version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 424
start: 7 21 117 6 45 9
data:
$ID,574
$MISSION,23
$DIVE,424
$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,225
$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,300
$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,482.00665
$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,2810
$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,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,245
$ROLL_MAX,3880
$ROLL_DEG,40
$C_ROLL_DIVE,1990
$C_ROLL_CLIMB,1790
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,46
$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
$GPS1,210717,062604,-3144.0535,3013.6111,39,1.1,39,-26.6,2.9,251.8,8,21.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,1
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-70.8
$GPS2,210717,064423,-3144.5002,3012.6777,4,0.9,5,-26.6,0.7,304.6,9,18.4
$SPEED_LIMITS,0.325,0.335
$TGT_NAME,HEADING
$TGT_LATLONG,-3139.101,3001.691
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,326.6,20000,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.48,-175.2,126,2006,530,444,0.0,0.0,0,88,0.00,0.00,-70.05,0.000,16386,0.000,0.000,126,2006,2442,2427,2458,0,0,0,0,0,0,26.15,28.83,26.16
$GC,91,-0.48,-175.2,126,2005,2436,2453,3.1,-2.9,9,125,9.65,2.25,-17.38,0.000,18948,0.209,0.042,2642,576,3182,3227,3137,0,0,0,0,0,0,25.22,24.16,25.44
$GC,193,-0.19,-175.2,2642,576,3227,3137,24.2,-19.6,24,203,0.35,2.20,0.00,0.000,3078,0.136,0.030,2741,1976,3183,3228,3138,0,0,0,0,0,0,25.44,25.86,25.56
$GC,349,-0.08,-175.2,2740,1976,3228,3137,40.6,-11.1,49,356,0.10,2.15,0.00,0.000,2308,0.161,0.032,2769,3401,3182,3228,3137,0,0,0,0,0,0,25.84,25.92,25.89
$GC,418,-0.43,-175.2,2768,3401,3230,3134,46.6,-7.8,61,425,0.25,2.08,0.00,0.000,5126,0.060,0.017,2663,1955,3182,3232,3133,0,0,0,0,0,0,25.96,26.07,26.03
$GC,749,-0.05,-175.2,2662,1954,3232,3133,102.4,-17.1,122,758,0.38,2.15,0.00,0.000,2308,0.131,0.031,2778,3403,3182,3232,3133,0,0,0,0,0,0,25.67,25.87,25.77
$GC,963,-0.49,-175.2,2776,3403,3233,3132,122.7,-9.9,143,972,0.32,2.03,0.00,0.000,5126,0.062,0.021,2650,1991,3182,3233,3132,0,0,0,0,0,0,26.03,26.18,26.08
$GC,1271,-0.15,-175.2,2650,1991,3233,3132,164.1,-13.7,174,1280,0.30,2.10,0.00,0.000,2308,0.135,0.028,2744,3407,3182,3233,3132,0,0,0,0,0,0,25.76,25.96,25.86
$GC,1413,-0.61,-175.2,2743,3407,3235,3132,175.3,-8.2,188,1423,0.38,2.05,0.00,0.000,5126,0.039,0.021,2534,1991,3183,3235,3131,0,0,0,0,0,0,26.21,26.25,26.27
$GC,1733,0.12,-175.2,2533,1991,3234,3131,246.9,-23.8,210,1740,1.05,2.08,0.00,0.000,2308,0.155,0.028,2842,3407,3182,3234,3131,0,0,0,0,0,0,25.58,25.84,25.71
$GC,1778,0.25,-175.2,2841,3407,3235,3131,251.1,-17.7,212,1783,0.12,2.05,0.00,0.000,3078,0.059,0.021,2931,1991,3183,3235,3131,0,0,0,0,0,0,26.25,26.25,26.31
$GC,2592,-0.54,-175.2,2931,1987,3235,3128,306.5,-6.4,253,2598,0.82,2.10,0.00,0.000,4356,0.080,0.029,2629,3408,3182,3236,3128,0,0,0,0,0,0,26.01,26.15,26.09
