version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 386
start: 7 14 117 15 44 37
data:
$ID,574
$MISSION,23
$DIVE,386
$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,500
$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,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$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,300
$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,2835
$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,2130
$C_ROLL_CLIMB,1840
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,42
$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
$GPS1,140717,153702,-2952.3276,3154.4463,69,0.8,69,-25.0,0.5,97.6,10,7.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-75.6
$GPS2,140717,154350,-2952.4585,3154.4597,6,0.8,6,-25.0,0.0,0.0,11,12.9
$SPEED_LIMITS,0.325,0.335
$TGT_NAME,TGT1
$TGT_LATLONG,-3000.000,3200.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,172.5,16554,-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,15,-0.48,-175.2,124,2137,1296,1153,0.0,0.0,0,73,0.00,0.00,-55.35,0.000,16386,0.000,0.000,124,2137,2771,2755,2788,0,0,0,0,0,0,26.16,28.83,26.17
$GC,76,-0.48,-175.2,124,2137,2756,2788,3.3,-3.2,7,102,9.82,2.15,-8.02,0.000,18948,0.213,0.034,2671,698,3179,3215,3144,0,0,0,0,0,0,25.33,25.32,25.52
$GC,152,-0.48,-175.2,2672,697,3222,3141,25.9,-19.7,18,160,0.00,2.25,0.00,0.000,1030,0.000,0.030,2662,2136,3182,3225,3139,0,0,0,0,0,0,25.91,25.86,25.94
$GC,298,-0.48,-175.2,2662,2139,3227,3138,59.4,-25.0,43,305,0.00,2.10,0.00,0.000,260,0.000,0.031,2651,3547,3182,3227,3138,0,0,0,0,0,0,26.32,25.94,26.33
$GC,338,-0.48,-175.2,2651,3547,3226,3137,68.1,-17.0,50,345,0.00,2.15,0.00,0.000,1030,0.000,0.027,2651,2117,3181,3227,3135,0,0,0,0,0,0,26.06,25.98,26.08
$GC,656,-0.48,-175.2,2651,2116,3232,3133,125.3,-17.1,97,659,0.00,2.08,0.00,0.000,516,0.000,0.029,2651,717,3183,3233,3133,0,0,0,0,0,0,26.46,26.07,26.48
$GC,754,-0.48,-175.2,2650,717,3232,3134,140.3,-13.9,106,762,0.08,2.17,0.00,0.000,3078,0.142,0.026,2675,2137,3183,3233,3134,0,0,0,0,0,0,25.85,26.13,25.99
$GC,1062,-0.48,-175.2,2674,2137,3236,3134,177.3,-12.3,137,1070,0.00,2.08,0.00,0.000,260,0.000,0.033,2665,3541,3185,3236,3134,0,0,0,0,0,0,26.55,26.15,26.56
$GC,1142,-0.48,-175.2,2665,3541,3236,3134,186.1,-10.4,145,1147,0.00,2.10,0.00,0.000,1030,0.000,0.023,2665,2116,3185,3236,3134,0,0,0,0,0,0,26.28,26.20,26.30
$GC,1447,-0.48,-175.2,2665,2114,3237,3133,225.7,-12.6,165,1453,0.00,2.08,0.00,0.000,516,0.000,0.029,2665,711,3185,3237,3133,0,0,0,0,0,0,26.60,26.20,26.62
$GC,1490,-0.48,-175.2,2665,711,3236,3134,230.4,-11.9,167,1494,0.00,2.17,0.00,0.000,1030,0.000,0.027,2656,2134,3185,3237,3134,0,0,0,0,0,0,26.27,26.24,26.29
$GC,2309,-0.48,-175.2,2654,2134,3237,3131,347.5,-15.2,208,2315,0.00,2.10,0.00,0.000,260,0.000,0.034,2645,3547,3184,3237,3131,0,0,0,0,0,0,26.67,26.24,26.69
$GC,2437,-0.48,-175.2,2644,3547,3236,3131,362.9,-12.1,214,2442,0.10,2.08,0.00,0.000,3078,0.124,0.024,2679,2131,3183,3236,3131,0,0,0,0,0,0,26.10,26.29,26.22
$GC,3245,-0.48,-175.2,2678,2126,3235,3127,448.2,-9.3,254,3250,0.00,2.08,0.00,0.000,260,0.000,0.033,2671,3533,3181,3235,3127,0,0,0,0,0,0,26.70,26.27,26.72
