version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 431
start: 7 22 117 14 14 15
data:
$ID,574
$MISSION,23
$DIVE,431
$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,290
$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,36
$R_STBD_OVSHOOT,53
$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
$GPS1,220717,135902,-3143.7744,2950.6746,36,0.9,36,-26.4,0.8,34.9,9,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-76.1
$GPS2,220717,141328,-3143.4910,2950.7266,3,0.8,3,-26.4,0.9,42.7,10,13.7
$SPEED_LIMITS,0.325,0.335
$TGT_NAME,HEADING
$TGT_LATLONG,-3139.798,2938.804
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,316.4,20000,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.48,-175.2,127,2018,528,448,0.0,0.0,0,103,0.00,0.00,-84.85,0.000,16386,0.000,0.000,127,2018,2840,2840,2840,0,0,0,0,0,0,26.00,28.83,26.01
$GC,106,-0.48,-175.2,127,2018,2840,2840,3.4,-3.0,11,132,9.93,2.25,-6.72,0.000,18948,0.218,0.041,2649,584,3181,3221,3141,0,0,0,0,0,0,25.18,25.18,25.37
$GC,175,-0.48,-175.2,2649,583,3224,3141,21.5,-16.6,21,184,0.00,2.20,0.00,0.000,1030,0.000,0.029,2640,1975,3182,3224,3140,0,0,0,0,0,0,25.77,25.75,25.82
$GC,321,-0.48,-175.2,2639,1975,3224,3140,49.0,-19.8,46,328,0.00,2.15,0.00,0.000,260,0.000,0.033,2629,3405,3182,3224,3140,0,0,0,0,0,0,26.25,25.81,26.26
$GC,388,-0.48,-175.2,2629,3405,3226,3138,60.3,-15.3,58,395,0.00,2.15,0.00,0.000,1030,0.000,0.026,2630,1972,3181,3226,3137,0,0,0,0,0,0,25.97,25.89,26.00
$GC,714,-0.48,-175.2,2628,1969,3228,3137,114.6,-16.0,111,715,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,1969,3182,3228,3137,0,0,0,0,0,0,26.43,26.44,26.44
$GC,1014,-0.48,-175.2,2628,1969,3229,3137,162.1,-15.6,141,1023,0.00,2.10,0.00,0.000,260,0.000,0.031,2619,3404,3182,3229,3136,0,0,0,0,0,0,26.51,26.06,26.52
$GC,1075,-0.48,-175.2,2618,3404,3229,3137,170.1,-12.1,147,1085,0.10,2.10,0.00,0.000,3078,0.164,0.024,2650,1986,3183,3230,3137,0,0,0,0,0,0,25.79,26.10,25.93
$GC,1386,-0.48,-175.2,2650,1982,3229,3136,210.5,-12.1,174,1392,0.00,2.12,0.00,0.000,260,0.000,0.031,2642,3415,3183,3230,3136,0,0,0,0,0,0,26.53,26.10,26.54
$GC,1433,-0.48,-175.2,2641,3415,3230,3136,215.2,-12.0,176,1437,0.00,2.10,0.00,0.000,1030,0.000,0.024,2641,1990,3183,3231,3136,0,0,0,0,0,0,26.22,26.15,26.26
$GC,2240,-0.48,-175.2,2641,1986,3230,3132,324.1,-13.1,216,2246,0.00,2.10,0.00,0.000,260,0.000,0.031,2631,3405,3181,3230,3132,0,0,0,0,0,0,26.64,26.16,26.65
$GC,2301,-0.48,-175.2,2631,3405,3230,3131,331.0,-11.9,219,2307,0.00,2.10,0.00,0.000,1030,0.000,0.024,2631,1986,3180,3230,3130,0,0,0,0,0,0,26.29,26.20,26.31
$GC,3122,-0.48,-175.2,2630,1982,3230,3126,444.1,-14.1,260,3127,0.00,2.10,0.00,0.000,260,0.000,0.031,2621,3404,3177,3229,3126,0,0,0,0,0,0,26.67,26.17,26.69
$GC,3181,-0.48,-175.2,2620,3404,3229,3126,451.4,-12.6,263,3188,0.10,2.10,0.00,0.000,3078,0.165,0.025,2653,1990,3177,3228,3126,0,0,0,0,0,0,25.89,26.20,26.03
$GC,4001,-0.48,-175.2,2652,1986,3227,3119,548.0,-12.2,304,4003,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,1986,3173,3227,3119,0,0,0,0,0,0,26.69,26.71,26.70
