version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 429
start: 7 22 117 5 24 43
data:
$ID,574
$MISSION,23
$DIVE,429
$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,270
$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,28
$R_STBD_OVSHOOT,39
$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
$GPS1,220717,051650,-3145.7864,2950.9524,39,0.9,39,-26.5,0.5,263.3,9,7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-77.6
$GPS2,220717,052356,-3145.7766,2950.8533,4,0.8,4,-26.5,0.8,339.6,12,11.6
$SPEED_LIMITS,0.325,0.335
$TGT_NAME,HEADING
$TGT_LATLONG,-3145.777,2938.152
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,296.5,20000,-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,-175.2,125,1993,526,448,0.0,0.0,0,103,0.00,0.00,-85.25,0.000,16386,0.000,0.000,125,1993,2845,2846,2844,0,0,0,0,0,0,26.10,28.83,26.12
$GC,106,-0.48,-175.2,125,1993,2846,2844,3.4,-3.0,11,132,9.90,2.20,-6.55,0.000,19204,0.217,0.037,2644,570,3179,3218,3141,0,0,0,0,0,0,25.24,25.25,25.44
$GC,141,-0.48,-175.2,2644,571,3219,3141,15.5,-31.5,15,150,0.00,2.20,0.00,0.000,1030,0.000,0.024,2635,1988,3180,3220,3141,0,0,0,0,0,0,25.84,25.81,25.87
$GC,200,-0.48,-175.2,2635,1987,3222,3139,28.5,-21.0,24,209,0.00,2.15,0.00,0.000,260,0.000,0.031,2625,3396,3180,3222,3139,0,0,0,0,0,0,26.22,25.81,26.23
$GC,252,-0.48,-175.2,2624,3395,3224,3137,38.2,-16.1,32,261,0.00,2.17,0.00,0.000,1030,0.000,0.024,2625,1971,3180,3224,3137,0,0,0,0,0,0,25.90,25.85,25.93
$GC,390,-0.48,-175.2,2624,1967,3224,3136,68.0,-20.7,57,398,0.08,2.17,0.00,0.000,2308,0.213,0.028,2642,3404,3180,3225,3136,0,0,0,0,0,0,25.72,25.84,25.77
$GC,450,-0.48,-175.2,2641,3404,3225,3136,76.8,-12.6,67,457,0.00,2.12,0.00,0.000,1030,0.000,0.024,2642,1978,3181,3226,3136,0,0,0,0,0,0,26.03,25.96,26.06
$GC,770,-0.48,-175.2,2641,1974,3227,3135,128.8,-16.7,112,779,0.00,2.12,0.00,0.000,260,0.000,0.031,2631,3404,3181,3227,3135,0,0,0,0,0,0,26.47,26.01,26.48
$GC,881,-0.48,-175.2,2631,3404,3228,3135,143.5,-12.2,123,885,0.00,2.10,0.00,0.000,1030,0.000,0.024,2631,1985,3181,3228,3135,0,0,0,0,0,0,26.15,26.08,26.18
$GC,1186,-0.48,-175.2,2631,1982,3229,3135,190.6,-16.2,153,1195,0.00,2.08,0.00,0.000,516,0.000,0.028,2631,587,3182,3229,3135,0,0,0,0,0,0,26.55,26.09,26.57
$GC,1199,-0.48,-175.2,2631,586,3229,3135,191.9,-16.4,154,1207,0.10,2.15,0.00,0.000,3078,0.165,0.024,2652,1996,3182,3229,3135,0,0,0,0,0,0,25.73,26.14,25.82
$GC,1517,-0.48,-175.2,2651,1996,3229,3135,234.7,-12.9,173,1523,0.00,2.08,0.00,0.000,260,0.000,0.031,2643,3401,3182,3229,3135,0,0,0,0,0,0,26.60,26.11,26.60
$GC,1666,-0.48,-175.2,2642,3401,3230,3135,250.5,-10.9,180,1670,0.00,2.10,0.00,0.000,1030,0.000,0.023,2643,1978,3182,3230,3135,0,0,0,0,0,0,26.26,26.19,26.29
$GC,2480,-0.48,-175.2,2642,1976,3230,3131,360.0,-13.7,221,2485,0.00,2.08,0.00,0.000,260,0.000,0.031,2633,3391,3180,3230,3131,0,0,0,0,0,0,26.63,26.17,26.64
$GC,2561,-0.48,-175.2,2632,3391,3230,3131,369.7,-12.0,225,2566,0.00,2.08,0.00,0.000,1030,0.000,0.024,2633,1985,3180,3230,3131,0,0,0,0,0,0,26.29,26.21,26.32
