version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 425
start: 7 21 117 12 13 21
data:
$ID,574
$MISSION,23
$DIVE,425
$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,330
$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
$PITCH_ADJ_DBAND,0
$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,64
$R_STBD_OVSHOOT,47
$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
$GPS1,210717,120805,-3147.3083,3004.5149,5,1.0,5,-26.6,0.7,247.9,9,-1.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-74.8
$GPS2,210717,121234,-3147.3977,3004.2993,5,1.0,5,-26.6,1.2,251.2,9,-1.0
$SPEED_LIMITS,0.325,0.335
$TGT_NAME,HEADING
$TGT_LATLONG,-3138.045,2957.958
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,356.6,20000,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.48,-175.2,127,1952,544,454,0.0,0.0,0,96,0.00,0.00,-78.35,0.000,16386,0.000,0.000,127,1954,2639,2628,2651,0,0,0,0,0,0,26.27,28.83,26.29
$GC,99,-0.48,-175.2,127,1953,2629,2651,3.0,-2.3,10,133,9.82,2.05,-11.75,0.000,18948,0.230,0.036,2643,599,3183,3226,3140,0,0,0,0,0,0,25.38,24.32,25.58
$GC,141,-0.48,-175.2,2643,599,3227,3140,13.6,-25.0,15,150,0.00,2.15,0.00,0.000,1030,0.000,0.025,2635,1989,3183,3227,3140,0,0,0,0,0,0,26.01,25.96,26.03
$GC,201,-0.48,-175.2,2634,1989,3227,3139,25.1,-20.4,24,209,0.00,2.12,0.00,0.000,260,0.000,0.032,2624,3390,3182,3226,3139,0,0,0,0,0,0,26.35,25.97,26.36
$GC,290,-0.48,-175.2,2623,3390,3227,3138,42.4,-17.3,39,298,0.10,2.05,0.00,0.000,3078,0.159,0.024,2654,2009,3182,3227,3138,0,0,0,0,0,0,25.78,26.05,25.93
$GC,616,-0.48,-175.2,2653,2005,3228,3136,102.7,-17.3,99,617,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2005,3181,3227,3136,0,0,0,0,0,0,26.51,26.53,26.53
$GC,917,-0.48,-175.2,2653,2004,3228,3135,149.9,-15.3,129,926,0.00,2.03,0.00,0.000,260,0.000,0.029,2645,3403,3181,3227,3136,0,0,0,0,0,0,26.58,26.20,26.59
$GC,990,-0.48,-175.2,2644,3403,3228,3135,159.6,-12.5,136,998,0.00,2.12,0.00,0.000,1030,0.000,0.023,2645,1980,3181,3228,3135,0,0,0,0,0,0,26.33,26.24,26.35
$GC,1308,-0.48,-175.2,2644,1977,3228,3134,209.6,-15.3,165,1309,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,1977,3181,3228,3134,0,0,0,0,0,0,26.63,26.64,26.64
$GC,2109,-0.48,-175.2,2644,1977,3228,3130,323.8,-13.7,205,2115,0.00,2.08,0.00,0.000,260,0.000,0.031,2635,3397,3179,3228,3130,0,0,0,0,0,0,26.68,26.27,26.69
$GC,2262,-0.48,-175.2,2634,3397,3228,3128,340.7,-11.7,212,2269,0.00,2.05,0.00,0.000,1030,0.000,0.024,2635,1991,3178,3228,3128,0,0,0,0,0,0,26.38,26.31,26.41
$GC,3071,-0.48,-175.2,2634,1987,3227,3120,455.5,-13.8,253,3076,0.00,2.08,0.00,0.000,260,0.000,0.031,2625,3404,3173,3227,3119,0,0,0,0,0,0,26.70,26.27,26.72
$GC,3162,-0.48,-175.2,2624,3404,3225,3119,465.1,-11.8,257,3169,0.00,2.08,0.00,0.000,1030,0.000,0.024,2624,1994,3172,3225,3119,0,0,0,0,0,0,26.39,26.30,26.41
