version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 388
start: 7 15 117 0 14 5
data:
$ID,574
$MISSION,23
$DIVE,388
$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,39
$R_STBD_OVSHOOT,47
$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
$GPS1,140717,235656,-2957.9585,3159.0054,49,1.1,49,-25.2,2.0,170.9,7,35.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-75.3
$GPS2,150717,001318,-2958.9788,3159.1638,5,1.0,5,-25.2,2.4,180.6,8,70.1
$SPEED_LIMITS,0.325,0.335
$TGT_NAME,TGT1
$TGT_LATLONG,-3000.000,3200.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,169.9,2319,-13.8,-9.950,-17.00,3738
$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,-0.49,-175.2,125,2125,1278,1124,0.0,0.0,0,65,0.00,0.00,-47.70,0.000,16386,0.000,0.000,125,2125,2549,2529,2569,0,0,0,0,0,0,26.07,28.83,26.08
$GC,68,-0.49,-175.2,125,2125,2533,2567,3.2,-3.8,6,101,9.90,2.17,-13.75,0.000,19204,0.216,0.039,2663,713,3181,3227,3136,0,0,0,0,0,0,25.31,25.25,25.50
$GC,199,-0.49,-175.2,2663,712,3229,3136,29.4,-16.2,26,208,0.00,2.20,0.00,0.000,1030,0.000,0.028,2655,2124,3182,3228,3136,0,0,0,0,0,0,25.91,25.88,25.94
$GC,341,-0.49,-175.2,2654,2124,3229,3136,62.3,-21.7,51,348,0.00,2.12,0.00,0.000,260,0.000,0.034,2644,3538,3182,3229,3136,0,0,0,0,0,0,26.31,25.94,26.32
$GC,487,-0.49,-175.2,2643,3539,3229,3136,87.0,-14.4,78,496,0.08,2.15,0.00,0.000,3078,0.137,0.024,2669,2117,3183,3233,3133,0,0,0,0,0,0,25.81,26.05,25.90
$GC,807,-0.49,-175.2,2669,2117,3235,3132,144.5,-16.9,116,815,0.00,2.05,0.00,0.000,516,0.000,0.027,2670,721,3183,3235,3132,0,0,0,0,0,0,26.49,26.13,26.50
$GC,878,-0.49,-175.2,2669,721,3235,3132,154.3,-13.2,123,886,0.00,2.12,0.00,0.000,1030,0.000,0.026,2661,2141,3183,3235,3132,0,0,0,0,0,0,26.23,26.16,26.26
$GC,1197,-0.49,-175.2,2660,2141,3236,3132,207.0,-15.8,153,1203,0.00,2.05,0.00,0.000,260,0.000,0.031,2650,3540,3184,3236,3132,0,0,0,0,0,0,26.57,26.20,26.58
$GC,1225,-0.49,-175.2,2649,3540,3236,3132,210.0,-15.6,154,1229,0.00,2.08,0.00,0.000,1030,0.000,0.024,2650,2124,3184,3236,3132,0,0,0,0,0,0,26.30,26.22,26.32
$GC,2033,-0.49,-175.2,2649,2124,3236,3130,328.8,-13.6,194,2036,0.00,2.08,0.00,0.000,516,0.000,0.028,2650,721,3183,3236,3130,0,0,0,0,0,0,26.65,26.28,26.67
$GC,2174,-0.49,-175.2,2649,721,3236,3130,347.7,-12.8,201,2181,0.10,2.10,0.00,0.000,3078,0.146,0.026,2671,2133,3183,3236,3130,0,0,0,0,0,0,26.07,26.31,26.20
$GC,2994,-0.49,-175.2,2670,2133,3235,3124,466.4,-14.5,242,3000,0.00,2.08,0.00,0.000,260,0.000,0.034,2662,3536,3179,3235,3124,0,0,0,0,0,0,26.70,26.29,26.71
