version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 432
start: 7 22 117 18 33 39
data:
$ID,574
$MISSION,23
$DIVE,432
$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,0
$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,21
$R_STBD_OVSHOOT,36
$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
$GPS1,220717,182532,-3142.2842,2950.7495,26,0.9,26,-26.4,0.0,0.0,9,7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-77.7
$GPS2,220717,183252,-3142.2734,2950.8030,4,0.9,4,-26.4,0.8,217.2,9,233.0
$SPEED_LIMITS,0.325,0.335
$TGT_NAME,HEADING
$TGT_LATLONG,-3131.474,2950.803
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,26.4,20000,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.48,-175.2,124,2008,525,447,0.0,0.0,0,103,0.00,0.00,-85.18,0.000,16386,0.000,0.000,124,2008,2845,2845,2846,0,0,0,0,0,0,26.10,28.83,26.10
$GC,106,-0.48,-175.2,124,2008,2846,2846,3.7,-3.9,11,132,9.88,2.25,-6.57,0.000,18948,0.216,0.037,2645,553,3180,3219,3142,0,0,0,0,0,0,25.20,25.23,25.40
$GC,210,-0.48,-175.2,2645,553,3220,3142,27.4,-15.5,27,218,0.00,2.25,0.00,0.000,1030,0.000,0.029,2635,1982,3181,3220,3142,0,0,0,0,0,0,25.85,25.81,25.89
$GC,352,-0.48,-175.2,2635,1983,3223,3140,56.6,-20.7,52,359,0.00,2.17,0.00,0.000,260,0.000,0.033,2624,3401,3181,3223,3140,0,0,0,0,0,0,26.31,25.85,26.32
$GC,447,-0.48,-175.2,2624,3401,3225,3138,72.4,-14.4,69,454,0.00,2.15,0.00,0.000,1030,0.000,0.025,2625,1968,3181,3225,3138,0,0,0,0,0,0,26.02,25.94,26.04
$GC,771,-0.48,-175.2,2624,1963,3227,3137,126.9,-17.0,116,780,0.08,2.15,0.00,0.000,2308,0.210,0.029,2643,3408,3182,3227,3137,0,0,0,0,0,0,25.86,25.96,25.91
$GC,855,-0.48,-175.2,2642,3408,3228,3137,138.5,-12.8,124,862,0.00,2.15,0.00,0.000,1030,0.000,0.023,2643,1981,3182,3228,3137,0,0,0,0,0,0,26.10,26.07,26.13
$GC,1163,-0.48,-175.2,2642,1977,3229,3136,182.6,-13.7,155,1171,0.00,2.12,0.00,0.000,260,0.000,0.030,2632,3415,3182,3229,3136,0,0,0,0,0,0,26.54,26.07,26.55
$GC,1226,-0.48,-175.2,2632,3415,3230,3137,190.1,-11.5,161,1233,0.00,2.15,0.00,0.000,1030,0.000,0.024,2632,1983,3184,3231,3137,0,0,0,0,0,0,26.17,26.13,26.25
$GC,1546,-0.48,-175.2,2632,1979,3230,3136,234.8,-13.9,181,1552,0.00,2.08,0.00,0.000,260,0.000,0.031,2622,3398,3183,3230,3136,0,0,0,0,0,0,26.59,26.11,26.60
$GC,1566,-0.48,-175.2,2622,3398,3230,3136,237.8,-14.3,182,1571,0.08,2.12,0.00,0.000,3078,0.161,0.023,2658,1982,3183,3230,3136,0,0,0,0,0,0,25.82,26.17,25.96
$GC,2387,-0.48,-175.2,2657,1978,3230,3133,332.4,-10.4,223,2392,0.00,2.10,0.00,0.000,260,0.000,0.031,2649,3402,3182,3231,3133,0,0,0,0,0,0,26.65,26.15,26.67
$GC,2506,-0.48,-175.2,2648,3402,3231,3132,343.2,-8.6,229,2510,0.00,2.10,0.00,0.000,1030,0.000,0.024,2649,1988,3181,3231,3132,0,0,0,0,0,0,26.29,26.20,26.32
$GC,3327,-0.48,-175.2,2648,1984,3230,3128,447.2,-13.3,270,3333,0.00,2.10,0.00,0.000,260,0.000,0.031,2639,3404,3179,3231,3128,0,0,0,0,0,0,26.68,26.17,26.70
$GC,3390,-0.48,-175.2,2638,3404,3231,3128,454.4,-12.4,273,3395,0.00,2.08,0.00,0.000,1030,0.000,0.024,2639,1995,3179,3231,3127,0,0,0,0,0,0,26.29,26.20,26.32
