version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 427
start: 7 21 117 20 47 49
data:
$ID,574
$MISSION,23
$DIVE,427
$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,30
$R_STBD_OVSHOOT,33
$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
$GPS1,210717,202809,-3147.9451,2955.9421,20,0.8,20,-26.5,0.7,227.5,10,91.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-77.8
$GPS2,210717,204701,-3148.1902,2955.4028,35,0.7,35,-26.5,0.6,237.4,12,43.7
$SPEED_LIMITS,0.325,0.335
$TGT_NAME,HEADING
$TGT_LATLONG,-3138.838,2949.060
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,356.5,20000,-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,-175.2,125,1989,529,447,0.0,0.0,0,104,0.00,0.00,-85.25,0.000,16386,0.000,0.000,126,1989,2872,2883,2862,0,0,0,0,0,0,26.09,28.83,26.10
$GC,107,-0.48,-175.2,125,1989,2884,2862,3.5,-4.0,11,132,9.93,2.17,-5.95,0.000,18948,0.219,0.036,2646,570,3179,3215,3143,0,0,0,0,0,0,25.23,25.25,25.41
$GC,187,-0.48,-175.2,2645,570,3218,3143,25.7,-18.0,23,196,0.00,2.22,0.00,0.000,1030,0.000,0.028,2636,1990,3181,3219,3143,0,0,0,0,0,0,25.86,25.84,25.89
$GC,331,-0.48,-175.2,2636,1990,3220,3141,55.3,-21.2,48,339,0.00,2.17,0.00,0.000,260,0.000,0.033,2626,3398,3180,3220,3140,0,0,0,0,0,0,26.31,25.89,26.32
$GC,437,-0.48,-175.2,2625,3398,3222,3138,73.0,-16.1,67,444,0.00,2.12,0.00,0.000,1030,0.000,0.024,2625,1970,3180,3223,3137,0,0,0,0,0,0,26.06,25.97,26.08
$GC,752,-0.48,-175.2,2625,1966,3224,3136,131.2,-17.2,110,761,0.00,2.12,0.00,0.000,260,0.000,0.029,2615,3408,3180,3225,3136,0,0,0,0,0,0,26.47,26.05,26.48
$GC,866,-0.48,-175.2,2614,3408,3225,3136,147.9,-14.3,121,873,0.12,2.10,0.00,0.000,3078,0.166,0.024,2654,1984,3180,3225,3136,0,0,0,0,0,0,25.74,26.10,25.90
$GC,1173,-0.48,-175.2,2653,1980,3226,3136,190.7,-13.0,152,1182,0.00,2.10,0.00,0.000,260,0.000,0.030,2645,3405,3181,3226,3136,0,0,0,0,0,0,26.55,26.12,26.57
$GC,1254,-0.48,-175.2,2644,3405,3226,3136,199.5,-10.5,160,1263,0.00,2.10,0.00,0.000,1030,0.000,0.024,2645,1981,3180,3226,3135,0,0,0,0,0,0,26.25,26.17,26.27
$GC,1566,-0.48,-175.2,2644,1979,3226,3135,242.6,-14.6,176,1571,0.00,2.08,0.00,0.000,260,0.000,0.030,2635,3398,3180,3226,3135,0,0,0,0,0,0,26.58,26.16,26.59
$GC,1617,-0.48,-175.2,2634,3399,3226,3135,248.2,-14.0,178,1627,0.00,2.08,0.00,0.000,1030,0.000,0.024,2635,1983,3180,3226,3135,0,0,0,0,0,0,26.28,26.20,26.31
$GC,2424,-0.48,-175.2,2634,1980,3226,3131,363.0,-14.3,219,2430,0.00,2.10,0.00,0.000,260,0.000,0.031,2625,3405,3178,3226,3130,0,0,0,0,0,0,26.66,26.20,26.67
$GC,2494,-0.48,-175.2,2624,3405,3226,3130,370.8,-13.4,222,2498,0.00,2.10,0.00,0.000,1030,0.000,0.025,2625,1987,3178,3226,3130,0,0,0,0,0,0,26.31,26.23,26.34
$GC,3302,-0.48,-175.2,2624,1984,3225,3124,484.7,-14.9,262,3304,0.10,0.00,0.00,0.000,2054,0.196,0.000,2654,1982,3174,3225,3124,0,0,0,0,0,0,26.06,26.21,26.15
