version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 390
start: 7 15 117 8 12 55
data:
$ID,574
$MISSION,23
$DIVE,390
$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,39
$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
$GPS1,150717,080457,-3007.2729,3202.3506,41,1.1,41,-25.4,1.5,196.0,7,54.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-76.4
$GPS2,150717,081207,-3007.6477,3202.3857,6,0.9,6,-25.4,0.7,217.7,9,71.5
$SPEED_LIMITS,0.325,0.335
$TGT_NAME,TGT1
$TGT_LATLONG,-2939.970,3132.110
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,341.9,70719,-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,-175.2,125,2138,1265,1106,0.0,0.0,0,73,0.00,0.00,-55.05,0.000,16386,0.000,0.000,125,2138,2725,2711,2739,0,0,0,0,0,0,26.10,28.83,26.11
$GC,76,-0.48,-175.2,125,2138,2711,2740,3.5,-3.4,7,102,9.98,2.15,-8.52,0.000,18692,0.220,0.041,2660,3548,3181,3220,3142,0,0,0,0,0,0,25.33,25.26,25.52
$GC,203,-0.48,-175.2,2659,3548,3228,3138,36.5,-17.7,27,212,0.00,2.20,0.00,0.000,1030,0.000,0.024,2660,2110,3182,3229,3135,0,0,0,0,0,0,25.94,25.91,25.97
$GC,343,-0.48,-175.2,2659,2107,3232,3133,67.1,-23.7,52,350,0.00,2.12,0.00,0.000,516,0.000,0.029,2660,712,3182,3232,3133,0,0,0,0,0,0,26.33,26.00,26.34
$GC,375,-0.48,-175.2,2659,712,3232,3133,74.8,-23.7,57,381,0.00,2.17,0.00,0.000,1030,0.000,0.026,2649,2148,3182,3232,3133,0,0,0,0,0,0,26.08,26.00,26.10
$GC,693,-0.48,-175.2,2649,2148,3233,3133,140.3,-18.8,99,702,0.08,2.08,0.00,0.000,2308,0.182,0.030,2668,3538,3183,3234,3133,0,0,0,0,0,0,25.96,26.08,26.01
$GC,785,-0.48,-175.2,2668,3537,3235,3133,151.6,-10.5,108,793,0.00,2.08,0.00,0.000,1030,0.000,0.022,2668,2123,3184,3235,3133,0,0,0,0,0,0,26.23,26.16,26.25
$GC,1094,-0.48,-175.2,2668,2120,3237,3133,193.7,-14.7,139,1098,0.00,2.05,0.00,0.000,516,0.000,0.028,2668,722,3185,3238,3133,0,0,0,0,0,0,26.56,26.19,26.57
$GC,1172,-0.48,-175.2,2668,722,3238,3133,205.1,-13.8,145,1176,0.00,2.10,0.00,0.000,1030,0.000,0.024,2658,2134,3185,3238,3133,0,0,0,0,0,0,26.30,26.22,26.32
$GC,1990,-0.48,-175.2,2657,2134,3238,3132,323.3,-13.2,186,1995,0.00,2.08,0.00,0.000,260,0.000,0.033,2647,3542,3185,3238,3132,0,0,0,0,0,0,26.66,26.26,26.67
$GC,2078,-0.48,-175.2,2646,3542,3238,3132,332.3,-10.9,190,2083,0.10,2.08,0.00,0.000,3078,0.130,0.021,2681,2116,3185,3237,3133,0,0,0,0,0,0,26.11,26.32,26.23
$GC,2887,-0.48,-175.2,2680,2112,3238,3130,420.3,-10.6,230,2893,0.00,2.08,0.00,0.000,260,0.000,0.033,2672,3526,3183,3237,3129,0,0,0,0,0,0,26.68,26.29,26.69
$GC,3020,-0.48,-175.2,2672,3526,3234,3130,430.7,-8.3,236,3026,0.00,2.03,0.00,0.000,1030,0.000,0.022,2673,2134,3183,3236,3130,0,0,0,0,0,0,26.41,26.34,26.44
$GC,3825,-0.48,-175.2,2672,2130,3235,3124,533.1,-13.3,277,3829,0.00,2.12,0.00,0.000,516,0.000,0.031,2673,723,3180,3235,3125,0,0,0,0,0,0,26.72,26.29,26.73
$GC,3889,-0.48,-175.2,2672,723,3234,3125,540.9,-12.9,280,3893,0.00,2.12,0.00,0.000,1030,0.000,0.028,2662,2120,3179,3234,3125,0,0,0,0,0,0,26.37,26.33,26.40
$GC,4708,-0.48,-175.2,2662,2120,3230,3120,640.8,-11.2,321,4711,0.00,2.12,0.00,0.000,260,0.000,0.034,2651,3538,3175,3231,3120,0,0,0,0,0,0,26.70,26.28,26.71
$GC,4771,-0.48,-175.2,2650,3541,3228,3120,646.9,-10.2,324,4776,0.00,2.08,0.00,0.000,1030,0.000,0.024,2651,2133,3174,3228,3120,0,0,0,0,0,0,26.41,26.32,26.44
