version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 392
start: 7 15 117 16 25 14
data:
$ID,574
$MISSION,23
$DIVE,392
$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,70
$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
$GPS1,150717,161726,-3018.8394,3202.3069,42,0.9,42,-25.6,0.6,215.0,9,7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-79.4
$GPS2,150717,162428,-3019.0959,3202.2068,5,0.7,5,-25.6,1.3,234.0,11,32.8
$SPEED_LIMITS,0.325,0.335
$TGT_NAME,TGT1
$TGT_LATLONG,-2939.970,3132.110
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,351.8,87157,-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,14,begin dive
$GC,16,-0.48,-175.2,125,2159,1117,925,0.0,0.0,0,80,0.00,0.00,-62.35,0.000,16386,0.000,0.000,126,2162,2746,2735,2758,0,0,0,0,0,0,26.09,28.83,26.10
$GC,83,-0.48,-175.2,125,2162,2736,2758,3.2,-2.9,8,109,9.85,2.22,-8.25,0.000,18948,0.213,0.038,2669,702,3182,3220,3144,0,0,0,0,0,0,25.36,25.27,25.53
$GC,194,-0.48,-175.2,2668,701,3225,3143,32.8,-15.7,25,203,0.00,2.17,0.00,0.000,1030,0.000,0.029,2660,2094,3183,3227,3140,0,0,0,0,0,0,25.93,25.90,25.94
$GC,334,-0.48,-175.2,2659,2094,3228,3138,65.5,-23.3,50,340,0.00,2.17,0.00,0.000,260,0.000,0.033,2649,3549,3183,3228,3138,0,0,0,0,0,0,26.32,25.95,26.33
$GC,398,-0.48,-175.2,2648,3549,3230,3136,77.2,-17.3,61,405,0.10,2.12,0.00,0.000,3078,0.133,0.022,2681,2115,3184,3232,3136,0,0,0,0,0,0,25.82,26.02,25.94
$GC,717,-0.48,-175.2,2681,2111,3234,3134,132.2,-15.7,103,725,0.00,2.12,0.00,0.000,260,0.000,0.031,2673,3546,3184,3235,3134,0,0,0,0,0,0,26.48,26.10,26.48
$GC,778,-0.48,-175.2,2672,3546,3235,3134,140.0,-11.4,109,787,0.00,2.10,0.00,0.000,1030,0.000,0.022,2672,2118,3184,3235,3133,0,0,0,0,0,0,26.22,26.15,26.25
$GC,1088,-0.48,-175.2,2672,2115,3238,3133,190.5,-14.9,140,1092,0.00,2.05,0.00,0.000,516,0.000,0.027,2672,717,3185,3238,3133,0,0,0,0,0,0,26.56,26.19,26.57
$GC,1136,-0.48,-175.2,2672,716,3238,3133,197.1,-14.4,144,1144,0.00,2.17,0.00,0.000,1030,0.000,0.028,2662,2144,3185,3238,3133,0,0,0,0,0,0,26.24,26.20,26.27
$GC,1445,-0.48,-175.2,2661,2144,3239,3133,245.3,-15.6,161,1450,0.00,2.05,0.00,0.000,260,0.000,0.034,2651,3536,3186,3239,3133,0,0,0,0,0,0,26.60,26.22,26.62
$GC,1486,-0.48,-175.2,2651,3536,3238,3133,251.0,-15.0,163,1491,0.00,2.10,0.00,0.000,1030,0.000,0.023,2651,2133,3185,3238,3133,0,0,0,0,0,0,26.29,26.26,26.32
$GC,2305,-0.48,-175.2,2651,2129,3239,3132,367.6,-13.6,204,2311,0.00,2.08,0.00,0.000,516,0.000,0.028,2652,719,3185,3239,3131,0,0,0,0,0,0,26.67,26.29,26.69
$GC,2387,-0.48,-175.2,2651,720,3239,3131,377.2,-11.9,208,2392,0.12,2.12,0.00,0.000,3078,0.140,0.029,2681,2138,3185,3240,3131,0,0,0,0,0,0,26.03,26.30,26.18
$GC,3199,-0.48,-175.2,2680,2138,3239,3127,463.5,-10.8,249,3205,0.00,2.08,0.00,0.000,260,0.000,0.037,2671,3535,3182,3238,3127,0,0,0,0,0,0,26.70,26.28,26.72