$GC,3062,-0.49,-175.2,2661,3536,3234,3124,473.9,-13.0,245,3066,0.00,2.08,0.00,0.000,1030,0.000,0.024,2661,2127,3179,3234,3124,0,0,0,0,0,0,26.40,26.32,26.43
$GC,3875,-0.49,-175.2,2661,2123,3229,3118,582.4,-12.4,286,3881,0.00,2.08,0.00,0.000,516,0.000,0.031,2662,723,3173,3229,3118,0,0,0,0,0,0,26.68,26.29,26.70
$GC,4037,-0.49,-175.2,2661,723,3228,3118,600.6,-11.0,294,4042,0.00,2.08,0.00,0.000,1030,0.000,0.028,2651,2120,3172,3228,3117,0,0,0,0,0,0,26.36,26.33,26.39
$GC,4855,-0.49,-175.2,2651,2120,3226,3112,707.8,-14.0,335,4860,0.00,2.10,0.00,0.000,260,0.000,0.034,2641,3535,3169,3226,3112,0,0,0,0,0,0,26.72,26.28,26.74
$GC,4963,-0.49,-175.2,2641,3535,3225,3112,719.9,-11.8,340,4968,0.10,2.08,0.00,0.000,3078,0.130,0.025,2675,2130,3168,3225,3112,0,0,0,0,0,0,26.12,26.32,26.24
$GC,5772,-0.49,-175.2,2674,2126,3224,3107,822.0,-11.9,380,5778,0.00,2.08,0.00,0.000,260,0.000,0.034,2666,3529,3165,3223,3107,0,0,0,0,0,0,26.70,26.27,26.72
$GC,5891,-0.49,-175.2,2665,3529,3221,3107,834.6,-10.2,386,5897,0.00,2.08,0.00,0.000,1030,0.000,0.024,2666,2124,3164,3222,3107,0,0,0,0,0,0,26.40,26.32,26.43
$GC,6710,-0.49,-175.2,2665,2120,3220,3100,924.9,-10.6,427,6714,0.00,2.12,0.00,0.000,260,0.000,0.035,2656,3534,3160,3220,3100,0,0,0,0,0,0,26.73,26.24,26.74
$GC,6821,-0.49,-175.2,2655,3535,3218,3101,934.4,-9.1,432,6825,0.00,2.08,0.00,0.000,1030,0.000,0.025,2656,2131,3159,3218,3100,0,0,0,0,0,0,26.38,26.29,26.41
$STATE,7366,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7366,begin apogee
$GC,7371,0.00,0.0,2656,1805,3217,3099,1000.6,-13.0,459,7515,0.57,0.00,139.93,1.293,10246,0.127,0.000,2832,1805,2464,2540,2389,0,0,0,0,0,0,25.77,24.49,23.73
$STATE,7516,end apogee,CONTROL_FINISHED_OK
$STATE,7516,begin climb
$GC,7518,0.49,175.2,2832,1805,2540,2389,1008.5,0.0,466,7677,0.43,2.40,150.10,1.268,10500,0.055,0.030,2994,3244,1751,1848,1655,0,0,0,0,0,0,24.66,23.72,23.17
$GC,7697,0.49,175.2,2993,3244,1844,1655,995.7,14.4,475,7704,0.00,2.22,0.00,0.000,1030,0.000,0.030,3003,1877,1749,1843,1655,0,0,0,0,0,0,24.44,24.37,24.46
$GC,8506,0.49,175.2,3003,1877,1832,1651,837.0,17.8,516,8511,0.00,2.05,0.00,0.000,260,0.000,0.028,3004,3250,1741,1832,1651,0,0,0,0,0,0,26.32,25.99,26.33
$GC,8604,0.49,175.2,3003,3250,1830,1651,820.6,15.7,521,8608,0.00,2.17,0.00,0.000,1030,0.000,0.031,3013,1826,1740,1830,1651,0,0,0,0,0,0,26.09,26.00,26.13
$GC,9421,0.49,175.2,3013,1826,1828,1649,652.8,21.2,562,9426,0.00,2.15,0.00,0.000,516,0.000,0.038,3024,433,1738,1828,1649,0,0,0,0,0,0,26.54,26.10,26.55
$GC,9480,0.49,175.2,3024,433,1821,1649,640.2,20.9,565,9486,0.00,2.15,0.00,0.000,1030,0.000,0.027,3024,1844,1735,1822,1649,0,0,0,0,0,0,26.27,26.18,26.29