$GC,4800,-0.48,-175.2,2652,1986,3225,3115,644.8,-12.0,344,4806,0.00,2.12,0.00,0.000,260,0.000,0.033,2644,3407,3169,3224,3115,0,0,0,0,0,0,26.70,26.14,26.71
$GC,4885,-0.48,-175.2,2643,3406,3223,3115,653.9,-11.0,348,4889,0.00,2.10,0.00,0.000,1030,0.000,0.025,2644,1991,3169,3223,3115,0,0,0,0,0,0,26.29,26.20,26.32
$GC,5697,-0.48,-175.2,2643,1987,3220,3111,755.8,-12.7,389,5701,0.00,2.12,0.00,0.000,260,0.000,0.033,2634,3405,3165,3220,3111,0,0,0,0,0,0,26.70,26.12,26.71
$GC,5726,-0.48,-175.2,2633,3405,3220,3111,758.3,-12.6,390,5730,0.00,2.10,0.00,0.000,1030,0.000,0.026,2634,1993,3165,3220,3111,0,0,0,0,0,0,26.27,26.17,26.29
$GC,6534,-0.48,-175.2,2633,1993,3218,3107,868.2,-13.8,430,6540,0.00,2.10,0.00,0.000,516,0.000,0.033,2634,590,3162,3217,3107,0,0,0,0,0,0,26.70,26.08,26.71
$GC,6566,-0.48,-175.2,2633,589,3217,3107,871.1,-13.8,431,6574,0.10,2.12,0.00,0.000,3078,0.202,0.026,2653,1996,3162,3217,3107,0,0,0,0,0,0,25.75,26.16,25.90
$GC,7373,-0.48,-175.2,2652,1995,3212,3103,966.7,-11.3,472,7379,0.00,2.12,0.00,0.000,260,0.000,0.037,2643,3404,3157,3212,3103,0,0,0,0,0,0,26.70,26.03,26.72
$GC,7483,-0.48,-175.2,2643,3404,3212,3103,976.2,-9.3,477,7487,0.00,2.12,0.00,0.000,1030,0.000,0.028,2643,1990,3157,3212,3103,0,0,0,0,0,0,26.22,26.13,26.25
$STATE,7688,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7688,begin apogee
$GC,7693,0.00,0.0,2643,1762,3212,3102,1001.3,-12.2,487,7839,0.55,0.00,142.18,1.300,10246,0.139,0.000,2809,1761,2464,2523,2406,0,0,0,0,0,0,25.42,24.37,23.55
$STATE,7840,end apogee,CONTROL_FINISHED_OK
$STATE,7840,begin climb
$GC,7842,0.48,175.2,2808,1761,2523,2406,1007.8,0.0,494,8010,0.43,2.47,153.62,1.281,10500,0.055,0.029,2970,3194,1748,1828,1668,0,0,0,0,0,0,24.57,23.60,22.80
$GC,8055,0.48,175.2,2970,3194,1824,1667,988.5,15.1,505,8059,0.00,2.25,0.00,0.000,1030,0.000,0.031,2980,1827,1745,1824,1667,0,0,0,0,0,0,24.51,24.43,24.53
$GC,8872,0.48,175.2,2979,1826,1819,1658,844.4,17.2,546,8878,0.00,2.28,0.00,0.000,516,0.000,0.041,2991,381,1737,1818,1657,0,0,0,0,0,0,26.31,25.82,26.32
$GC,8992,0.48,175.2,2990,380,1808,1658,824.2,16.1,552,8998,0.00,2.17,0.00,0.000,1030,0.000,0.027,2991,1791,1732,1808,1657,0,0,0,0,0,0,26.05,25.96,26.08
$GC,9812,0.48,175.2,2990,1795,1808,1658,682.8,16.7,593,9818,0.00,2.12,0.00,0.000,260,0.000,0.031,2992,3202,1732,1808,1657,0,0,0,0,0,0,26.52,26.05,26.53
$GC,9880,0.48,175.2,2990,3202,1808,1657,673.6,15.7,596,9885,0.12,2.15,0.00,0.000,5126,0.203,0.031,2969,1785,1733,1808,1658,0,0,0,0,0,0,25.60,26.05,25.84
$GC,10687,0.48,175.2,2968,1785,1808,1655,554.7,14.3,636,10693,0.00,2.12,0.00,0.000,260,0.000,0.028,2968,3209,1731,1808,1655,0,0,0,0,0,0,26.60,26.12,26.61
$GC,10767,0.48,175.2,2968,3209,1808,1655,544.2,13.0,640,10773,0.00,2.15,0.00,0.000,1030,0.000,0.031,2977,1789,1731,1808,1655,0,0,0,0,0,0,26.19,26.08,26.23
$GC,11588,0.48,175.2,2976,1789,1808,1655,421.4,14.9,681,11594,0.00,2.15,0.00,0.000,516,0.000,0.038,2987,388,1731,1808,1655,0,0,0,0,0,0,26.64,26.01,26.65
$GC,11675,0.48,175.2,2987,387,1803,1655,409.8,14.5,685,11679,0.00,2.15,0.00,0.000,1030,0.000,0.027,2987,1794,1729,1803,1655,0,0,0,0,0,0,26.23,26.15,26.27