$GC,3288,-0.48,-175.2,2670,3535,3238,3127,471.3,-9.8,253,3292,0.00,2.05,0.00,0.000,1030,0.000,0.023,2671,2129,3182,3238,3127,0,0,0,0,0,0,26.41,26.34,26.44
$GC,4095,-0.48,-175.2,2670,2125,3237,3122,568.6,-9.7,293,4099,0.00,2.10,0.00,0.000,516,0.000,0.029,2671,718,3179,3237,3122,0,0,0,0,0,0,26.72,26.30,26.73
$GC,4159,-0.48,-175.2,2670,717,3237,3121,574.3,-9.4,296,4164,0.00,2.12,0.00,0.000,1030,0.000,0.029,2661,2136,3179,3237,3121,0,0,0,0,0,0,26.40,26.32,26.43
$GC,4971,-0.48,-175.2,2661,2136,3234,3116,662.8,-11.8,337,4977,0.00,2.10,0.00,0.000,260,0.000,0.036,2650,3546,3175,3234,3116,0,0,0,0,0,0,26.73,26.27,26.74
$GC,5035,-0.48,-175.2,2650,3546,3232,3117,669.0,-10.7,340,5040,0.00,2.08,0.00,0.000,1030,0.000,0.024,2650,2133,3174,3232,3117,0,0,0,0,0,0,26.41,26.32,26.43
$GC,5849,-0.48,-175.2,2650,2129,3230,3112,770.9,-12.4,381,5854,0.00,2.08,0.00,0.000,260,0.000,0.035,2640,3527,3170,3229,3111,0,0,0,0,0,0,26.70,26.27,26.72
$GC,6008,-0.48,-175.2,2640,3526,3227,3111,787.3,-9.9,389,6014,0.12,2.08,0.00,0.000,3078,0.118,0.025,2683,2129,3169,3227,3111,0,0,0,0,0,0,26.09,26.30,26.21
$GC,6830,-0.48,-175.2,2682,2125,3227,3103,861.0,-9.1,430,6835,0.00,2.10,0.00,0.000,260,0.000,0.037,2674,3535,3165,3227,3104,0,0,0,0,0,0,26.71,26.23,26.72
$GC,6921,-0.48,-175.2,2674,3535,3225,3105,867.1,-7.7,434,6927,0.00,2.08,0.00,0.000,1030,0.000,0.024,2674,2123,3164,3225,3104,0,0,0,0,0,0,26.39,26.31,26.42
$GC,7728,-0.48,-175.2,2674,2119,3224,3099,944.2,-9.7,475,7733,0.00,2.15,0.00,0.000,260,0.000,0.037,2664,3543,3161,3224,3099,0,0,0,0,0,0,26.73,26.20,26.74
$GC,7869,-0.48,-175.2,2663,3543,3220,3099,955.8,-8.1,482,7874,0.00,2.08,0.00,0.000,1030,0.000,0.025,2664,2138,3160,3221,3099,0,0,0,0,0,0,26.32,26.28,26.34
$STATE,8306,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8306,begin apogee
$GC,8312,0.00,0.0,2664,1809,3221,3098,1000.1,-10.3,504,8456,0.55,0.00,140.62,1.291,10246,0.120,0.000,2834,1809,2464,2536,2393,0,0,0,0,0,0,25.75,24.49,23.72
$STATE,8457,end apogee,CONTROL_FINISHED_OK
$STATE,8457,begin climb
$GC,8459,0.48,175.2,2834,1810,2535,2393,1005.5,0.0,511,8615,0.43,0.00,151.82,1.271,10758,0.050,0.000,2991,1809,1749,1847,1651,0,0,0,0,0,0,24.67,23.86,23.14
$GC,9407,0.48,175.2,2991,1809,1834,1644,845.8,18.1,559,9413,0.00,2.10,0.00,0.000,516,0.000,0.038,3001,461,1738,1833,1644,0,0,0,0,0,0,26.30,25.89,26.32
$GC,9480,0.48,175.2,3001,460,1826,1644,835.1,18.1,562,9487,0.00,2.12,0.00,0.000,1030,0.000,0.031,3001,1832,1735,1827,1644,0,0,0,0,0,0,26.06,25.97,26.10
$GC,10287,0.48,175.2,3001,1835,1825,1644,677.2,19.7,603,10293,0.00,2.15,0.00,0.000,260,0.000,0.034,3001,3256,1734,1825,1644,0,0,0,0,0,0,26.53,26.13,26.55
$GC,10351,0.48,175.2,3001,3256,1825,1644,666.3,18.6,606,10355,0.00,2.08,0.00,0.000,1030,0.000,0.030,3011,1872,1734,1825,1644,0,0,0,0,0,0,26.24,26.15,26.27