$GC,3377,-0.48,-175.2,2632,1983,3230,3126,482.4,-14.0,266,3382,0.00,2.08,0.00,0.000,260,0.000,0.031,2623,3396,3178,3230,3126,0,0,0,0,0,0,26.67,26.16,26.68
$GC,3403,-0.48,-175.2,2621,3395,3230,3125,485.4,-13.9,267,3407,0.10,2.10,0.00,0.000,3078,0.164,0.024,2655,1982,3177,3230,3125,0,0,0,0,0,0,25.91,26.22,26.03
$GC,4218,-0.48,-175.2,2654,1979,3228,3119,580.6,-11.8,308,4224,0.00,2.08,0.00,0.000,516,0.000,0.031,2655,586,3173,3228,3119,0,0,0,0,0,0,26.68,26.15,26.69
$GC,4238,-0.48,-175.2,2655,586,3228,3119,583.2,-11.9,309,4243,0.00,2.15,0.00,0.000,1030,0.000,0.026,2646,1982,3173,3227,3119,0,0,0,0,0,0,26.25,26.21,26.28
$GC,5056,-0.48,-175.2,2646,1982,3225,3114,683.1,-11.5,350,5057,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1982,3170,3225,3115,0,0,0,0,0,0,26.70,26.72,26.71
$GC,5856,-0.48,-175.2,2646,1982,3222,3111,776.3,-12.2,390,5860,0.00,2.12,0.00,0.000,516,0.000,0.030,2646,583,3166,3221,3111,0,0,0,0,0,0,26.70,26.13,26.72
$GC,5901,-0.48,-175.2,2646,582,3221,3111,781.1,-12.1,392,5905,0.00,2.17,0.00,0.000,1030,0.000,0.027,2636,1989,3166,3221,3111,0,0,0,0,0,0,26.22,26.17,26.25
$GC,6719,-0.48,-175.2,2636,1988,3218,3108,886.5,-12.7,433,6724,0.00,2.12,0.00,0.000,260,0.000,0.034,2625,3407,3163,3218,3108,0,0,0,0,0,0,26.70,26.09,26.72
$GC,6893,-0.48,-175.2,2625,3407,3215,3107,904.0,-10.5,441,6900,0.00,2.12,0.00,0.000,1030,0.000,0.028,2625,1986,3160,3214,3107,0,0,0,0,0,0,26.23,26.13,26.27
$STATE,7599,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7599,begin apogee
$GC,7605,0.00,0.0,2625,1759,3213,3104,1001.7,-13.1,477,7752,0.60,0.00,143.43,1.336,10246,0.142,0.000,2805,1757,2465,2524,2407,0,0,0,0,0,0,25.39,24.33,23.48
$STATE,7752,end apogee,CONTROL_FINISHED_OK
$STATE,7753,begin climb
$GC,7755,0.48,175.2,2804,1757,2523,2406,1007.4,0.0,484,7921,0.43,2.35,154.77,1.319,10756,0.057,0.039,2976,426,1748,1828,1668,0,0,0,0,0,0,24.53,23.57,22.77
$GC,7936,0.48,175.2,2975,426,1822,1669,993.7,13.8,493,7943,0.00,2.28,0.00,0.000,1030,0.000,0.027,2976,1787,1744,1821,1668,0,0,0,0,0,0,24.18,24.11,24.20
$GC,8745,0.48,175.2,2976,1791,1815,1661,846.5,18.5,534,8750,0.00,2.12,0.00,0.000,260,0.000,0.031,2976,3198,1738,1815,1661,0,0,0,0,0,0,26.29,25.87,26.30
$GC,8811,0.48,175.2,2975,3198,1814,1661,835.8,18.2,537,8815,0.00,2.10,0.00,0.000,1030,0.000,0.031,2985,1822,1737,1813,1661,0,0,0,0,0,0,25.99,25.89,26.03
$GC,9618,0.48,175.2,2984,1822,1811,1660,688.6,17.3,577,9624,0.00,2.25,0.00,0.000,516,0.000,0.040,2996,380,1734,1809,1659,0,0,0,0,0,0,26.51,25.95,26.52
$GC,9747,0.48,175.2,2995,380,1804,1659,668.9,15.8,583,9752,0.10,2.20,0.00,0.000,5126,0.200,0.028,2969,1804,1731,1804,1659,0,0,0,0,0,0,25.69,26.08,25.89
$GC,10553,0.48,175.2,2969,1807,1806,1659,547.1,15.0,623,10559,0.00,2.20,0.00,0.000,516,0.000,0.036,2978,382,1732,1805,1659,0,0,0,0,0,0,26.60,26.01,26.61
$GC,10706,0.48,175.2,2978,382,1801,1659,527.7,13.8,630,10713,0.00,2.15,0.00,0.000,1030,0.000,0.028,2978,1789,1730,1802,1659,0,0,0,0,0,0,26.21,26.13,26.25