$GC,4202,-0.48,-175.2,2638,1991,3229,3122,558.7,-12.3,314,4208,0.00,2.10,0.00,0.000,260,0.000,0.031,2629,3405,3175,3229,3122,0,0,0,0,0,0,26.70,26.15,26.70
$GC,4246,-0.48,-175.2,2628,3405,3228,3122,563.2,-11.5,316,4250,0.00,2.15,0.00,0.000,1030,0.000,0.025,2628,1984,3175,3228,3122,0,0,0,0,0,0,26.23,26.20,26.27
$GC,5064,-0.48,-175.2,2628,1982,3227,3118,665.9,-12.8,357,5070,0.00,2.15,0.00,0.000,260,0.000,0.033,2619,3413,3172,3227,3118,0,0,0,0,0,0,26.70,26.13,26.71
$GC,5154,-0.48,-175.2,2618,3413,3226,3118,675.0,-11.0,361,5159,0.10,2.12,0.00,0.000,3078,0.181,0.026,2650,1981,3171,3225,3117,0,0,0,0,0,0,25.82,26.17,25.96
$GC,5962,-0.48,-175.2,2649,1980,3225,3114,768.4,-12.1,401,5963,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,1980,3169,3225,3114,0,0,0,0,0,0,26.70,26.72,26.72
$GC,6761,-0.48,-175.2,2649,1980,3221,3109,857.1,-10.4,441,6766,0.00,2.12,0.00,0.000,516,0.000,0.033,2650,585,3165,3221,3109,0,0,0,0,0,0,26.70,26.06,26.71
$GC,6801,-0.48,-175.2,2649,584,3221,3109,861.3,-10.4,443,6807,0.00,2.15,0.00,0.000,1030,0.000,0.027,2641,1999,3165,3221,3109,0,0,0,0,0,0,26.24,26.15,26.27
$GC,7621,-0.48,-175.2,2640,1999,3217,3107,954.2,-11.5,484,7626,0.00,2.15,0.00,0.000,516,0.000,0.031,2640,586,3162,3218,3107,0,0,0,0,0,0,26.70,26.05,26.72
$GC,7715,-0.48,-175.2,2640,586,3218,3107,963.2,-11.0,488,7722,0.00,2.12,0.00,0.000,1030,0.000,0.028,2631,1989,3162,3218,3107,0,0,0,0,0,0,26.22,26.13,26.25
$STATE,8001,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8001,begin apogee
$GC,8006,0.00,0.0,2630,1734,3215,3107,1002.1,-13.4,503,8154,0.57,0.08,143.40,1.304,10246,0.139,0.084,2804,1823,2464,2524,2405,0,0,0,0,0,0,25.39,24.34,23.50
$STATE,8155,end apogee,CONTROL_FINISHED_OK
$STATE,8155,begin climb
$GC,8157,0.48,175.2,2803,1823,2524,2405,1009.2,0.0,510,8324,0.43,2.53,154.05,1.282,11012,0.055,0.038,2978,395,1748,1830,1667,0,0,0,0,0,0,24.56,23.57,22.77
$GC,8468,0.48,175.2,2978,395,1813,1667,974.8,14.4,526,8473,0.00,2.17,0.00,0.000,1030,0.000,0.028,2978,1752,1740,1813,1667,0,0,0,0,0,0,25.01,24.96,25.03
$GC,9286,0.48,175.2,2978,1755,1811,1662,836.2,17.1,567,9292,0.00,2.22,0.00,0.000,260,0.000,0.031,2978,3215,1736,1810,1662,0,0,0,0,0,0,26.34,25.89,26.35
$GC,9359,0.48,175.2,2978,3215,1809,1662,826.7,16.3,570,9366,0.00,2.17,0.00,0.000,1030,0.000,0.031,2989,1792,1735,1809,1661,0,0,0,0,0,0,26.01,25.91,26.06
$GC,10168,0.48,175.2,2988,1792,1808,1659,683.4,17.2,611,10173,0.00,2.17,0.00,0.000,516,0.000,0.041,3000,390,1733,1808,1659,0,0,0,0,0,0,26.52,25.94,26.53
$GC,10286,0.48,175.2,2999,389,1804,1659,663.6,15.7,617,10293,0.12,2.17,0.00,0.000,5126,0.198,0.028,2967,1804,1731,1804,1659,0,0,0,0,0,0,25.59,26.08,25.82
$GC,11107,0.48,175.2,2966,1807,1807,1659,537.3,15.3,658,11112,0.00,2.12,0.00,0.000,260,0.000,0.030,2967,3210,1733,1807,1659,0,0,0,0,0,0,26.60,26.08,26.61
$GC,11175,0.48,175.2,2966,3209,1806,1659,528.9,14.3,661,11179,0.00,2.15,0.00,0.000,1030,0.000,0.031,2974,1786,1732,1807,1658,0,0,0,0,0,0,26.17,26.08,26.22
$GC,11981,0.48,175.2,2974,1786,1807,1658,400.6,15.4,701,11987,0.00,2.17,0.00,0.000,516,0.000,0.037,2986,382,1732,1806,1658,0,0,0,0,0,0,26.63,25.98,26.65
