version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 402
start: 7 17 117 11 54 45
data:
$ID,574
$MISSION,23
$DIVE,402
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,0
$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,350
$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,2820
$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,2050
$C_ROLL_CLIMB,1820
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,40
$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
$GPS1,170717,114232,-3054.3298,3101.0918,31,0.9,31,-25.9,0.9,288.9,9,7.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-76.8
$GPS2,170717,115358,-3054.3330,3100.7585,6,0.8,6,-25.9,1.4,131.1,10,14.3
$SPEED_LIMITS,0.325,0.335
$TGT_NAME,HEADING
$TGT_LATLONG,-3043.534,3100.759
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,25.9,20000,-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,-175.2,125,2049,528,447,0.0,0.0,0,96,0.00,0.00,-77.47,0.000,16386,0.000,0.000,125,2050,2678,2668,2688,0,0,0,0,0,0,26.03,28.83,26.05
$GC,99,-0.48,-175.2,125,2050,2668,2688,3.3,-3.3,10,125,9.95,2.20,-10.43,0.000,19204,0.218,0.043,2646,3460,3182,3225,3139,0,0,0,0,0,0,25.22,24.15,25.42
$GC,285,-0.48,-175.2,2645,3459,3229,3137,39.2,-15.2,40,294,0.00,2.17,0.00,0.000,1030,0.000,0.024,2646,2042,3183,3230,3137,0,0,0,0,0,0,25.92,25.89,25.94
$GC,424,-0.48,-175.2,2645,2040,3231,3136,65.7,-18.2,65,430,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2040,3183,3230,3136,0,0,0,0,0,0,26.32,26.34,26.33
$GC,740,-0.48,-175.2,2645,2039,3233,3136,120.8,-16.7,114,749,0.00,2.12,0.00,0.000,260,0.000,0.031,2636,3465,3184,3233,3136,0,0,0,0,0,0,26.44,26.04,26.46
$GC,754,-0.48,-175.2,2635,3465,3233,3136,121.8,-16.1,115,761,0.00,2.15,0.00,0.000,1030,0.000,0.021,2636,2036,3184,3233,3136,0,0,0,0,0,0,26.12,26.09,26.15
$GC,1061,-0.48,-175.2,2636,2034,3235,3136,172.8,-15.7,146,1070,0.00,2.12,0.00,0.000,260,0.000,0.031,2626,3462,3185,3235,3136,0,0,0,0,0,0,26.52,26.10,26.53
$GC,1142,-0.48,-175.2,2625,3462,3235,3137,184.4,-13.2,154,1152,0.12,2.10,0.00,0.000,3078,0.130,0.024,2666,2040,3185,3235,3136,0,0,0,0,0,0,25.90,26.16,26.03
$GC,1452,-0.48,-175.2,2666,2039,3235,3136,223.4,-12.7,176,1453,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2038,3185,3235,3136,0,0,0,0,0,0,26.58,26.60,26.59
$GC,2252,-0.48,-175.2,2666,2038,3235,3132,319.4,-12.6,216,2258,0.00,2.12,0.00,0.000,260,0.000,0.034,2658,3462,3183,3235,3131,0,0,0,0,0,0,26.65,26.20,26.66
$GC,2273,-0.48,-175.2,2657,3462,3234,3131,321.9,-12.7,217,2279,0.00,2.10,0.00,0.000,1030,0.000,0.024,2658,2041,3183,3235,3131,0,0,0,0,0,0,26.33,26.25,26.36
$GC,3095,-0.48,-175.2,2657,2041,3234,3126,433.0,-12.7,258,3100,0.00,2.05,0.00,0.000,516,0.000,0.031,2658,649,3180,3235,3126,0,0,0,0,0,0,26.68,26.23,26.70