$GC,4101,-0.48,-175.2,2653,1981,3222,3117,580.8,-11.7,302,4107,0.00,2.12,0.00,0.000,260,0.000,0.034,2645,3401,3169,3221,3117,0,0,0,0,0,0,26.67,26.16,26.68
$GC,4174,-0.48,-175.2,2645,3400,3220,3117,586.7,-10.2,305,4180,0.00,2.10,0.00,0.000,1030,0.000,0.026,2645,1991,3168,3220,3117,0,0,0,0,0,0,26.31,26.22,26.34
$GC,4983,-0.48,-175.2,2645,1988,3217,3112,682.2,-11.7,346,4988,0.00,2.10,0.00,0.000,516,0.000,0.032,2645,590,3164,3217,3112,0,0,0,0,0,0,26.68,26.15,26.70
$GC,5023,-0.48,-175.2,2645,589,3216,3112,687.0,-11.9,348,5027,0.00,2.17,0.00,0.000,1030,0.000,0.028,2635,1994,3164,3216,3112,0,0,0,0,0,0,26.25,26.21,26.29
$GC,5842,-0.48,-175.2,2634,1993,3212,3108,794.5,-13.3,389,5847,0.00,2.10,0.00,0.000,516,0.000,0.031,2635,593,3160,3212,3108,0,0,0,0,0,0,26.70,26.14,26.72
$GC,5934,-0.48,-175.2,2634,593,3211,3108,803.9,-11.6,393,5941,0.00,2.12,0.00,0.000,1030,0.000,0.027,2625,1999,3160,3212,3108,0,0,0,0,0,0,26.29,26.20,26.32
$GC,6742,-0.48,-175.2,2624,1999,3207,3104,912.0,-13.5,434,6748,0.08,2.10,0.00,0.000,2308,0.246,0.033,2643,3398,3155,3206,3104,0,0,0,0,0,0,25.98,26.08,26.01
$GC,6875,-0.48,-175.2,2643,3398,3207,3102,923.3,-8.6,440,6881,0.00,2.10,0.00,0.000,1030,0.000,0.028,2643,1989,3154,3207,3102,0,0,0,0,0,0,26.26,26.16,26.29
$STATE,7560,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7560,begin apogee
$GC,7566,0.00,0.0,2643,1762,3206,3099,1000.7,-10.5,475,7710,0.55,0.00,140.62,1.293,10246,0.135,0.000,2810,1761,2464,2521,2408,0,0,0,0,0,0,25.51,24.41,23.61
$STATE,7711,end apogee,CONTROL_FINISHED_OK
$STATE,7711,begin climb
$GC,7713,0.48,175.2,2810,1761,2520,2408,1005.4,0.0,482,7875,0.47,2.42,152.32,1.269,10500,0.061,0.030,2981,3186,1749,1825,1673,0,0,0,0,0,0,24.61,23.68,22.90
$GC,7903,0.48,175.2,2980,3185,1822,1671,984.4,17.2,492,7909,0.00,2.25,0.00,0.000,1030,0.000,0.031,2992,1820,1746,1822,1671,0,0,0,0,0,0,24.36,24.28,24.37
$GC,8723,0.48,175.2,2990,1820,1817,1664,826.4,18.6,533,8728,0.00,2.08,0.00,0.000,260,0.000,0.028,2991,3199,1741,1818,1664,0,0,0,0,0,0,26.31,25.93,26.32
$GC,8823,0.48,175.2,2990,3200,1816,1664,809.7,16.1,538,8829,0.12,2.17,0.00,0.000,5126,0.197,0.032,2969,1784,1740,1816,1664,0,0,0,0,0,0,25.53,25.94,25.77
$GC,9643,0.48,175.2,2968,1783,1816,1663,681.4,16.1,579,9648,0.00,2.17,0.00,0.000,516,0.000,0.040,2978,382,1739,1815,1663,0,0,0,0,0,0,26.52,25.98,26.54
$GC,9772,0.48,175.2,2977,382,1808,1663,664.1,13.6,585,9776,0.00,2.15,0.00,0.000,1030,0.000,0.028,2977,1786,1735,1808,1663,0,0,0,0,0,0,26.20,26.11,26.24
$GC,10578,0.48,175.2,2977,1789,1809,1663,536.7,16.2,625,10583,0.00,2.20,0.00,0.000,516,0.000,0.036,2987,375,1736,1809,1663,0,0,0,0,0,0,26.60,26.03,26.62
$GC,10646,0.48,175.2,2987,374,1807,1663,527.5,15.7,628,10650,0.00,2.17,0.00,0.000,1030,0.000,0.028,2988,1792,1735,1808,1663,0,0,0,0,0,0,26.23,26.14,26.27
