version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 387
start: 7 14 117 19 55 42
data:
$ID,574
$MISSION,23
$DIVE,387
$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,27
$R_STBD_OVSHOOT,50
$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
$GPS1,140717,194728,-2954.3723,3156.5232,42,0.8,42,-25.1,0.9,196.6,9,8.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-73.4
$GPS2,140717,195455,-2954.6560,3156.4937,5,0.8,5,-25.1,1.1,207.7,9,13.6
$SPEED_LIMITS,0.325,0.335
$TGT_NAME,TGT1
$TGT_LATLONG,-3000.000,3200.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,175.5,11383,-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,-175.2,125,2132,1302,1151,0.0,0.0,0,73,0.00,0.00,-54.88,0.000,16386,0.000,0.000,125,2133,2729,2712,2747,0,0,0,0,0,0,26.06,28.83,26.08
$GC,76,-0.48,-175.2,125,2133,2714,2747,3.0,-2.2,7,102,9.98,2.22,-9.43,0.000,18948,0.218,0.043,2667,707,3183,3224,3142,0,0,0,0,0,0,25.31,24.23,25.48
$GC,211,-0.48,-175.2,2667,706,3227,3142,29.7,-13.8,28,219,0.00,2.22,0.00,0.000,1030,0.000,0.031,2658,2121,3184,3227,3142,0,0,0,0,0,0,25.89,25.86,25.94
$GC,355,-0.48,-175.2,2658,2121,3229,3140,57.2,-19.7,53,361,0.00,2.15,0.00,0.000,260,0.000,0.035,2648,3550,3184,3229,3140,0,0,0,0,0,0,26.30,25.91,26.32
$GC,405,-0.48,-175.2,2647,3550,3229,3140,67.6,-16.4,62,413,0.10,2.17,0.00,0.000,3078,0.121,0.028,2682,2109,3184,3231,3138,0,0,0,0,0,0,25.82,25.96,25.93
$GC,724,-0.48,-175.2,2681,2105,3236,3135,117.1,-13.9,111,733,0.00,2.08,0.00,0.000,516,0.000,0.028,2682,705,3185,3236,3135,0,0,0,0,0,0,26.45,26.08,26.46
$GC,825,-0.48,-175.2,2681,706,3237,3135,129.8,-11.9,121,834,0.00,2.15,0.00,0.000,1030,0.000,0.026,2673,2138,3186,3237,3135,0,0,0,0,0,0,26.19,26.11,26.22
$GC,1135,-0.48,-175.2,2673,2138,3239,3135,175.4,-14.5,152,1139,0.00,2.08,0.00,0.000,260,0.000,0.034,2663,3542,3186,3238,3135,0,0,0,0,0,0,26.54,26.15,26.55
$GC,1244,-0.48,-175.2,2662,3541,3239,3135,187.8,-10.8,162,1251,0.00,2.10,0.00,0.000,1030,0.000,0.023,2662,2114,3187,3239,3135,0,0,0,0,0,0,26.28,26.21,26.30
$GC,1554,-0.48,-175.2,2662,2110,3240,3135,234.4,-14.9,182,1559,0.00,2.03,0.00,0.000,516,0.000,0.029,2662,727,3187,3240,3135,0,0,0,0,0,0,26.60,26.22,26.61
$GC,1593,-0.48,-175.2,2662,728,3240,3135,240.4,-14.9,184,1598,0.00,2.10,0.00,0.000,1030,0.000,0.026,2652,2134,3187,3240,3135,0,0,0,0,0,0,26.31,26.24,26.33
$GC,2413,-0.48,-175.2,2651,2138,3240,3133,368.7,-13.9,225,2416,0.00,2.12,0.00,0.000,516,0.000,0.028,2652,714,3186,3240,3133,0,0,0,0,0,0,26.67,26.27,26.68
$GC,2462,-0.48,-175.2,2651,714,3240,3133,374.1,-13.5,227,2467,0.12,2.12,0.00,0.000,3078,0.141,0.027,2681,2138,3186,3240,3133,0,0,0,0,0,0,26.01,26.29,26.16
$GC,3269,-0.48,-175.2,2681,2138,3239,3130,466.8,-10.8,267,3274,0.00,2.08,0.00,0.000,260,0.000,0.036,2672,3533,3183,3238,3129,0,0,0,0,0,0,26.70,26.26,26.71
$GC,3322,-0.48,-175.2,2672,3533,3238,3130,470.4,-10.1,269,3329,0.00,2.08,0.00,0.000,1030,0.000,0.024,2672,2124,3184,3238,3130,0,0,0,0,0,0,26.39,26.32,26.41