$GC,3112,-0.48,-175.2,2657,648,3234,3126,435.6,-12.7,259,3116,0.00,2.10,0.00,0.000,1030,0.000,0.026,2648,2053,3180,3234,3126,0,0,0,0,0,0,26.35,26.27,26.38
$GC,3931,-0.48,-175.2,2647,2053,3231,3121,540.7,-13.2,300,3936,0.00,2.10,0.00,0.000,516,0.000,0.029,2648,643,3176,3231,3121,0,0,0,0,0,0,26.67,26.23,26.69
$GC,4011,-0.48,-175.2,2647,643,3231,3121,550.5,-12.3,304,4016,0.00,2.17,0.00,0.000,1030,0.000,0.028,2637,2052,3175,3230,3121,0,0,0,0,0,0,26.29,26.26,26.33
$GC,4830,-0.48,-175.2,2637,2052,3226,3115,669.2,-13.9,345,4834,0.00,2.12,0.00,0.000,516,0.000,0.030,2638,640,3171,3226,3116,0,0,0,0,0,0,26.71,26.21,26.72
$GC,4919,-0.48,-175.2,2637,640,3226,3115,679.3,-12.3,349,4924,0.12,2.15,0.00,0.000,3078,0.156,0.029,2665,2055,3170,3226,3115,0,0,0,0,0,0,25.92,26.25,26.07
$GC,5733,-0.48,-175.2,2665,2054,3224,3110,771.5,-11.6,390,5739,0.00,2.10,0.00,0.000,260,0.000,0.038,2656,3457,3166,3223,3110,0,0,0,0,0,0,26.69,26.16,26.70
$GC,5841,-0.48,-175.2,2656,3457,3221,3109,781.1,-9.2,395,5845,0.00,2.10,0.00,0.000,1030,0.000,0.028,2656,2053,3165,3221,3109,0,0,0,0,0,0,26.32,26.23,26.36
$GC,6653,-0.48,-175.2,2655,2052,3219,3106,879.8,-12.0,436,6659,0.00,2.10,0.00,0.000,516,0.000,0.034,2656,651,3162,3219,3106,0,0,0,0,0,0,26.72,26.15,26.72
$GC,6715,-0.48,-175.2,2656,650,3219,3106,886.4,-11.3,439,6719,0.00,2.12,0.00,0.000,1030,0.000,0.029,2647,2049,3162,3219,3106,0,0,0,0,0,0,26.30,26.20,26.34
$GC,7529,-0.48,-175.2,2646,2049,3215,3102,982.2,-12.2,480,7535,0.00,2.10,0.00,0.000,260,0.000,0.037,2636,3453,3158,3214,3102,0,0,0,0,0,0,26.70,26.13,26.71
$GC,7617,-0.48,-175.2,2635,3453,3213,3102,990.5,-10.2,484,7621,0.00,2.10,0.00,0.000,1030,0.000,0.028,2636,2053,3157,3213,3102,0,0,0,0,0,0,26.29,26.19,26.32
$STATE,7703,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7703,begin apogee
$GC,7708,0.00,0.0,2636,1777,3213,3101,1001.9,-11.8,488,7853,0.60,0.00,141.23,1.299,10246,0.134,0.000,2816,1776,2464,2525,2404,0,0,0,0,0,0,25.56,24.39,23.61
$STATE,7854,end apogee,CONTROL_FINISHED_OK
$STATE,7854,begin climb
$GC,7856,0.48,175.2,2815,1777,2525,2404,1007.7,0.0,495,8018,0.43,2.28,152.48,1.281,10756,0.053,0.039,2987,453,1749,1831,1667,0,0,0,0,0,0,24.58,23.65,22.88
$GC,8088,0.48,175.2,2987,452,1815,1667,981.1,18.3,507,8092,0.00,2.25,0.00,0.000,1030,0.000,0.030,2987,1818,1741,1816,1667,0,0,0,0,0,0,24.67,24.59,24.69
$GC,8900,0.48,175.2,2987,1822,1813,1661,825.3,18.6,548,8902,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,1822,1737,1813,1661,0,0,0,0,0,0,26.29,26.30,26.30
$GC,9700,0.48,175.2,2987,1822,1810,1659,673.6,18.0,588,9706,0.00,2.15,0.00,0.000,516,0.000,0.038,2997,441,1734,1809,1659,0,0,0,0,0,0,26.50,26.01,26.51
$GC,9748,0.48,175.2,2996,441,1807,1659,666.2,18.3,590,9752,0.00,2.12,0.00,0.000,1030,0.000,0.029,2997,1824,1732,1806,1659,0,0,0,0,0,0,26.19,26.10,26.22