$GC,3332,-0.48,-175.2,2670,3533,3234,3127,454.6,-7.7,258,3336,0.00,2.08,0.00,0.000,1030,0.000,0.024,2670,2124,3180,3234,3127,0,0,0,0,0,0,26.39,26.31,26.41
$GC,4138,-0.48,-175.2,2670,2120,3232,3122,545.2,-11.3,298,4144,0.00,2.12,0.00,0.000,260,0.000,0.034,2660,3544,3177,3232,3122,0,0,0,0,0,0,26.72,26.26,26.73
$GC,4248,-0.48,-175.2,2660,3544,3231,3122,555.0,-9.4,303,4252,0.00,2.12,0.00,0.000,1030,0.000,0.024,2660,2123,3177,3231,3123,0,0,0,0,0,0,26.39,26.31,26.41
$GC,5059,-0.48,-175.2,2660,2120,3228,3117,663.6,-13.4,344,5064,0.00,2.10,0.00,0.000,516,0.000,0.034,2660,721,3172,3227,3117,0,0,0,0,0,0,26.72,26.24,26.74
$GC,5193,-0.48,-175.2,2660,721,3228,3118,678.7,-12.0,350,5201,0.00,2.12,0.00,0.000,1030,0.000,0.029,2650,2137,3172,3228,3117,0,0,0,0,0,0,26.38,26.29,26.41
$GC,5999,-0.48,-175.2,2649,2137,3226,3114,788.6,-12.7,391,6005,0.00,2.08,0.00,0.000,260,0.000,0.034,2640,3533,3170,3226,3114,0,0,0,0,0,0,26.72,26.24,26.74
$GC,6032,-0.48,-175.2,2639,3534,3226,3114,791.2,-12.6,392,6040,0.12,2.10,0.00,0.000,3078,0.115,0.027,2682,2126,3170,3226,3114,0,0,0,0,0,0,26.07,26.27,26.19
$GC,6840,-0.48,-175.2,2682,2126,3225,3108,870.7,-9.5,433,6846,0.00,2.10,0.00,0.000,260,0.000,0.035,2674,3535,3167,3226,3108,0,0,0,0,0,0,26.70,26.22,26.71
$GC,6903,-0.48,-175.2,2673,3535,3225,3108,875.6,-8.6,436,6907,0.00,2.10,0.00,0.000,1030,0.000,0.024,2674,2115,3166,3224,3108,0,0,0,0,0,0,26.37,26.29,26.39
$GC,7714,-0.48,-175.2,2673,2112,3222,3106,958.4,-10.2,477,7720,0.00,2.15,0.00,0.000,260,0.000,0.037,2663,3537,3164,3222,3106,0,0,0,0,0,0,26.72,26.18,26.74
$GC,7820,-0.48,-175.2,2663,3537,3220,3107,967.3,-8.5,482,7824,0.00,2.10,0.00,0.000,1030,0.000,0.025,2663,2122,3163,3220,3106,0,0,0,0,0,0,26.35,26.26,26.38
$STATE,8151,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8151,begin apogee
$GC,8156,0.00,0.0,2663,1817,3220,3104,1000.5,-10.1,499,8302,0.55,0.00,142.00,1.311,10246,0.124,0.000,2832,1816,2464,2538,2391,0,0,0,0,0,0,25.72,24.41,23.63
$STATE,8303,end apogee,CONTROL_FINISHED_OK
$STATE,8303,begin climb
$GC,8305,0.48,175.2,2832,1816,2538,2391,1005.8,0.0,506,8466,0.43,2.30,152.25,1.285,10756,0.055,0.038,3003,469,1749,1847,1652,0,0,0,0,0,0,24.58,23.71,22.96
$GC,8511,0.48,175.2,3002,469,1835,1651,983.1,17.3,516,8516,0.00,2.25,0.00,0.000,1030,0.000,0.028,3003,1834,1743,1835,1651,0,0,0,0,0,0,24.52,24.46,24.53
$GC,9323,0.48,175.2,3002,1837,1830,1648,819.1,18.9,557,9329,0.00,2.15,0.00,0.000,260,0.000,0.032,3003,3249,1738,1830,1647,0,0,0,0,0,0,26.27,25.91,26.29
$GC,9356,0.48,175.2,3002,3249,1828,1648,815.3,18.8,558,9363,0.00,2.10,0.00,0.000,1030,0.000,0.030,3013,1868,1737,1828,1647,0,0,0,0,0,0,26.02,25.93,26.06
$GC,10163,0.48,175.2,3012,1868,1825,1646,644.1,20.5,599,10169,0.00,2.22,0.00,0.000,516,0.000,0.038,3024,437,1735,1825,1646,0,0,0,0,0,0,26.50,26.06,26.51
$GC,10297,0.48,175.2,3023,437,1819,1646,621.2,18.2,605,10305,0.10,2.15,0.00,0.000,5126,0.183,0.028,2997,1849,1733,1820,1646,0,0,0,0,0,0,25.83,26.15,26.03
$GC,11103,0.48,175.2,2996,1853,1822,1646,479.8,17.4,646,11109,0.00,2.10,0.00,0.000,260,0.000,0.031,2997,3251,1734,1822,1646,0,0,0,0,0,0,26.60,26.19,26.61