$GC,4129,-0.48,-175.2,2672,2120,3235,3126,565.9,-12.4,310,4135,0.00,2.10,0.00,0.000,260,0.000,0.033,2662,3533,3180,3235,3126,0,0,0,0,0,0,26.71,26.27,26.73
$GC,4222,-0.48,-175.2,2662,3533,3234,3125,574.6,-10.8,314,4229,0.00,2.08,0.00,0.000,1030,0.000,0.024,2662,2122,3179,3234,3125,0,0,0,0,0,0,26.40,26.32,26.42
$GC,5029,-0.48,-175.2,2661,2118,3232,3121,679.6,-13.0,355,5035,0.00,2.10,0.00,0.000,260,0.000,0.033,2652,3532,3176,3232,3121,0,0,0,0,0,0,26.72,26.27,26.73
$GC,5140,-0.48,-175.2,2651,3532,3229,3121,690.6,-10.3,360,5144,0.00,2.08,0.00,0.000,1030,0.000,0.025,2652,2127,3175,3230,3121,0,0,0,0,0,0,26.39,26.29,26.41
$GC,5946,-0.48,-175.2,2651,2127,3228,3115,796.2,-12.5,400,5951,0.00,2.10,0.00,0.000,516,0.000,0.032,2652,722,3172,3228,3116,0,0,0,0,0,0,26.72,26.25,26.74
$GC,6101,-0.48,-175.2,2651,721,3228,3115,813.4,-11.8,407,6108,0.12,2.12,0.00,0.000,3078,0.146,0.028,2681,2135,3171,3227,3115,0,0,0,0,0,0,25.98,26.28,26.12
$GC,6908,-0.48,-175.2,2680,2134,3226,3109,892.7,-8.4,448,6914,0.00,2.12,0.00,0.000,516,0.000,0.031,2681,721,3168,3226,3110,0,0,0,0,0,0,26.72,26.22,26.74
$GC,6941,-0.48,-175.2,2680,720,3226,3110,894.4,-8.5,449,6948,0.00,2.12,0.00,0.000,1030,0.000,0.028,2673,2129,3168,3226,3110,0,0,0,0,0,0,26.35,26.26,26.39
$GC,7748,-0.48,-175.2,2672,2130,3225,3107,968.3,-10.3,490,7753,0.00,2.15,0.00,0.000,516,0.000,0.032,2673,723,3165,3224,3107,0,0,0,0,0,0,26.73,26.20,26.74
$GC,7850,-0.48,-175.2,2672,722,3224,3107,978.5,-9.6,495,7855,0.00,2.15,0.00,0.000,1030,0.000,0.028,2663,2141,3165,3224,3107,0,0,0,0,0,0,26.34,26.25,26.37
$STATE,8050,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8050,begin apogee
$GC,8055,0.00,0.0,2662,1788,3223,3106,1001.9,-12.0,505,8201,0.55,0.08,142.00,1.305,10246,0.125,0.085,2831,1874,2465,2540,2390,0,0,0,0,0,0,25.72,24.42,23.65
$STATE,8202,end apogee,CONTROL_FINISHED_OK
$STATE,8202,begin climb
$GC,8204,0.48,175.2,2831,1874,2539,2389,1009.0,0.0,512,8365,0.43,2.25,152.02,1.274,10500,0.048,0.029,2999,3213,1748,1844,1653,0,0,0,0,0,0,24.63,23.56,23.01
$GC,8476,0.48,175.2,2998,3213,1837,1653,977.6,16.7,525,8480,0.00,2.20,0.00,0.000,1030,0.000,0.031,3009,1841,1745,1837,1653,0,0,0,0,0,0,24.94,24.85,24.96
$GC,9283,0.48,175.2,3008,1841,1830,1648,809.6,20.9,565,9288,0.00,2.08,0.00,0.000,260,0.000,0.027,3009,3223,1738,1829,1648,0,0,0,0,0,0,26.32,25.97,26.33
$GC,9432,0.48,175.2,3008,3223,1829,1648,783.9,17.4,572,9436,0.00,2.12,0.00,0.000,1030,0.000,0.031,3019,1827,1738,1829,1648,0,0,0,0,0,0,26.09,25.99,26.13
$GC,10238,0.48,175.2,3018,1827,1825,1646,617.9,19.6,612,10243,0.00,2.15,0.00,0.000,516,0.000,0.038,3030,434,1735,1825,1646,0,0,0,0,0,0,26.53,26.08,26.55
$GC,10251,0.48,175.2,3029,434,1823,1646,617.9,19.6,612,10258,0.12,2.08,0.00,0.000,5126,0.191,0.024,2996,1816,1734,1822,1646,0,0,0,0,0,0,25.75,26.18,26.00
$GC,11058,0.48,175.2,2995,1819,1823,1645,476.3,15.6,653,11064,0.00,2.15,0.00,0.000,260,0.000,0.031,2996,3251,1734,1823,1645,0,0,0,0,0,0,26.60,26.18,26.62
