version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 428
start: 7 22 117 1 3 12
data:
$ID,574
$MISSION,23
$DIVE,428
$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,27
$R_STBD_OVSHOOT,37
$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
$GPS1,220717,005436,-3147.0554,2952.8313,29,0.8,29,-26.5,0.7,250.8,11,17.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-78.1
$GPS2,220717,010225,-3147.0610,2952.6619,4,0.8,4,-26.5,0.7,220.6,10,79.0
$SPEED_LIMITS,0.325,0.335
$TGT_NAME,HEADING
$TGT_LATLONG,-3137.709,2946.320
$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,13,begin dive
$GC,16,-0.48,-175.2,125,2000,529,444,0.0,0.0,0,103,0.00,0.00,-85.03,0.000,16386,0.000,0.000,125,2000,2844,2842,2846,0,0,0,0,0,0,26.08,28.83,26.09
$GC,106,-0.48,-175.2,125,2000,2843,2846,3.3,-2.4,11,132,9.95,2.22,-6.65,0.000,19204,0.220,0.039,2643,568,3179,3219,3140,0,0,0,0,0,0,25.27,25.23,25.45
$GC,159,-0.48,-175.2,2642,567,3222,3140,19.5,-28.6,18,168,0.00,2.22,0.00,0.000,1030,0.000,0.028,2634,1983,3181,3222,3140,0,0,0,0,0,0,25.82,25.78,25.85
$GC,218,-0.48,-175.2,2633,1983,3223,3140,30.4,-19.7,27,227,0.00,2.17,0.00,0.000,260,0.000,0.032,2623,3401,3181,3223,3139,0,0,0,0,0,0,26.22,25.80,26.23
$GC,318,-0.48,-175.2,2622,3401,3224,3138,49.4,-17.5,44,327,0.08,2.17,0.00,0.000,3078,0.174,0.024,2646,1974,3181,3225,3138,0,0,0,0,0,0,25.58,25.89,25.65
$GC,647,-0.48,-175.2,2646,1971,3226,3137,109.2,-14.2,100,656,0.00,2.12,0.00,0.000,260,0.000,0.029,2637,3409,3181,3226,3137,0,0,0,0,0,0,26.44,26.00,26.44
$GC,721,-0.48,-175.2,2636,3410,3227,3136,118.4,-12.2,107,728,0.00,2.12,0.00,0.000,1030,0.000,0.024,2637,1979,3181,3227,3136,0,0,0,0,0,0,26.13,26.05,26.15
$GC,1029,-0.48,-175.2,2636,1975,3228,3136,168.9,-14.3,138,1038,0.00,2.10,0.00,0.000,260,0.000,0.031,2626,3400,3182,3228,3136,0,0,0,0,0,0,26.52,26.08,26.53
$GC,1083,-0.48,-175.2,2625,3399,3229,3136,175.8,-12.9,143,1090,0.00,2.08,0.00,0.000,1030,0.000,0.022,2626,1986,3182,3229,3136,0,0,0,0,0,0,26.20,26.13,26.23
$GC,1392,-0.48,-175.2,2625,1982,3230,3136,222.6,-15.4,167,1398,0.00,2.08,0.00,0.000,260,0.000,0.030,2616,3406,3183,3230,3136,0,0,0,0,0,0,26.55,26.13,26.56
$GC,1474,-0.48,-175.2,2616,3407,3230,3136,233.3,-13.1,171,1479,0.12,2.12,0.00,0.000,3078,0.153,0.024,2656,1991,3183,3230,3136,0,0,0,0,0,0,25.83,26.18,25.98
$GC,2294,-0.48,-175.2,2655,1987,3231,3133,333.0,-11.9,212,2300,0.00,2.08,0.00,0.000,260,0.000,0.031,2647,3401,3181,3230,3133,0,0,0,0,0,0,26.65,26.18,26.67
$GC,2320,-0.48,-175.2,2647,3401,3230,3132,335.3,-11.7,213,2324,0.00,2.08,0.00,0.000,1030,0.000,0.024,2647,1993,3181,3230,3132,0,0,0,0,0,0,26.30,26.22,26.32
$GC,3132,-0.48,-175.2,2647,1990,3230,3128,439.2,-12.5,254,3133,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,1990,3179,3231,3128,0,0,0,0,0,0,26.68,26.70,26.70
$GC,3932,-0.48,-175.2,2647,1989,3228,3123,536.1,-12.4,294,3938,0.00,2.10,0.00,0.000,260,0.000,0.031,2637,3408,3174,3227,3122,0,0,0,0,0,0,26.70,26.18,26.71