$GC,12061,0.48,175.2,2985,381,1802,1658,388.8,14.8,705,12067,0.00,2.15,0.00,0.000,1030,0.000,0.027,2985,1789,1730,1803,1657,0,0,0,0,0,0,26.22,26.13,26.26
$GC,12881,0.48,175.2,2985,1792,1806,1658,268.3,13.9,746,12887,0.00,2.12,0.00,0.000,260,0.000,0.031,2986,3209,1732,1806,1658,0,0,0,0,0,0,26.65,26.09,26.67
$GC,12945,0.48,175.2,2985,3209,1807,1658,260.4,13.3,749,12949,0.10,2.12,0.00,0.000,5126,0.217,0.030,2970,1789,1733,1807,1659,0,0,0,0,0,0,25.66,26.09,25.86
$GC,13757,0.48,175.2,2969,1789,1808,1658,157.4,11.6,807,13766,0.00,2.17,0.00,0.000,516,0.000,0.036,2978,380,1733,1808,1658,0,0,0,0,0,0,26.67,25.99,26.68
$GC,13821,0.48,175.2,2978,379,1804,1658,150.4,11.1,813,13827,0.00,2.15,0.00,0.000,1030,0.000,0.028,2979,1793,1732,1806,1658,0,0,0,0,0,0,26.22,26.13,26.27
$GC,14128,0.48,175.2,2978,1793,1808,1659,112.3,12.0,844,14136,0.00,2.10,0.00,0.000,260,0.000,0.031,2979,3203,1733,1808,1659,0,0,0,0,0,0,26.67,26.09,26.68
$GC,14251,0.48,175.2,2977,3203,1808,1659,97.7,12.3,857,14258,0.00,2.12,0.00,0.000,1030,0.000,0.028,2989,1787,1733,1808,1659,0,0,0,0,0,0,26.20,26.10,26.25
$GC,14575,0.48,175.5,2988,1787,1809,1659,59.9,9.9,918,14584,0.00,2.20,0.00,0.000,516,0.000,0.036,3000,383,1733,1808,1659,0,0,0,0,0,0,26.67,26.01,26.68
$GC,14634,0.48,175.6,2999,383,1806,1659,54.1,9.9,928,14642,0.10,2.17,0.00,0.000,5126,0.164,0.025,2970,1797,1733,1808,1659,0,0,0,0,0,0,25.74,26.17,25.81
$GC,14978,0.63,296.5,2970,1798,1811,1659,29.6,6.9,989,15043,0.12,2.17,58.80,0.614,10500,0.087,0.028,3048,3199,1254,1362,1147,0,0,0,0,0,0,26.32,25.56,24.96
$GC,15082,0.63,296.5,3047,3200,1355,1147,15.5,15.7,1003,15092,0.12,2.20,0.00,0.000,5126,0.165,0.029,3021,1794,1250,1354,1147,0,0,0,0,0,0,25.35,25.67,25.46
$GC,15142,0.63,296.5,3021,1794,1350,1146,6.5,14.0,1012,15151,0.00,2.25,0.00,0.000,516,0.000,0.037,3031,381,1246,1347,1146,0,0,0,0,0,0,26.10,25.62,26.12
$STATE,15171,end climb,SURFACE_DEPTH_REACHED
$STATE,15171,begin surface coast
$FINISH,1.0,1.013512
$STATE,15191,end surface coast,CONTROL_FINISHED_OK
$STATE,15191,begin surface
$SM_CCo,15210,83.50,0.048,0,0,499,482.01
$SM_GC,2.03,7.62,2.50,83.50,0.025,0.016,0.048,125,2013,499,-8.33,-1.24,482.01,0,0,0,0,0,0,25.78,25.81,25.64
$IRIDIUM_FIX,-3130.35,2950.04,220717,182703
$TT8_MAMPS,0.025466,0.26215
$HUMID,55.04
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,19.20
$XPDR_PINGS,0
$24V_AH,22.77,40.611
$10V_AH,10.12,20.529
$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,19.325,95.975,356.250,83.500,0.000,31.521,42.462,252.876,20.250,0.000,10.770,2495.411,10054.977,521.732,2514.950,168.485,0.000,1545.673,0.000,2086.508,0.000,137.168,0.000
$DEVICE_MAMPS,217.260,84.150,1303.560,48.195,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,706.210,101.656,444.086,445.500,0.000,0.000,0.000,0.000,0.000,0.000
$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,67045,1019
$CAP_FILE_SIZE,126675,0
$CFSIZE,2097086464,2048163840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,220717,224950,-3140.654,2952.780,41,0.9,41,-26.4,0.0,0.0,10,9.7