$GC,11513,0.48,175.2,2978,1791,1804,1658,403.8,14.7,671,11519,0.00,2.17,0.00,0.000,516,0.000,0.037,2988,383,1731,1804,1659,0,0,0,0,0,0,26.64,26.01,26.65
$GC,11649,0.48,175.2,2988,383,1800,1659,386.9,13.8,677,11655,0.00,2.15,0.00,0.000,1030,0.000,0.029,2988,1791,1730,1802,1659,0,0,0,0,0,0,26.22,26.13,26.27
$GC,12453,0.48,175.2,2988,1795,1804,1659,262.8,15.3,718,12459,0.00,2.17,0.00,0.000,516,0.000,0.034,2999,382,1731,1804,1659,0,0,0,0,0,0,26.66,26.03,26.67
$GC,12561,0.48,175.2,2998,382,1801,1659,248.4,14.1,723,12566,0.10,2.17,0.00,0.000,5126,0.187,0.029,2971,1801,1730,1801,1659,0,0,0,0,0,0,25.75,26.13,25.93
$GC,13368,0.48,175.2,2971,1803,1807,1659,145.7,11.2,785,13372,0.00,2.10,0.00,0.000,260,0.000,0.030,2971,3207,1733,1807,1659,0,0,0,0,0,0,26.67,26.13,26.68
$GC,13459,0.48,175.2,2970,3207,1807,1659,135.9,10.2,794,13468,0.00,2.12,0.00,0.000,1030,0.000,0.028,2980,1787,1733,1808,1659,0,0,0,0,0,0,26.22,26.13,26.27
$GC,13769,0.48,175.2,2979,1787,1808,1659,100.4,11.5,825,13778,0.00,2.12,0.00,0.000,260,0.000,0.028,2980,3214,1733,1808,1659,0,0,0,0,0,0,26.67,26.13,26.69
$GC,13797,0.48,175.2,2979,3214,1808,1659,97.6,11.4,829,13804,0.00,2.12,0.00,0.000,1030,0.000,0.028,2990,1789,1733,1807,1659,0,0,0,0,0,0,26.22,26.13,26.27
$GC,14123,0.48,175.2,2990,1789,1808,1659,63.6,11.1,890,14129,0.00,2.15,0.00,0.000,516,0.000,0.035,3001,384,1733,1808,1659,0,0,0,0,0,0,26.67,26.02,26.69
$GC,14206,0.58,258.7,3001,384,1806,1661,56.9,7.8,905,14280,0.00,2.12,64.57,0.673,9222,0.000,0.027,3001,1790,1410,1507,1313,0,0,0,0,0,0,26.25,26.16,24.81
$GC,14631,0.58,258.7,3000,1793,1501,1309,7.9,12.4,977,14640,0.00,2.22,0.00,0.000,516,0.000,0.034,3011,382,1403,1498,1308,0,0,0,0,0,0,26.26,25.75,26.27
$STATE,14672,end climb,SURFACE_DEPTH_REACHED
$STATE,14672,begin surface coast
$FINISH,1.0,1.014249
$STATE,14697,end surface coast,CONTROL_FINISHED_OK
$STATE,14697,begin surface
$SM_CCo,14715,99.95,0.050,0,0,499,482.01
$SM_GC,1.93,7.47,2.50,99.95,0.021,0.016,0.050,125,2014,499,-8.33,-0.93,482.01,0,0,0,0,0,0,25.91,25.94,25.72
$IRIDIUM_FIX,-3132.88,2953.49,220717,051817
$TT8_MAMPS,0.026215,0.26215
$HUMID,54.44
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,19.70
$XPDR_PINGS,0
$24V_AH,22.77,40.161
$10V_AH,10.14,20.278
$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,18.875,91.000,362.775,99.950,0.000,28.930,40.284,244.911,20.250,0.000,10.755,2405.079,9705.600,557.589,2431.467,165.086,0.000,1532.823,0.000,2015.488,0.000,139.340,0.000
$DEVICE_MAMPS,217.260,73.440,1336.455,50.490,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,681.546,99.140,428.264,431.375,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343400
$DATA_FILE_SIZE,63784,987
$CAP_FILE_SIZE,122961,0
$CFSIZE,2097086464,2048589824
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,7878.95,0x2338ba,1,24
$WARN,PPS timeout
$GPS,220717,093256,-3145.166,2950.386,40,0.9,40,-26.4,0.8,23.7,9,8.1