$GC,4012,-0.48,-175.2,2636,3408,3227,3122,544.8,-10.9,298,4018,0.00,2.10,0.00,0.000,1030,0.000,0.026,2637,1992,3174,3227,3122,0,0,0,0,0,0,26.31,26.22,26.34
$GC,4833,-0.48,-175.2,2637,1990,3224,3117,654.4,-12.4,339,4839,0.00,2.12,0.00,0.000,516,0.000,0.032,2637,590,3171,3225,3118,0,0,0,0,0,0,26.70,26.15,26.72
$GC,4852,-0.48,-175.2,2636,590,3224,3118,656.8,-12.2,340,4858,0.00,2.12,0.00,0.000,1030,0.000,0.026,2627,1999,3170,3224,3117,0,0,0,0,0,0,26.30,26.22,26.33
$GC,5673,-0.48,-175.2,2626,1999,3220,3114,768.8,-14.3,381,5679,0.00,2.12,0.00,0.000,516,0.000,0.030,2627,583,3166,3219,3114,0,0,0,0,0,0,26.70,26.15,26.72
$GC,5695,-0.48,-175.2,2626,583,3219,3114,771.5,-14.2,382,5699,0.10,2.17,0.00,0.000,3078,0.174,0.027,2656,1993,3166,3219,3114,0,0,0,0,0,0,25.71,26.20,25.88
$GC,6512,-0.48,-175.2,2656,1992,3217,3109,863.5,-11.2,423,6518,0.00,2.15,0.00,0.000,516,0.000,0.031,2656,585,3162,3216,3109,0,0,0,0,0,0,26.70,26.09,26.72
$GC,6572,-0.48,-175.2,2656,584,3216,3108,869.8,-10.7,426,6578,0.00,2.15,0.00,0.000,1030,0.000,0.028,2648,1993,3162,3216,3109,0,0,0,0,0,0,26.25,26.15,26.28
$GC,7392,-0.48,-175.2,2647,1995,3212,3106,964.3,-11.9,467,7398,0.00,2.12,0.00,0.000,260,0.000,0.035,2637,3403,3159,3212,3106,0,0,0,0,0,0,26.70,26.07,26.72
$GC,7549,-0.48,-175.2,2636,3403,3211,3106,978.6,-9.6,474,7557,0.00,2.12,0.00,0.000,1030,0.000,0.028,2637,1983,3158,3211,3106,0,0,0,0,0,0,26.22,26.12,26.26
$STATE,7714,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7714,begin apogee
$GC,7719,0.00,0.0,2637,1756,3211,3105,1000.2,-13.0,483,7865,0.57,0.00,142.32,1.310,10246,0.139,0.000,2810,1755,2465,2522,2408,0,0,0,0,0,0,25.43,24.37,23.53
$STATE,7866,end apogee,CONTROL_FINISHED_OK
$STATE,7866,begin climb
$GC,7868,0.48,175.2,2809,1755,2521,2407,1007.7,0.0,490,8036,0.43,2.47,153.80,1.307,10500,0.060,0.029,2971,3194,1749,1827,1671,0,0,0,0,0,0,24.56,23.58,22.79
$GC,8106,0.48,175.2,2970,3194,1821,1669,986.8,14.2,502,8111,0.00,2.22,0.00,0.000,1030,0.000,0.031,2980,1822,1745,1821,1670,0,0,0,0,0,0,24.69,24.60,24.70
$GC,8915,0.48,175.2,2979,1822,1817,1660,850.4,17.0,542,8920,0.00,2.05,0.00,0.000,260,0.000,0.027,2980,3201,1738,1817,1660,0,0,0,0,0,0,26.31,25.93,26.32
$GC,9033,0.48,175.2,2979,3202,1815,1660,832.0,14.5,548,9039,0.00,2.17,0.00,0.000,1030,0.000,0.033,2990,1787,1737,1815,1660,0,0,0,0,0,0,26.03,25.92,26.06
$GC,9853,0.48,175.2,2989,1787,1813,1658,684.1,18.1,589,9859,0.00,2.20,0.00,0.000,516,0.000,0.041,3001,377,1735,1813,1658,0,0,0,0,0,0,26.53,25.96,26.54
$GC,9976,0.48,175.2,3000,377,1803,1658,663.3,16.6,595,9981,0.12,2.17,0.00,0.000,5126,0.194,0.029,2967,1790,1731,1803,1659,0,0,0,0,0,0,25.63,26.08,25.86
$GC,10789,0.48,175.2,2966,1793,1807,1658,539.5,14.7,636,10794,0.00,2.20,0.00,0.000,516,0.000,0.038,2976,380,1732,1807,1658,0,0,0,0,0,0,26.60,26.01,26.62
$GC,10852,0.48,175.2,2975,380,1801,1658,530.7,14.8,639,10856,0.00,2.17,0.00,0.000,1030,0.000,0.028,2976,1795,1730,1802,1658,0,0,0,0,0,0,26.22,26.12,26.25
