version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 426
start: 7 21 117 16 25 1
data:
$ID,574
$MISSION,23
$DIVE,426
$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,37
$R_STBD_OVSHOOT,79
$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
$GPS1,210717,161702,-3147.7307,2959.8706,33,0.7,33,-26.6,1.7,223.2,10,6.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-75.3
$GPS2,210717,162414,-3147.8823,2959.5564,3,0.9,3,-26.6,0.0,0.0,10,210.1
$SPEED_LIMITS,0.325,0.335
$TGT_NAME,HEADING
$TGT_LATLONG,-3138.530,2953.214
$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,-175.2,126,1988,528,448,0.0,0.0,0,96,0.00,0.00,-77.88,0.000,16386,0.000,0.000,126,1988,2646,2636,2656,0,0,0,0,0,0,26.10,28.83,26.12
$GC,99,-0.48,-175.2,126,1988,2636,2657,3.2,-3.8,10,132,9.98,2.17,-11.43,0.000,18948,0.221,0.041,2642,586,3182,3225,3140,0,0,0,0,0,0,25.27,24.13,25.44
$GC,210,-0.48,-175.2,2642,585,3227,3140,28.1,-17.3,27,219,0.00,2.15,0.00,0.000,1030,0.000,0.030,2634,1955,3183,3227,3140,0,0,0,0,0,0,25.89,25.85,25.91
$GC,352,-0.48,-175.2,2633,1955,3227,3140,58.4,-21.5,52,360,0.00,2.22,0.00,0.000,260,0.000,0.033,2623,3407,3183,3227,3139,0,0,0,0,0,0,26.32,25.91,26.34
$GC,448,-0.48,-175.2,2622,3407,3228,3139,75.2,-15.3,69,455,0.10,2.15,0.00,0.000,3078,0.175,0.025,2651,1974,3183,3228,3139,0,0,0,0,0,0,25.65,25.98,25.82
$GC,764,-0.48,-175.2,2651,1970,3230,3138,132.6,-16.0,112,773,0.00,2.12,0.00,0.000,260,0.000,0.030,2642,3405,3184,3230,3138,0,0,0,0,0,0,26.48,26.06,26.49
$GC,797,-0.48,-175.2,2642,3405,3231,3138,136.9,-14.4,115,804,0.00,2.15,0.00,0.000,1030,0.000,0.025,2642,1984,3184,3231,3138,0,0,0,0,0,0,26.13,26.09,26.15
$GC,1105,-0.48,-175.2,2642,1981,3233,3138,182.6,-14.2,146,1108,0.00,2.12,0.00,0.000,260,0.000,0.029,2632,3408,3185,3233,3138,0,0,0,0,0,0,26.55,26.13,26.56
$GC,1136,-0.48,-175.2,2631,3414,3233,3138,186.8,-13.7,149,1144,0.00,2.12,0.00,0.000,1030,0.000,0.024,2632,1978,3185,3232,3138,0,0,0,0,0,0,26.23,26.15,26.26
$GC,1447,-0.48,-175.2,2631,1975,3233,3138,234.6,-15.6,169,1452,0.00,2.10,0.00,0.000,260,0.000,0.029,2621,3409,3185,3233,3138,0,0,0,0,0,0,26.60,26.17,26.61
$GC,1534,-0.48,-175.2,2621,3409,3233,3138,245.4,-13.4,173,1539,0.10,2.10,0.00,0.000,3078,0.166,0.024,2653,1985,3186,3234,3138,0,0,0,0,0,0,25.90,26.20,26.03
$GC,2343,-0.48,-175.2,2652,1981,3233,3136,350.7,-12.4,213,2346,0.00,2.12,0.00,0.000,260,0.000,0.031,2644,3402,3184,3233,3135,0,0,0,0,0,0,26.64,26.20,26.65
$GC,2412,-0.48,-175.2,2643,3407,3234,3135,357.4,-11.1,216,2416,0.00,2.10,0.00,0.000,1030,0.000,0.024,2644,1982,3183,3233,3134,0,0,0,0,0,0,26.32,26.24,26.35
$GC,3219,-0.48,-175.2,2643,1981,3234,3129,457.0,-12.2,256,3224,0.00,2.12,0.00,0.000,260,0.000,0.031,2634,3411,3181,3233,3129,0,0,0,0,0,0,26.69,26.21,26.70