$GC,11132,0.48,175.2,2996,3251,1822,1646,476.2,17.2,647,11136,0.00,2.12,0.00,0.000,1030,0.000,0.030,3005,1837,1734,1822,1646,0,0,0,0,0,0,26.28,26.19,26.32
$GC,11938,0.48,175.2,3005,1837,1822,1646,343.8,15.1,687,11944,0.00,2.17,0.00,0.000,516,0.000,0.037,3016,429,1734,1822,1646,0,0,0,0,0,0,26.64,26.16,26.65
$GC,11991,0.48,175.2,3016,428,1818,1646,337.4,15.4,689,11999,0.00,2.17,0.00,0.000,1030,0.000,0.027,3016,1852,1732,1819,1646,0,0,0,0,0,0,26.33,26.24,26.36
$GC,12798,0.48,175.2,3016,1855,1822,1646,203.2,18.0,730,12804,0.00,2.17,0.00,0.000,516,0.000,0.035,3026,434,1734,1822,1646,0,0,0,0,0,0,26.67,26.17,26.68
$GC,12818,0.48,175.2,3026,433,1819,1646,199.4,18.2,731,12828,0.12,2.15,0.00,0.000,5126,0.166,0.029,2991,1846,1733,1821,1646,0,0,0,0,0,0,25.87,26.23,26.08
$GC,13128,0.48,175.2,2991,1848,1824,1646,153.6,14.3,762,13137,0.00,2.10,0.00,0.000,260,0.000,0.031,2991,3258,1735,1824,1646,0,0,0,0,0,0,26.67,26.23,26.69
$GC,13182,0.48,175.2,2990,3258,1824,1647,146.5,13.9,767,13189,0.00,2.12,0.00,0.000,1030,0.000,0.028,3000,1834,1735,1825,1646,0,0,0,0,0,0,26.33,26.24,26.36
$GC,13489,0.48,175.2,3000,1834,1825,1646,111.9,10.1,798,13498,0.00,2.12,0.00,0.000,516,0.000,0.034,3011,436,1735,1825,1646,0,0,0,0,0,0,26.68,26.18,26.69
$GC,13593,0.48,175.2,3010,436,1821,1646,100.4,11.6,808,13600,0.00,2.12,0.00,0.000,1030,0.000,0.027,3011,1851,1734,1823,1646,0,0,0,0,0,0,26.35,26.27,26.39
$GC,13921,0.57,249.4,3011,1854,1827,1646,67.2,8.0,869,13988,0.00,2.25,58.20,0.669,8708,0.000,0.034,3021,444,1446,1555,1337,0,0,0,0,0,0,26.68,25.56,24.99
$GC,14022,0.57,249.4,3021,444,1545,1338,56.7,10.3,886,14029,0.00,2.15,0.00,0.000,1030,0.000,0.025,3022,1838,1441,1545,1337,0,0,0,0,0,0,25.77,25.70,25.79
$GC,14370,0.57,249.4,3021,1843,1545,1336,11.3,16.3,947,14379,0.00,2.22,0.00,0.000,516,0.000,0.034,3032,433,1439,1544,1335,0,0,0,0,0,0,26.30,25.87,26.32
$GC,14417,0.57,249.4,3032,433,1541,1335,4.5,16.3,954,14426,0.00,2.20,0.00,0.000,1030,0.000,0.026,3032,1851,1438,1541,1335,0,0,0,0,0,0,26.03,26.01,26.08
$STATE,14434,end climb,SURFACE_DEPTH_REACHED
$STATE,14435,begin surface coast
$FINISH,0.8,1.025266
$STATE,14454,end surface coast,CONTROL_FINISHED_OK
$STATE,14454,begin surface
$SM_CCo,14470,21.80,0.050,0,0,1240,300.24
$SM_GC,2.03,7.57,0.38,21.80,0.026,0.025,0.050,124,2195,1240,-8.40,-1.53,300.24,0,0,0,0,0,0,25.98,26.14,25.90
$IRIDIUM_FIX,-2940.11,3156.64,140717,153828
$TT8_MAMPS,0.025466,0.261401
$HUMID,56.02
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,980.4,76.3
$24V_AH,22.96,33.627
$10V_AH,10.17,16.944
$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,18.900,95.025,352.450,21.800,0.000,36.217,22.102,239.879,20.750,0.000,12.774,2359.268,9597.757,452.513,2356.293,159.180,0.000,1408.496,0.000,1946.555,0.000,145.578,0.000
$DEVICE_MAMPS,212.670,86.445,1311.210,50.490,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,667.408,88.563,365.432,376.178,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343288
$DATA_FILE_SIZE,60480,959
$CAP_FILE_SIZE,123754,0
$CFSIZE,2097086464,2054193152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,140717,194728,-2954.372,3156.523,42,0.8,42,-25.1,0.9,196.6,9,8.6