$GC,3970,-0.48,-175.2,2624,1989,3221,3113,582.6,-13.8,298,3977,0.08,2.12,0.00,0.000,2308,0.202,0.031,2644,3413,3167,3221,3113,0,0,0,0,0,0,26.12,26.22,26.17
$GC,4058,-0.48,-175.2,2643,3413,3220,3113,590.8,-10.0,302,4062,0.00,2.10,0.00,0.000,1030,0.000,0.027,2644,1992,3166,3220,3113,0,0,0,0,0,0,26.36,26.28,26.39
$GC,4865,-0.48,-175.2,2643,1988,3217,3106,695.0,-12.9,342,4870,0.00,2.10,0.00,0.000,260,0.000,0.035,2634,3394,3161,3216,3106,0,0,0,0,0,0,26.71,26.21,26.72
$GC,5014,-0.48,-175.2,2633,3394,3213,3107,710.1,-10.5,349,5018,0.00,2.10,0.00,0.000,1030,0.000,0.027,2634,1991,3159,3213,3106,0,0,0,0,0,0,26.36,26.27,26.38
$GC,5826,-0.48,-175.2,2633,1990,3211,3100,817.5,-12.8,390,5832,0.00,2.15,0.00,0.000,516,0.000,0.033,2634,584,3155,3211,3100,0,0,0,0,0,0,26.72,26.19,26.73
$GC,5850,-0.48,-175.2,2633,583,3211,3100,820.1,-13.0,391,5855,0.10,2.12,0.00,0.000,3078,0.184,0.027,2653,1995,3155,3211,3100,0,0,0,0,0,0,25.90,26.25,26.05
$GC,6664,-0.48,-175.2,2652,1994,3207,3097,915.6,-12.7,432,6669,0.00,2.08,0.00,0.000,260,0.000,0.036,2644,3387,3151,3206,3097,0,0,0,0,0,0,26.72,26.15,26.73
$GC,6817,-0.48,-175.2,2643,3387,3205,3096,931.3,-11.0,439,6824,0.00,2.10,0.00,0.000,1030,0.000,0.028,2644,1988,3150,3205,3096,0,0,0,0,0,0,26.30,26.21,26.34
$STATE,7323,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7323,begin apogee
$GC,7328,0.00,0.0,2643,1762,3205,3092,1000.2,-12.7,465,7471,0.52,0.00,139.12,1.303,10246,0.138,0.000,2803,1760,2465,2525,2406,0,0,0,0,0,0,25.62,24.49,23.70
$STATE,7472,end apogee,CONTROL_FINISHED_OK
$STATE,7472,begin climb
$GC,7474,0.48,175.2,2802,1760,2524,2406,1006.3,0.0,472,7631,0.45,0.00,153.55,1.307,10758,0.056,0.000,2969,1760,1749,1830,1669,0,0,0,0,0,0,24.68,23.80,23.06
$GC,8424,0.48,175.2,2969,1760,1820,1658,863.3,16.5,520,8429,0.00,2.20,0.00,0.000,260,0.000,0.031,2969,3205,1739,1820,1658,0,0,0,0,0,0,26.34,25.95,26.35
$GC,8506,0.48,175.2,2969,3205,1818,1658,850.5,15.9,524,8510,0.00,2.15,0.00,0.000,1030,0.000,0.031,2979,1826,1738,1818,1658,0,0,0,0,0,0,26.03,25.99,26.13
$GC,9325,0.48,175.2,2978,1826,1814,1656,712.7,15.5,565,9331,0.00,2.22,0.00,0.000,516,0.000,0.041,2990,382,1734,1814,1655,0,0,0,0,0,0,26.55,26.06,26.57
$GC,9473,0.48,175.2,2989,382,1806,1655,690.9,15.3,572,9477,0.00,2.15,0.00,0.000,1030,0.000,0.028,2990,1789,1731,1806,1656,0,0,0,0,0,0,26.25,26.15,26.28
$GC,10279,0.48,175.2,2990,1793,1808,1655,548.7,17.9,612,10284,0.00,2.20,0.00,0.000,516,0.000,0.037,3000,378,1732,1808,1656,0,0,0,0,0,0,26.63,26.09,26.65
$GC,10312,0.48,175.2,2999,377,1804,1656,544.8,18.1,613,10319,0.12,2.17,0.00,0.000,5126,0.192,0.028,2967,1800,1730,1805,1656,0,0,0,0,0,0,25.73,26.18,25.96
$GC,11119,0.48,175.2,2966,1804,1807,1656,430.3,14.2,654,11124,0.00,2.10,0.00,0.000,260,0.000,0.031,2967,3207,1732,1808,1656,0,0,0,0,0,0,26.66,26.17,26.67