$GC,11454,0.48,175.2,2988,1795,1810,1663,397.4,17.0,668,11456,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,1795,1736,1810,1663,0,0,0,0,0,0,26.64,26.66,26.65
$GC,12253,0.48,175.2,2986,1796,1813,1663,270.0,16.1,708,12258,0.00,2.12,0.00,0.000,260,0.000,0.031,2988,3212,1738,1813,1663,0,0,0,0,0,0,26.67,26.13,26.67
$GC,12321,0.48,175.2,2987,3212,1814,1665,261.2,15.2,711,12326,0.10,2.15,0.00,0.000,5126,0.194,0.030,2971,1778,1739,1814,1664,0,0,0,0,0,0,25.76,26.14,25.94
$GC,13128,0.48,175.2,2971,1778,1816,1665,163.4,10.3,767,13137,0.00,2.15,0.00,0.000,516,0.000,0.036,2981,376,1739,1814,1665,0,0,0,0,0,0,26.67,26.05,26.68
$GC,13159,0.48,175.2,2980,377,1810,1665,159.9,11.0,770,13167,0.00,2.15,0.00,0.000,1030,0.000,0.027,2981,1791,1739,1813,1665,0,0,0,0,0,0,26.25,26.17,26.29
$GC,13469,0.48,175.2,2980,1793,1816,1666,121.9,10.7,801,13473,0.00,2.12,0.00,0.000,260,0.000,0.031,2980,3206,1741,1816,1666,0,0,0,0,0,0,26.67,26.13,26.69
$GC,13520,0.48,175.2,2980,3205,1818,1667,116.8,10.0,806,13529,0.00,2.12,0.00,0.000,1030,0.000,0.029,2991,1789,1742,1818,1667,0,0,0,0,0,0,26.24,26.14,26.28
$GC,13838,0.57,247.3,2990,1789,1819,1667,86.2,8.1,851,13900,0.00,0.00,57.53,0.683,8710,0.000,0.000,2991,1789,1455,1546,1364,0,0,0,0,0,0,26.67,25.47,24.89
$GC,14220,0.57,247.3,2990,1789,1541,1361,46.3,10.9,921,14227,0.00,2.12,0.00,0.000,260,0.000,0.026,2991,3208,1450,1540,1361,0,0,0,0,0,0,26.26,25.84,26.27
$GC,14261,0.57,247.3,2990,3207,1539,1361,41.6,11.1,928,14268,0.00,2.20,0.00,0.000,1030,0.000,0.028,3001,1786,1450,1540,1361,0,0,0,0,0,0,25.89,25.87,25.92
$STATE,14588,end climb,SURFACE_DEPTH_REACHED
$STATE,14588,begin surface coast
$FINISH,1.0,1.013877
$STATE,14620,end surface coast,CONTROL_FINISHED_OK
$STATE,14621,begin surface
$SM_CCo,14637,103.75,0.047,0,0,499,482.01
$SM_GC,1.99,7.57,0.30,103.75,0.032,0.029,0.047,126,2059,499,-8.34,-1.13,482.01,0,0,0,0,0,0,25.97,26.22,25.84
$IRIDIUM_FIX,-3135.41,2956.96,210717,204041
$TT8_MAMPS,0.025466,0.289114
$HUMID,54.60
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,20.50
$XPDR_PINGS,0
$24V_AH,22.90,39.878
$10V_AH,10.12,20.117
$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,19.050,77.950,350.475,103.750,0.000,157.771,232.423,308.550,20.250,0.000,43.529,2388.781,9943.967,535.510,2862.338,167.430,0.000,1489.850,0.000,1980.444,0.000,136.089,0.000
$DEVICE_MAMPS,245.565,63.495,1292.850,47.430,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,682.381,101.057,431.830,441.657,0.000,0.000,0.000,0.000,0.000,0.000
$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,63736,988
$CAP_FILE_SIZE,123501,0
$CFSIZE,2097086464,2048851968
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,5939.25,0x212b6e,0,24
$WARN,PPS timeout
$GPS,220717,005436,-3147.055,2952.831,29,0.8,29,-26.5,0.7,250.8,11,17.8