$GC,11162,0.48,175.2,3011,1872,1824,1643,505.5,17.2,647,11168,0.00,2.08,0.00,0.000,260,0.000,0.031,3011,3253,1733,1824,1643,0,0,0,0,0,0,26.61,26.20,26.63
$GC,11265,0.48,175.2,3011,3253,1824,1643,489.4,15.5,652,11270,0.10,2.15,0.00,0.000,5126,0.187,0.031,2994,1829,1733,1823,1643,0,0,0,0,0,0,25.88,26.20,26.08
$GC,12077,0.48,175.2,2994,1829,1824,1644,349.6,17.6,693,12083,0.00,2.15,0.00,0.000,260,0.000,0.031,2994,3265,1733,1824,1643,0,0,0,0,0,0,26.66,26.23,26.67
$GC,12110,0.48,175.2,2994,3264,1824,1643,345.9,17.5,694,12117,0.00,2.15,0.00,0.000,1030,0.000,0.030,3003,1832,1734,1824,1644,0,0,0,0,0,0,26.32,26.22,26.36
$GC,12917,0.48,175.2,3003,1831,1825,1643,218.2,16.1,735,12921,0.00,2.12,0.00,0.000,516,0.000,0.035,3014,433,1734,1825,1643,0,0,0,0,0,0,26.68,26.18,26.70
$GC,13001,0.48,175.2,3013,433,1821,1643,205.8,15.3,739,13006,0.00,2.15,0.00,0.000,1030,0.000,0.028,3014,1853,1732,1821,1644,0,0,0,0,0,0,26.34,26.26,26.39
$GC,13808,0.48,175.2,3013,1858,1828,1644,99.4,12.8,818,13815,0.00,2.08,0.00,0.000,260,0.000,0.032,3014,3252,1736,1829,1644,0,0,0,0,0,0,26.70,26.25,26.71
$GC,13849,0.48,175.2,3013,3252,1829,1645,94.4,12.4,825,13857,0.10,2.12,0.00,0.000,5126,0.168,0.026,2996,1821,1737,1829,1645,0,0,0,0,0,0,25.97,26.28,26.15
$GC,14177,0.72,372.8,2995,1822,1831,1645,74.5,4.9,886,14343,0.20,2.28,157.23,0.653,10500,0.053,0.026,3100,3250,944,1075,813,0,0,0,0,0,0,26.39,24.94,24.41
$GC,14366,0.72,372.8,3099,3251,1071,812,40.7,23.9,917,14374,0.12,2.20,0.00,0.000,5126,0.151,0.031,3074,1849,941,1070,813,0,0,0,0,0,0,25.07,25.23,25.22
$STATE,14562,end climb,SURFACE_DEPTH_REACHED
$STATE,14562,begin surface coast
$FINISH,0.9,1.024973
$STATE,14581,end surface coast,CONTROL_FINISHED_OK
$STATE,14581,begin surface
$SM_CCo,14658,0.00,0.000,0,0,932,376.04
$SM_GC,2.01,7.80,0.43,0.00,0.030,0.032,0.000,125,2144,932,-8.42,-1.24,376.04,0,0,0,0,0,0,25.75,25.79,25.79
$IRIDIUM_FIX,-3002.49,3159.00,150717,121313
$TT8_MAMPS,0.025466,0.289863
$HUMID,55.04
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,21.70
$XPDR_PINGS,1
$24V_AH,23.14,34.537
$10V_AH,10.17,17.390
$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,19.500,81.350,449.675,0.000,0.000,32.956,42.744,237.293,20.500,0.000,12.776,2308.532,9857.191,493.294,2290.290,151.916,0.000,1422.679,0.000,1876.586,0.000,137.152,0.000
$DEVICE_MAMPS,213.435,38.250,1291.320,0.000,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,660.627,78.209,331.633,338.833,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343296
$DATA_FILE_SIZE,60458,953
$CAP_FILE_SIZE,116977,0
$CFSIZE,2097086464,2053406720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,150717,203032,-3025.235,3200.386,27,0.9,27,-25.7,1.0,209.7,8,15.5