$GC,11100,0.48,175.2,2996,3250,1823,1645,470.1,15.8,655,11105,0.00,2.17,0.00,0.000,1030,0.000,0.030,3005,1835,1733,1822,1645,0,0,0,0,0,0,26.32,26.20,26.35
$GC,11918,0.48,175.2,3005,1835,1823,1645,321.5,17.2,696,11923,0.00,2.15,0.00,0.000,516,0.000,0.036,3016,433,1733,1822,1645,0,0,0,0,0,0,26.65,26.16,26.66
$GC,11966,0.48,175.2,3016,431,1816,1645,314.8,17.1,698,11970,0.00,2.12,0.00,0.000,1030,0.000,0.027,3016,1833,1730,1816,1645,0,0,0,0,0,0,26.33,26.25,26.36
$GC,12773,0.48,175.2,3016,1838,1822,1645,169.6,14.2,747,12777,0.00,2.15,0.00,0.000,516,0.000,0.034,3026,431,1733,1822,1645,0,0,0,0,0,0,26.67,26.17,26.69
$GC,12804,0.48,175.2,3026,430,1818,1645,165.0,14.7,750,12814,0.12,2.15,0.00,0.000,5126,0.158,0.027,2990,1854,1733,1820,1646,0,0,0,0,0,0,25.91,26.26,26.10
$GC,13114,0.48,175.2,2989,1857,1824,1645,127.5,10.6,781,13122,0.00,2.08,0.00,0.000,260,0.000,0.031,2990,3253,1734,1824,1645,0,0,0,0,0,0,26.67,26.24,26.69
$GC,13185,0.48,175.2,2989,3253,1824,1645,119.9,10.2,788,13194,0.00,2.12,0.00,0.000,1030,0.000,0.028,2999,1826,1735,1825,1646,0,0,0,0,0,0,26.34,26.25,26.37
$GC,13497,0.52,204.0,2998,1826,1825,1645,93.3,9.2,826,13528,0.00,2.17,22.40,0.670,8708,0.000,0.034,3010,433,1631,1727,1535,0,0,0,0,0,0,26.68,26.00,25.37
$GC,13577,0.52,204.0,3009,433,1720,1535,83.9,11.8,840,13586,0.00,2.17,0.00,0.000,1030,0.000,0.024,3010,1843,1628,1722,1534,0,0,0,0,0,0,26.13,26.13,26.15
$GC,13908,0.64,301.9,3009,1848,1723,1535,44.4,7.4,901,13992,0.00,0.00,79.12,0.635,8454,0.000,0.000,3010,1847,1233,1365,1102,0,0,0,0,0,0,26.50,25.22,24.73
$GC,14135,0.64,306.5,3009,1849,1357,1098,25.7,9.8,938,14145,0.00,2.22,1.77,0.104,8708,0.000,0.034,3021,440,1214,1344,1084,0,0,0,0,0,0,25.98,25.55,25.48
$GC,14161,0.64,306.5,3020,440,1340,1083,22.7,11.8,941,14169,0.00,2.17,0.00,0.000,1030,0.000,0.021,3021,1842,1211,1339,1083,0,0,0,0,0,0,25.76,25.73,25.78
$STATE,14295,end climb,SURFACE_DEPTH_REACHED
$STATE,14295,begin surface coast
$FINISH,1.1,1.024916
$STATE,14315,end surface coast,CONTROL_FINISHED_OK
$STATE,14315,begin surface
$SM_CCo,14392,0.00,0.000,0,0,1207,308.58
$SM_GC,1.81,7.57,0.43,0.00,0.027,0.028,0.000,126,2197,1207,-8.38,-1.13,308.58,0,0,0,0,0,0,25.86,25.95,25.91
$IRIDIUM_FIX,-2942.59,3155.84,140717,194854
$TT8_MAMPS,0.025466,0.261401
$HUMID,55.04
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,21.00
$XPDR_PINGS,0
$24V_AH,23.01,33.773
$10V_AH,10.16,17.022
$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,19.125,90.600,397.325,0.000,0.000,30.798,23.060,279.357,20.250,0.000,12.783,2353.909,9469.825,451.636,2427.352,156.764,0.000,1423.844,0.000,1990.245,0.000,138.149,0.000
$DEVICE_MAMPS,218.025,85.680,1305.090,0.000,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,667.971,98.741,432.237,434.806,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343292
$DATA_FILE_SIZE,63700,966
$CAP_FILE_SIZE,122543,0
$CFSIZE,2097086464,2054062080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,140717,235656,-2957.958,3159.005,49,1.1,49,-25.2,2.0,170.9,7,35.3