$GC,3272,-0.48,-175.2,2633,3411,3233,3129,461.5,-11.8,258,3279,0.00,2.10,0.00,0.000,1030,0.000,0.025,2634,1992,3181,3233,3129,0,0,0,0,0,0,26.33,26.25,26.36
$GC,4080,-0.48,-175.2,2633,1992,3229,3124,571.9,-13.0,299,4083,0.00,2.12,0.00,0.000,516,0.000,0.033,2634,589,3176,3229,3124,0,0,0,0,0,0,26.67,26.17,26.68
$GC,4134,-0.48,-175.2,2633,588,3228,3124,577.2,-12.8,301,4141,0.10,2.12,0.00,0.000,3078,0.184,0.027,2654,1996,3176,3228,3124,0,0,0,0,0,0,25.89,26.23,26.03
$GC,4942,-0.48,-175.2,2653,1996,3226,3119,672.9,-11.9,342,4947,0.00,2.12,0.00,0.000,516,0.000,0.030,2653,585,3172,3226,3119,0,0,0,0,0,0,26.70,26.17,26.72
$GC,4994,-0.48,-175.2,2653,584,3225,3119,677.5,-11.8,344,5001,0.00,2.15,0.00,0.000,1030,0.000,0.028,2645,1989,3172,3225,3119,0,0,0,0,0,0,26.30,26.20,26.33
$GC,5801,-0.48,-175.2,2644,1988,3222,3115,779.8,-12.5,385,5807,0.00,2.12,0.00,0.000,516,0.000,0.031,2645,584,3168,3222,3115,0,0,0,0,0,0,26.71,26.14,26.72
$GC,5863,-0.48,-175.2,2644,583,3221,3115,786.9,-11.9,388,5868,0.00,2.17,0.00,0.000,1030,0.000,0.028,2635,1988,3168,3222,3115,0,0,0,0,0,0,26.23,26.20,26.27
$GC,6682,-0.48,-175.2,2634,1988,3218,3111,894.3,-13.2,429,6687,0.00,2.10,0.00,0.000,516,0.000,0.031,2635,591,3164,3217,3111,0,0,0,0,0,0,26.71,26.13,26.72
$GC,6729,-0.48,-175.2,2634,591,3218,3110,899.5,-13.2,431,6733,0.00,2.15,0.00,0.000,1030,0.000,0.028,2625,2001,3164,3218,3111,0,0,0,0,0,0,26.26,26.17,26.30
$STATE,7456,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7456,begin apogee
$GC,7462,0.00,0.0,2624,1747,3213,3108,1001.8,-13.4,467,7609,0.60,0.05,142.95,1.324,10246,0.146,0.112,2804,1825,2465,2524,2406,0,0,0,0,0,0,25.44,24.39,23.58
$STATE,7610,end apogee,CONTROL_FINISHED_OK
$STATE,7610,begin climb
$GC,7612,0.48,175.2,2804,1825,2524,2406,1007.7,0.0,474,7778,0.43,2.42,152.73,1.275,11012,0.048,0.037,2979,442,1748,1828,1668,0,0,0,0,0,0,24.61,23.68,22.90
$GC,7909,0.48,175.2,2978,443,1812,1668,975.1,15.0,489,7914,0.00,2.10,0.00,0.000,1030,0.000,0.028,2978,1751,1740,1812,1668,0,0,0,0,0,0,25.07,24.99,25.10
$GC,8715,0.48,175.2,2978,1755,1809,1664,840.7,16.2,529,8721,0.00,2.05,0.00,0.000,516,0.000,0.037,2988,437,1736,1809,1664,0,0,0,0,0,0,26.35,25.89,26.36
$GC,8864,0.48,175.2,2987,436,1804,1664,819.5,14.6,536,8869,0.00,2.10,0.00,0.000,1030,0.000,0.028,2988,1801,1734,1804,1664,0,0,0,0,0,0,26.09,25.99,26.13
$GC,9671,0.48,175.2,2987,1805,1805,1662,682.2,17.4,576,9676,0.00,2.12,0.00,0.000,260,0.000,0.031,2988,3211,1733,1805,1662,0,0,0,0,0,0,26.54,26.08,26.56
$GC,9713,0.48,175.2,2987,3210,1804,1662,675.1,17.9,578,9718,0.10,2.08,0.00,0.000,5126,0.221,0.031,2972,1839,1732,1803,1662,0,0,0,0,0,0,25.67,26.08,25.89
$GC,10526,0.48,175.2,2971,1839,1803,1661,541.5,15.6,619,10531,0.00,2.28,0.00,0.000,516,0.000,0.038,2981,381,1732,1803,1661,0,0,0,0,0,0,26.61,26.03,26.63