$GC,2693,-0.45,-175.2,2629,3408,3234,3127,314.9,-9.5,258,2699,0.08,2.05,0.00,0.000,3078,0.149,0.024,2657,1995,3180,3234,3127,0,0,0,0,0,0,26.01,26.28,26.08
$GC,3515,-0.27,-175.2,2657,1991,3232,3121,410.0,-11.0,299,3521,0.15,2.10,0.00,0.000,2564,0.145,0.028,2716,589,3176,3232,3121,0,0,0,0,0,0,26.02,26.15,26.08
$GC,3547,-0.14,-175.2,2715,588,3232,3121,412.2,-10.8,300,3554,0.12,2.10,0.00,0.000,3078,0.122,0.025,2762,1999,3176,3232,3121,0,0,0,0,0,0,26.07,26.27,26.18
$GC,4354,-0.66,-175.2,2762,1999,3227,3115,483.3,-9.2,341,4360,0.43,2.08,0.00,0.000,4356,0.068,0.031,2592,3394,3171,3227,3115,0,0,0,0,0,0,26.14,26.23,26.20
$GC,4417,-0.77,-175.2,2591,3394,3226,3115,489.8,-10.4,344,4422,0.00,2.08,-0.10,0.000,17414,0.000,0.026,2592,1987,3195,3249,3141,0,0,0,0,0,0,26.34,26.26,25.73
$GC,5230,-0.34,-175.2,2591,1987,3246,3138,632.8,-17.3,385,5236,0.32,2.10,0.00,0.000,2308,0.148,0.029,2685,3400,3192,3246,3138,0,0,0,0,0,0,25.69,25.91,25.79
$GC,5319,-0.41,-175.2,2684,3401,3246,3137,640.2,-8.9,389,5328,0.00,2.08,0.00,0.000,1030,0.000,0.023,2686,1977,3191,3246,3137,0,0,0,0,0,0,26.36,26.28,26.39
$GC,6130,-0.56,-175.2,2684,1977,3244,3131,694.6,-6.5,430,6136,0.15,2.08,0.00,0.000,4612,0.073,0.030,2586,602,3187,3244,3131,0,0,0,0,0,0,26.41,26.18,26.42
$GC,6232,-0.24,-175.2,2585,601,3242,3131,707.8,-13.9,435,6239,0.47,2.10,0.00,0.000,3078,0.146,0.028,2723,1988,3186,3242,3131,0,0,0,0,0,0,25.53,26.22,25.66
$GC,7053,-0.73,-175.2,2723,1987,3240,3128,785.3,-10.3,476,7059,0.38,2.10,0.00,0.000,4356,0.067,0.034,2567,3389,3184,3239,3129,0,0,0,0,0,0,26.16,26.14,26.20
$GC,7207,-0.46,-175.2,2567,3389,3237,3129,804.2,-14.1,483,7215,0.30,2.05,0.00,0.000,3078,0.135,0.028,2661,2007,3183,3237,3129,0,0,0,0,0,0,25.65,26.19,25.85
$GC,8015,-0.37,-175.2,2660,2007,3236,3125,877.6,-8.5,524,8021,0.08,2.10,0.00,0.000,2308,0.190,0.032,2685,3407,3180,3236,3125,0,0,0,0,0,0,26.14,26.11,26.17
$GC,8250,-0.77,-175.2,2684,3407,3235,3124,891.9,-7.7,535,8257,0.38,2.12,0.00,0.000,5126,0.128,0.027,2566,1977,3179,3235,3124,0,0,0,0,0,0,25.62,26.17,25.82
$STATE,8837,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8837,begin apogee
$GC,8842,0.00,0.0,2565,1758,3231,3123,1001.4,-19.5,565,8996,0.82,0.00,145.68,1.300,10246,0.155,0.000,2803,1756,2464,2524,2405,0,0,0,0,0,0,25.31,24.41,23.61
$STATE,8997,end apogee,CONTROL_FINISHED_OK
$STATE,8997,begin climb
$GC,8999,0.48,175.2,2803,1756,2524,2405,1010.1,0.0,573,9161,0.43,2.30,152.32,1.272,10756,0.054,0.038,2977,415,1749,1832,1667,0,0,0,0,0,0,24.69,23.73,22.96
$GC,9222,0.06,175.2,2976,415,1817,1667,989.1,15.1,584,9227,0.52,2.25,0.00,0.000,5126,0.152,0.028,2833,1794,1742,1818,1667,0,0,0,0,0,0,24.35,24.61,24.58
$GC,10035,0.58,209.2,2833,1797,1818,1656,923.4,9.1,625,10075,0.45,2.25,28.45,1.193,10500,0.079,0.031,3000,3202,1611,1698,1524,0,0,0,0,0,0,25.84,25.32,24.49