$GC,10555,0.48,175.2,2996,1826,1807,1659,512.1,19.2,630,10561,0.00,2.12,0.00,0.000,260,0.000,0.033,2997,3234,1733,1807,1659,0,0,0,0,0,0,26.58,26.12,26.60
$GC,10618,0.48,175.2,2997,3234,1807,1659,501.2,18.5,633,10623,0.10,2.10,0.00,0.000,5126,0.182,0.031,2980,1844,1732,1806,1659,0,0,0,0,0,0,25.81,26.14,26.01
$GC,11430,0.48,175.2,2980,1843,1807,1659,369.5,15.9,674,11436,0.00,2.08,0.00,0.000,260,0.000,0.030,2980,3234,1733,1807,1659,0,0,0,0,0,0,26.63,26.17,26.65
$GC,11523,0.48,175.2,2980,3234,1807,1659,358.2,14.1,678,11530,0.00,2.15,0.00,0.000,1030,0.000,0.031,2989,1813,1733,1807,1659,0,0,0,0,0,0,26.26,26.15,26.30
$GC,12332,0.48,175.2,2988,1812,1808,1659,225.3,16.6,719,12337,0.00,2.12,0.00,0.000,516,0.000,0.037,3000,415,1733,1807,1659,0,0,0,0,0,0,26.66,26.10,26.67
$GC,12423,0.48,175.2,2999,415,1802,1659,212.9,15.6,723,12430,0.00,2.15,0.00,0.000,1030,0.000,0.028,3000,1826,1731,1803,1659,0,0,0,0,0,0,26.29,26.20,26.33
$GC,13234,0.48,175.2,3000,1830,1807,1659,88.3,14.5,808,13242,0.00,2.15,0.00,0.000,260,0.000,0.031,3000,3237,1733,1807,1659,0,0,0,0,0,0,26.67,26.19,26.69
$GC,13308,0.48,175.2,3000,3237,1808,1659,78.9,12.9,821,13315,0.12,2.12,0.00,0.000,5126,0.166,0.028,2974,1815,1733,1808,1659,0,0,0,0,0,0,25.82,26.20,26.01
$GC,13634,0.55,227.1,2975,1815,1808,1659,47.6,8.6,882,13680,0.00,2.20,38.92,0.655,8708,0.000,0.034,2984,413,1539,1631,1448,0,0,0,0,0,0,26.68,25.59,25.20
$GC,13707,0.55,227.6,2984,412,1621,1448,41.3,9.9,894,13716,0.00,2.22,0.00,0.000,1030,0.000,0.027,2984,1827,1535,1623,1448,0,0,0,0,0,0,25.91,25.89,25.95
$GC,14070,0.61,280.0,2983,1831,1623,1447,8.3,8.6,955,14103,0.08,2.12,24.58,0.542,10500,0.096,0.028,3045,3238,1321,1425,1218,0,0,0,0,0,0,26.15,25.53,25.20
$STATE,14110,end climb,SURFACE_DEPTH_REACHED
$STATE,14110,begin surface coast
$FINISH,1.0,1.025459
$STATE,14135,end surface coast,CONTROL_FINISHED_OK
$STATE,14136,begin surface
$SM_CCo,14154,30.77,0.049,0,0,1036,350.04
$SM_GC,2.09,7.68,1.80,30.77,0.027,0.016,0.049,125,2041,1036,-8.36,1.30,350.04,0,0,0,0,0,0,25.84,25.91,25.77
$IRIDIUM_FIX,-3042.49,3100.41,170717,114805
$TT8_MAMPS,0.025466,0.28462
$HUMID,56.93
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,19.40
$XPDR_PINGS,0
$24V_AH,22.88,35.992
$10V_AH,10.13,18.186
$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,19.200,77.250,357.200,30.775,0.000,61.477,86.275,331.144,20.250,0.000,12.773,2338.033,9390.035,444.111,2562.229,159.100,0.000,1367.317,0.000,1953.097,0.000,136.089,0.000
$DEVICE_MAMPS,218.025,52.020,1298.970,48.960,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,671.638,111.030,491.120,498.944,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343312
$DATA_FILE_SIZE,63661,964
$CAP_FILE_SIZE,118214,0
$CFSIZE,2097086464,2052096000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,170717,155232,-3052.295,3057.911,46,0.9,46,-25.8,1.1,298.0,9,7.7