$GC,11664,0.48,175.2,2975,1799,1805,1658,406.6,15.3,680,11670,0.00,2.10,0.00,0.000,260,0.000,0.029,2975,3204,1731,1805,1658,0,0,0,0,0,0,26.64,26.12,26.65
$GC,11707,0.48,175.2,2975,3204,1806,1658,400.7,15.3,682,11711,0.00,2.15,0.00,0.000,1030,0.000,0.031,2986,1783,1733,1807,1659,0,0,0,0,0,0,26.20,26.10,26.25
$GC,12519,0.48,175.2,2985,1783,1807,1658,279.2,14.9,723,12524,0.00,2.17,0.00,0.000,516,0.000,0.039,2997,384,1732,1807,1658,0,0,0,0,0,0,26.66,26.01,26.67
$GC,12587,0.48,175.2,2996,383,1801,1658,270.3,14.9,726,12592,0.10,2.15,0.00,0.000,5126,0.189,0.029,2970,1794,1730,1801,1659,0,0,0,0,0,0,25.75,26.15,25.93
$GC,13394,0.48,175.2,2969,1798,1808,1658,168.5,12.0,778,13402,0.00,2.10,0.00,0.000,260,0.000,0.031,2970,3202,1733,1808,1658,0,0,0,0,0,0,26.67,26.12,26.68
$GC,13488,0.48,175.2,2969,3202,1808,1658,158.5,10.9,787,13495,0.00,2.15,0.00,0.000,1030,0.000,0.029,2978,1777,1733,1808,1659,0,0,0,0,0,0,26.23,26.13,26.27
$GC,13795,0.48,175.2,2978,1777,1808,1659,124.0,11.7,818,13796,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,1777,1733,1808,1658,0,0,0,0,0,0,26.67,26.69,26.68
$GC,14101,0.48,175.2,2978,1777,1809,1658,88.8,11.6,857,14108,0.00,2.12,0.00,0.000,260,0.000,0.028,2978,3206,1734,1810,1659,0,0,0,0,0,0,26.67,26.15,26.69
$GC,14181,0.53,213.6,2978,3206,1811,1659,81.0,9.0,871,14218,0.00,2.12,29.62,0.691,9222,0.000,0.027,2989,1780,1593,1678,1508,0,0,0,0,0,0,26.25,26.15,25.15
$GC,14539,0.53,213.6,2988,1779,1674,1506,49.5,12.8,937,14545,0.00,2.10,0.00,0.000,260,0.000,0.024,2989,3205,1590,1674,1506,0,0,0,0,0,0,26.41,25.97,26.42
$GC,14606,0.53,213.6,2988,3205,1673,1506,41.1,11.1,949,14613,0.00,2.15,0.00,0.000,1030,0.000,0.029,2999,1782,1590,1673,1507,0,0,0,0,0,0,26.06,25.96,26.08
$STATE,14969,end climb,SURFACE_DEPTH_REACHED
$STATE,14969,begin surface coast
$FINISH,1.0,1.013861
$STATE,15008,end surface coast,CONTROL_FINISHED_OK
$STATE,15008,begin surface
$SM_CCo,15024,118.43,0.047,0,0,498,482.01
$SM_GC,1.91,7.40,0.30,118.43,0.022,0.031,0.047,125,2099,498,-8.34,-1.22,482.01,0,0,0,0,0,0,26.09,26.30,25.89
$IRIDIUM_FIX,-3137.94,2949.10,220717,005624
$TT8_MAMPS,0.025466,0.261401
$HUMID,53.54
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,20.30
$XPDR_PINGS,0
$24V_AH,22.79,40.016
$10V_AH,10.16,20.199
$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,18.875,86.550,325.750,118.425,0.000,51.504,52.627,249.007,20.250,0.000,11.798,2482.402,9927.910,530.732,2525.938,167.658,0.000,1512.938,0.000,2070.828,0.000,137.155,0.000
$DEVICE_MAMPS,219.555,79.560,1310.445,47.430,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,705.434,108.885,475.383,473.385,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343428
$DATA_FILE_SIZE,67166,1016
$CAP_FILE_SIZE,123592,0
$CFSIZE,2097086464,2048688128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,220717,051650,-3145.786,2950.952,39,0.9,39,-26.5,0.5,263.3,9,7.1