48,175.2,3019,3253,1824,1651,448.8,17.4,633,11053,0.12,2.08,0.00,0.000,5126,0.184,0.030,2996,1872,1737,1824,1651,0,0,0,0,0,0,25.83,26.22,26.06
$GC,11867,0.48,175.2,2995,1872,1827,1651,318.7,15.0,674,11873,0.00,2.20,0.00,0.000,516,0.000,0.036,3006,434,1739,1827,1651,0,0,0,0,0,0,26.67,26.17,26.68
$GC,11955,0.48,175.2,3005,433,1824,1651,307.2,14.4,678,11959,0.00,2.15,0.00,0.000,1030,0.000,0.029,3005,1847,1737,1824,1651,0,0,0,0,0,0,26.34,26.25,26.38
$GC,12762,0.48,175.2,3005,1851,1831,1651,188.0,12.1,722,12770,0.00,2.10,0.00,0.000,260,0.000,0.033,3005,3256,1741,1831,1651,0,0,0,0,0,0,26.69,26.25,26.70
$GC,12886,0.48,175.2,3005,3256,1830,1654,174.4,10.6,734,12893,0.00,2.10,0.00,0.000,1030,0.000,0.029,3015,1838,1742,1830,1654,0,0,0,0,0,0,26.36,26.27,26.39
$GC,13193,0.48,175.2,3015,1838,1832,1654,133.2,14.3,765,13196,0.00,2.12,0.00,0.000,516,0.000,0.034,3027,437,1743,1832,1654,0,0,0,0,0,0,26.70,26.20,26.70
$GC,13286,0.48,175.2,3026,437,1826,1656,120.5,13.8,774,13294,0.08,2.17,0.00,0.000,5126,0.154,0.030,2995,1847,1742,1828,1656,0,0,0,0,0,0,25.94,26.27,26.12
$GC,13603,0.70,349.5,2994,1852,1833,1656,91.8,5.5,817,13752,0.17,2.22,140.27,0.656,10500,0.057,0.028,3094,3245,1038,1171,905,0,0,0,0,0,0,26.41,24.99,24.46
$GC,13769,0.70,349.5,3094,3244,1168,905,67.1,21.9,844,13777,0.12,2.25,0.00,0.000,5126,0.151,0.030,3060,1838,1036,1168,905,0,0,0,0,0,0,25.07,25.23,25.22
$STATE,14105,end climb,SURFACE_DEPTH_REACHED
$STATE,14105,begin surface coast
$FINISH,1.1,1.024834
$STATE,14119,end surface coast,CONTROL_FINISHED_OK
$STATE,14119,begin surface
$SM_CCo,14196,0.00,0.000,0,0,1025,353.23
$SM_GC,1.98,7.78,0.43,0.00,0.036,0.026,0.000,125,2157,1025,-8.39,-1.41,353.23,0,0,0,0,0,0,25.82,25.97,25.89
$IRIDIUM_FIX,-3000.00,3201.12,150717,121252
$TT8_MAMPS,0.025466,0.262899
$HUMID,55.43
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,21.30
$XPDR_PINGS,0
$24V_AH,23.18,34.383
$10V_AH,10.20,17.317
$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,19.475,81.850,432.325,0.000,0.000,39.705,43.838,251.923,20.250,0.000,13.781,2224.127,9549.909,446.958,2291.111,151.908,0.000,1382.544,0.000,1848.341,0.000,137.270,0.000
$DEVICE_MAMPS,216.495,119.340,1292.085,0.000,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,621.053,68.280,299.270,305.021,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343332
$DATA_FILE_SIZE,57087,905
$CAP_FILE_SIZE,116590,0
$CFSIZE,2097086464,2053537792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,150717,161726,-3018.839,3202.307,42,0.9,42,-25.6,0.6,215.0,9,7.1