$GC,11212,0.48,175.2,2966,3206,1808,1656,419.3,13.8,658,11219,0.00,2.15,0.00,0.000,1030,0.000,0.031,2975,1782,1732,1808,1656,0,0,0,0,0,0,26.27,26.17,26.32
$GC,12019,0.48,175.2,2974,1782,1808,1655,298.5,14.5,699,12024,0.00,2.15,0.00,0.000,516,0.000,0.037,2985,382,1731,1808,1655,0,0,0,0,0,0,26.68,26.08,26.70
$GC,12092,0.48,175.2,2985,382,1802,1655,290.6,13.5,702,12098,0.00,2.15,0.00,0.000,1030,0.000,0.028,2985,1794,1729,1803,1656,0,0,0,0,0,0,26.29,26.20,26.33
$GC,12899,0.48,175.2,2985,1795,1807,1655,184.0,13.0,749,12903,0.00,2.10,0.00,0.000,260,0.000,0.031,2986,3203,1732,1808,1656,0,0,0,0,0,0,26.68,26.17,26.70
$GC,12992,0.48,175.2,2985,3202,1808,1656,172.7,11.9,758,13000,0.10,2.17,0.00,0.000,5126,0.176,0.030,2969,1782,1732,1808,1656,0,0,0,0,0,0,25.84,26.17,26.01
$GC,13300,0.48,175.2,2968,1782,1808,1656,137.7,10.6,789,13301,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,1782,1732,1808,1656,0,0,0,0,0,0,26.69,26.70,26.70
$GC,13601,0.62,285.7,2968,1782,1809,1656,111.1,7.1,819,13694,0.10,2.20,86.50,0.722,10500,0.078,0.027,3035,3201,1299,1401,1198,0,0,0,0,0,0,26.43,24.99,24.58
$GC,13708,0.62,285.7,3035,3201,1400,1198,98.4,13.8,829,13716,0.12,2.20,0.00,0.000,5126,0.156,0.030,3010,1788,1299,1400,1198,0,0,0,0,0,0,25.18,25.37,25.34
$GC,14033,0.62,285.7,3009,1789,1395,1191,54.3,12.2,890,14040,0.00,2.12,0.00,0.000,260,0.000,0.026,3010,3213,1293,1395,1192,0,0,0,0,0,0,26.20,25.82,26.22
$GC,14128,0.62,285.7,3009,3213,1394,1191,43.6,11.6,907,14135,0.00,2.17,0.00,0.000,1030,0.000,0.029,3019,1783,1292,1394,1191,0,0,0,0,0,0,25.94,25.85,25.97
$STATE,14423,end climb,SURFACE_DEPTH_REACHED
$STATE,14423,begin surface coast
$FINISH,0.9,1.005068
$STATE,14449,end surface coast,CONTROL_FINISHED_OK
$STATE,14449,begin surface
$SM_CCo,14465,86.62,0.047,0,0,499,482.01
$SM_GC,1.97,7.60,0.30,86.62,0.034,0.037,0.047,126,2031,499,-8.30,-1.30,482.01,0,0,0,0,0,0,26.00,26.15,25.86
$IRIDIUM_FIX,-3132.88,3002.61,210717,120838
$TT8_MAMPS,0.025466,0.289863
$HUMID,56.02
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,20.40
$XPDR_PINGS,0
$24V_AH,23.06,39.577
$10V_AH,10.21,19.960
$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,19.125,72.875,379.175,86.625,0.000,0.000,0.000,0.000,20.250,0.000,11.753,2333.573,9599.286,563.377,2018.770,124.231,0.000,1469.635,0.000,1923.593,0.000,137.220,0.000
$DEVICE_MAMPS,230.265,41.310,1306.620,47.430,0.000,0.000,0.000,0.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,662.813,92.396,393.988,400.429,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343500
$DATA_FILE_SIZE,60558,961
$CAP_FILE_SIZE,160216,0
$CFSIZE,2097086464,2049081344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$WARN,PPS timeout
$GPS,210717,161702,-3147.731,2959.871,33,0.7,33,-26.6,1.7,223.2,10,6.6