$GC,12482,0.48,175.2,2987,1798,1808,1655,279.5,14.8,725,12488,0.00,2.10,0.00,0.000,260,0.000,0.031,2988,3201,1731,1808,1655,0,0,0,0,0,0,26.66,26.10,26.67
$GC,12565,0.48,175.2,2987,3201,1808,1656,268.2,14.1,729,12570,0.10,2.12,0.00,0.000,5126,0.193,0.031,2971,1788,1731,1808,1655,0,0,0,0,0,0,25.74,26.11,25.91
$GC,13379,0.48,175.2,2970,1788,1808,1655,160.9,11.2,786,13387,0.00,2.15,0.00,0.000,516,0.000,0.036,2980,378,1732,1808,1656,0,0,0,0,0,0,26.67,26.02,26.68
$GC,13422,0.48,175.2,2979,378,1804,1656,156.6,10.3,790,13429,0.00,2.15,0.00,0.000,1030,0.000,0.028,2980,1789,1731,1806,1656,0,0,0,0,0,0,26.23,26.15,26.27
$GC,13729,0.48,175.2,2979,1793,1808,1656,121.8,12.2,821,13738,0.00,2.12,0.00,0.000,260,0.000,0.031,2980,3213,1732,1808,1656,0,0,0,0,0,0,26.59,26.09,26.60
$GC,13783,0.48,175.2,2979,3213,1809,1656,115.4,12.6,826,13790,0.00,2.15,0.00,0.000,1030,0.000,0.030,2991,1784,1732,1809,1656,0,0,0,0,0,0,26.21,26.11,26.25
$GC,14099,0.48,175.2,2990,1783,1809,1656,76.3,11.3,876,14107,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,1784,1732,1809,1656,0,0,0,0,0,0,26.66,26.68,26.67
$GC,14429,0.50,194.3,2990,1783,1812,1656,44.0,9.5,937,14454,0.00,2.15,14.40,0.627,8452,0.000,0.027,2990,3208,1672,1755,1589,0,0,0,0,0,0,26.67,26.00,25.27
$GC,14522,0.50,194.3,2990,3208,1754,1589,34.5,10.3,952,14530,0.00,2.17,0.00,0.000,1030,0.000,0.029,3001,1792,1671,1753,1589,0,0,0,0,0,0,26.09,26.05,26.12
$GC,14677,0.50,194.3,3000,1791,1754,1588,18.6,11.4,977,14685,0.00,2.20,0.00,0.000,516,0.000,0.036,3012,381,1669,1751,1588,0,0,0,0,0,0,26.53,25.96,26.54
$GC,14718,0.50,194.3,3011,380,1744,1589,14.1,10.7,983,14727,0.10,2.20,0.00,0.000,5126,0.141,0.029,2981,1794,1668,1747,1589,0,0,0,0,0,0,25.75,26.06,25.82
$GC,14778,0.52,203.2,2981,1797,1750,1589,8.2,9.7,992,14788,0.00,2.15,3.90,0.361,8452,0.000,0.028,2981,3208,1635,1718,1552,0,0,0,0,0,0,26.54,25.92,25.18
$GC,14816,0.52,204.9,2981,3207,1717,1552,4.4,9.9,997,14824,0.00,2.17,0.00,0.000,1030,0.000,0.027,2990,1783,1634,1717,1552,0,0,0,0,0,0,26.14,26.10,26.17
$STATE,14831,end climb,SURFACE_DEPTH_REACHED
$STATE,14831,begin surface coast
$FINISH,1.0,1.011002
$STATE,14874,end surface coast,CONTROL_FINISHED_OK
$STATE,14874,begin surface
$SM_CCo,14891,122.95,0.047,0,0,499,482.01
$SM_GC,2.00,7.53,0.30,122.95,0.032,0.029,0.047,124,2124,499,-8.35,-1.07,482.01,0,0,0,0,0,0,26.10,26.32,25.91
$IRIDIUM_FIX,-3127.82,2952.23,220717,140033
$TT8_MAMPS,0.025466,0.26215
$HUMID,54.25
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,19.40
$XPDR_PINGS,18
$24V_AH,22.80,40.471
$10V_AH,10.14,20.448
$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,19.050,90.950,314.100,122.950,0.000,33.093,24.282,695.894,24.750,0.000,10.767,2462.787,9845.062,537.444,2831.884,225.181,0.000,1518.178,0.000,2038.003,0.000,137.210,0.000
$DEVICE_MAMPS,218.025,41.310,1300.500,47.430,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,698.267,107.408,472.618,473.450,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343524
$DATA_FILE_SIZE,63694,1006
$CAP_FILE_SIZE,131495,0
$CFSIZE,2097086464,2048294912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,220717,182532,-3142.284,2950.750,26,0.9,26,-26.4,0.0,0.0,9,7.1