$GC,10301,0.49,175.2,3024,1849,1823,1649,472.7,17.1,606,10302,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,1849,1736,1823,1649,0,0,0,0,0,0,26.63,26.64,26.63
$GC,11101,0.49,175.2,3023,1850,1822,1649,323.3,17.9,646,11102,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,1850,1736,1823,1649,0,0,0,0,0,0,26.66,26.67,26.67
$GC,11901,0.49,175.2,3023,1850,1824,1649,195.7,14.6,687,11909,0.00,2.17,0.00,0.000,516,0.000,0.035,3034,427,1735,1822,1649,0,0,0,0,0,0,26.68,26.20,26.70
$GC,11991,0.49,175.2,3034,427,1818,1649,181.0,15.9,696,12001,0.12,2.15,0.00,0.000,5126,0.163,0.028,2999,1842,1734,1820,1649,0,0,0,0,0,0,25.91,26.27,26.11
$GC,12302,0.49,175.2,2998,1846,1824,1649,145.2,11.7,727,12310,0.00,2.10,0.00,0.000,260,0.000,0.031,2999,3253,1737,1825,1649,0,0,0,0,0,0,26.69,26.25,26.70
$GC,12375,0.49,175.2,2998,3253,1825,1649,137.0,11.1,734,12382,0.00,2.12,0.00,0.000,1030,0.000,0.027,3007,1824,1737,1825,1650,0,0,0,0,0,0,26.35,26.27,26.39
$GC,12682,0.49,175.2,3007,1824,1825,1649,103.7,10.2,765,12691,0.00,2.10,0.00,0.000,516,0.000,0.034,3018,438,1736,1824,1649,0,0,0,0,0,0,26.70,26.20,26.70
$GC,12733,0.49,175.2,3018,438,1821,1649,98.0,11.2,771,12740,0.00,2.12,0.00,0.000,1030,0.000,0.024,3018,1856,1736,1824,1649,0,0,0,0,0,0,26.38,26.31,26.41
$GC,13059,0.73,369.2,3018,1857,1827,1649,74.5,4.6,832,13224,0.12,0.00,155.07,0.664,10502,0.072,0.000,3094,1860,957,1090,824,0,0,0,0,0,0,26.44,24.75,24.40
$STATE,13407,end climb,SURFACE_DEPTH_REACHED
$STATE,13407,begin surface coast
$FINISH,0.9,1.011635
$STATE,13421,end surface coast,CONTROL_FINISHED_OK
$STATE,13421,begin surface
$SM_CCo,13498,0.00,0.000,0,0,944,372.85
$SM_GC,1.91,7.85,0.40,0.00,0.030,0.034,0.000,127,2149,944,-8.37,-1.33,372.85,0,0,0,0,0,0,25.66,25.72,25.72
$IRIDIUM_FIX,-2945.08,3159.27,150717,001025
$TT8_MAMPS,0.025466,0.289863
$HUMID,57.40
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,20.00
$XPDR_PINGS,0
$24V_AH,23.17,33.941
$10V_AH,10.17,17.096
$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,19.275,68.800,445.100,0.000,0.000,134.094,148.561,367.431,20.250,0.000,12.761,2145.658,9165.954,462.842,2567.835,158.030,0.000,1364.218,0.000,1788.307,0.000,137.224,0.000
$DEVICE_MAMPS,215.730,79.560,1292.850,0.000,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,616.452,76.514,312.964,323.903,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343280
$DATA_FILE_SIZE,57120,893
$CAP_FILE_SIZE,114328,0
$CFSIZE,2097086464,2053931008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,150717,040002,-3002.766,3201.262,26,0.9,26,-25.3,0.8,178.1,9,7.6