$GC,10166,0.17,209.2,2998,3203,1693,1524,904.4,17.5,631,10171,0.50,2.15,0.00,0.000,5126,0.174,0.032,2871,1814,1608,1693,1524,0,0,0,0,0,0,25.27,25.61,25.51
$GC,10973,0.41,361.6,2871,1814,1693,1518,844.4,6.0,671,11117,0.20,2.40,135.60,1.178,10756,0.074,0.043,2974,387,989,1106,873,0,0,0,0,0,0,26.07,24.46,23.72
$GC,11208,0.28,361.6,2974,386,1090,872,810.8,14.4,682,11216,0.22,2.22,0.00,0.000,5126,0.135,0.024,2906,1797,980,1090,871,0,0,0,0,0,0,25.02,25.22,25.20
$GC,12015,0.49,453.1,2905,1800,1089,865,749.1,7.6,723,12099,0.15,0.00,79.97,1.116,10502,0.073,0.000,2989,1801,618,724,512,0,0,0,0,0,0,26.07,24.69,23.99
$GC,12896,0.23,453.1,2988,1801,717,501,565.9,21.2,767,12902,0.30,2.08,0.00,0.000,4356,0.141,0.024,2889,3201,609,717,501,0,0,0,0,0,0,25.67,25.87,25.78
$GC,12919,0.06,453.1,2888,3201,715,500,562.3,20.6,768,12924,0.20,2.15,0.00,0.000,5126,0.065,0.029,2787,1780,608,715,501,0,0,0,0,0,0,25.98,25.99,26.07
$GC,13732,0.58,453.1,2786,1778,714,500,466.7,10.7,809,13739,0.57,2.15,0.00,0.000,2564,0.067,0.038,3010,387,607,714,500,0,0,0,0,0,0,26.05,26.04,26.10
$GC,13826,1.03,453.1,3010,387,711,499,457.3,11.8,813,13833,0.38,2.10,0.00,0.000,3078,0.037,0.018,3190,1801,604,711,498,0,0,0,0,0,0,26.21,26.20,26.27
$GC,14632,0.15,453.1,3189,1805,711,498,106.3,40.3,864,14642,1.17,2.20,0.00,0.000,4612,0.196,0.034,2877,381,604,711,498,0,0,0,0,0,0,25.44,25.77,25.63
$GC,14674,0.31,453.1,2877,381,711,497,95.7,10.2,870,14683,0.10,2.12,0.00,0.000,3078,0.127,0.015,2903,1800,604,710,498,0,0,0,0,0,0,25.96,26.28,26.03
$GC,15004,0.77,453.1,2902,1802,710,497,60.7,11.2,931,15011,0.40,2.20,0.00,0.000,2564,0.063,0.034,3066,370,603,710,497,0,0,0,0,0,0,26.12,26.11,26.17
$GC,15161,0.98,453.1,3065,370,710,497,42.2,13.1,960,15171,0.17,2.15,0.00,0.000,3078,0.062,0.024,3141,1775,604,710,498,0,0,0,0,0,0,26.12,26.25,26.16
$STATE,15314,end climb,SURFACE_DEPTH_REACHED
$STATE,15314,begin surface coast
$FINISH,1.0,1.010061
$STATE,15322,end surface coast,CONTROL_FINISHED_OK
$STATE,15322,begin surface
$SM_CCo,15339,13.05,0.052,0,0,499,482.01
$SM_GC,2.28,7.75,0.30,13.05,0.024,0.034,0.052,125,2070,499,-8.33,-1.36,482.01,0,0,0,0,0,0,26.19,26.38,26.08
$IRIDIUM_FIX,-3132.88,3013.93,210717,064147
$TT8_MAMPS,0.025466,0.292859
$HUMID,61.89
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,16.90
$XPDR_PINGS,0
$24V_AH,22.96,39.325
$10V_AH,10.15,19.857
$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,30.925,81.650,542.025,13.050,0.000,173.747,148.354,324.943,20.250,0.000,11.749,2457.221,10318.908,589.575,2907.569,199.648,0.000,1631.565,0.000,2077.448,0.000,137.159,0.000
$DEVICE_MAMPS,208.845,42.840,1300.500,52.020,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,680.854,92.833,371.208,375.644,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343452
$DATA_FILE_SIZE,63669,986
$CAP_FILE_SIZE,142067,0
$CFSIZE,2097086464,2049146880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$WARN,PPS timeout
$GPS,210717,110220,-3146.000,3007.546,41,0.9,41,-26.6,0.9,259.3,9,43.9