$GC,10599,0.48,175.2,2980,380,1798,1661,532.4,15.5,622,10606,0.00,2.15,0.00,0.000,1030,0.000,0.028,2981,1792,1730,1800,1661,0,0,0,0,0,0,26.24,26.15,26.28
$GC,11406,0.48,175.2,2981,1795,1802,1660,402.9,15.9,663,11411,0.00,2.12,0.00,0.000,260,0.000,0.031,2981,3211,1731,1802,1661,0,0,0,0,0,0,26.65,26.13,26.66
$GC,11459,0.48,175.2,2981,3211,1801,1661,396.5,16.3,665,11465,0.00,2.15,0.00,0.000,1030,0.000,0.030,2991,1787,1731,1802,1661,0,0,0,0,0,0,26.23,26.13,26.27
$GC,12267,0.48,175.2,2991,1788,1802,1660,267.8,15.3,706,12272,0.00,2.15,0.00,0.000,516,0.000,0.037,3002,379,1731,1802,1661,0,0,0,0,0,0,26.67,26.04,26.68
$GC,12319,0.48,175.2,3002,379,1798,1660,261.4,15.8,708,12326,0.12,2.15,0.00,0.000,5126,0.187,0.029,2968,1791,1730,1800,1660,0,0,0,0,0,0,25.69,26.16,25.89
$GC,13127,0.48,175.2,2968,1794,1804,1660,162.5,10.6,766,13136,0.00,2.10,0.00,0.000,260,0.000,0.031,2968,3204,1732,1804,1661,0,0,0,0,0,0,26.67,26.13,26.69
$GC,13259,0.48,175.2,2967,3204,1806,1660,149.3,10.0,779,13268,0.00,2.12,0.00,0.000,1030,0.000,0.029,2977,1787,1734,1807,1661,0,0,0,0,0,0,26.23,26.15,26.26
$GC,13568,0.49,179.5,2976,1787,1807,1660,115.3,9.8,810,13569,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,1787,1733,1807,1660,0,0,0,0,0,0,26.67,26.69,26.69
$GC,13873,0.63,295.6,2976,1787,1808,1661,92.5,7.0,850,13971,0.10,0.00,94.85,0.683,10502,0.100,0.000,3050,1787,1258,1361,1155,0,0,0,0,0,0,26.36,25.12,24.56
$GC,14302,0.63,295.6,3049,1787,1353,1147,19.3,17.1,926,14311,0.10,2.22,0.00,0.000,4612,0.181,0.034,3028,387,1248,1351,1146,0,0,0,0,0,0,25.58,25.70,25.65
$GC,14355,0.63,295.6,3028,387,1342,1145,11.3,13.5,934,14364,0.00,2.22,0.00,0.000,1030,0.000,0.029,3028,1792,1244,1342,1146,0,0,0,0,0,0,25.84,25.82,25.87
$STATE,14412,end climb,SURFACE_DEPTH_REACHED
$STATE,14413,begin surface coast
$FINISH,1.0,1.014973
$STATE,14432,end surface coast,CONTROL_FINISHED_OK
$STATE,14432,begin surface
$SM_CCo,14449,82.72,0.049,0,0,500,482.01
$SM_GC,2.19,7.68,0.28,82.72,0.031,0.031,0.049,124,2112,500,-8.34,-1.13,482.01,0,0,0,0,0,0,25.86,26.06,25.74
$IRIDIUM_FIX,-3135.41,3000.42,210717,161830
$TT8_MAMPS,0.025466,0.26215
$HUMID,55.59
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,19.80
$XPDR_PINGS,0
$24V_AH,22.90,39.724
$10V_AH,10.14,20.034
$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,19.400,82.175,390.525,82.725,0.000,30.902,48.026,239.498,20.250,0.000,10.802,2294.391,9695.194,540.505,2296.730,158.075,0.000,1480.161,0.000,1876.914,0.000,137.181,0.000
$DEVICE_MAMPS,221.085,123.930,1324.215,48.960,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,654.886,79.690,354.856,361.693,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343424
$DATA_FILE_SIZE,60337,946
$CAP_FILE_SIZE,117720,0
$CFSIZE,2097086464,2048983040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,210717,202809,-3147.945,2955.942,20,0.8,20,-26.5,0.7,227.5,10,91.0