$GC,5583,-0.48,-175.2,2651,2132,3227,3115,745.5,-12.6,365,5589,0.00,2.10,0.00,0.000,516,0.000,0.032,2651,723,3171,3227,3115,0,0,0,0,0,0,26.73,26.27,26.74
$GC,5686,-0.48,-175.2,2651,722,3227,3114,757.3,-11.5,370,5691,0.10,2.15,0.00,0.000,3078,0.136,0.028,2674,2125,3170,3227,3114,0,0,0,0,0,0,26.03,26.32,26.20
$GC,6506,-0.48,-175.2,2673,2124,3225,3108,851.5,-11.4,411,6511,0.00,2.08,0.00,0.000,516,0.000,0.031,2674,730,3166,3225,3108,0,0,0,0,0,0,26.70,26.26,26.72
$GC,6537,-0.48,-175.2,2674,730,3225,3108,853.7,-11.0,412,6543,0.00,2.10,0.00,0.000,1030,0.000,0.028,2667,2129,3166,3225,3108,0,0,0,0,0,0,26.39,26.29,26.41
$GC,7344,-0.48,-175.2,2666,2133,3221,3104,946.0,-10.4,453,7345,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2133,3162,3221,3104,0,0,0,0,0,0,26.73,26.74,26.74
$STATE,7884,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7884,begin apogee
$GC,7890,0.00,0.0,2667,1808,3219,3100,1001.1,-10.7,480,8034,0.52,0.00,141.12,1.316,10246,0.123,0.000,2830,1806,2465,2538,2392,0,0,0,0,0,0,25.78,24.46,23.70
$STATE,8035,end apogee,CONTROL_FINISHED_OK
$STATE,8035,begin climb
$GC,8037,0.48,175.2,2829,1806,2537,2392,1007.2,0.0,487,8198,0.43,2.28,151.65,1.299,10756,0.054,0.037,3001,472,1749,1847,1651,0,0,0,0,0,0,24.65,23.84,23.10
$GC,8320,0.48,175.2,3000,471,1829,1651,971.1,17.8,501,8326,0.00,2.20,0.00,0.000,1030,0.000,0.028,3001,1835,1740,1830,1651,0,0,0,0,0,0,25.08,25.01,25.10
$GC,9140,0.48,175.2,3000,1840,1827,1648,795.8,20.5,542,9146,0.00,2.12,0.00,0.000,516,0.000,0.037,3010,472,1737,1826,1648,0,0,0,0,0,0,26.36,25.96,26.38
$GC,9160,0.48,175.2,3010,472,1824,1648,791.6,20.6,543,9164,0.00,2.10,0.00,0.000,1030,0.000,0.026,3010,1845,1736,1824,1648,0,0,0,0,0,0,26.11,26.04,26.14
$GC,9981,0.48,175.2,3010,1849,1824,1646,637.6,17.6,584,9987,0.00,2.10,0.00,0.000,260,0.000,0.031,3010,3247,1735,1824,1646,0,0,0,0,0,0,26.55,26.16,26.55
$GC,10029,0.48,175.2,3010,3248,1823,1646,630.5,17.8,586,10033,0.00,2.08,0.00,0.000,1030,0.000,0.030,3020,1871,1734,1823,1646,0,0,0,0,0,0,26.25,26.16,26.29
$GC,10836,0.48,175.2,3020,1871,1822,1645,474.3,19.1,626,10840,0.00,2.05,0.00,0.000,260,0.000,0.029,3020,3250,1733,1822,1645,0,0,0,0,0,0,26.62,26.22,26.64
$GC,10932,0.48,175.2,3020,3250,1821,1645,456.8,17.7,631,10939,0.12,2.12,0.00,0.000,5126,0.184,0.031,2996,1838,1733,1821,1645,0,0,0,0,0,0,25.84,26.22,26.07
$GC,11752,0.48,175.2,2996,1838,1822,1645,322.7,15.9,672,11758,0.00,2.15,0.00,0.000,516,0.000,0.036,3006,433,1733,1822,1645,0,0,0,0,0,0,26.66,26.17,26.67
$GC,11820,0.48,175.2,3005,432,1817,1645,313.7,15.1,675,11825,0.00,2.15,0.00,0.000,1030,0.000,0.028,3006,1841,1731,1816,1646,0,0,0,0,0,0,26.34,26.25,26.38
$GC,12632,0.48,175.2,3005,1847,1822,1645,183.9,15.4,721,12641,0.00,2.10,0.00,0.000,260,0.000,0.031,3006,3258,1734,1823,1645,0,0,0,0,0,0,26.68,26.26,26.70
$GC,12713,0.48,175.2,3005,3258,1824,1646,171.2,16.1,729,12722,0.00,2.12,0.00,0.000,1030,0.000,0.029,3016,1836,1735,1824,1646,0,0,0,0,0,0,26.35,26.26,26.39
$GC,13023,0.48,175.2,3015,1836,1824,1646,119.2,14.5,760,13032,0.00,2.12,0.00,0.000,516,0.000,0.035,3027,436,1734,1823,1646,0,0,0,0,0,0,26.69,26.20,26.70
$GC,13212,0.50,191.0,3026,435,1818,1648,96.7,9.5,781,13231,0.00,2.12,11.65,0.614,9222,0.000,0.029,3027,1844,1686,1778,1594,0,0,0,0,0,0,26.36,26.28,25.47
$GC,13549,0.50,191.0,3026,1844,1778,1594,63.9,10.1,844,13557,0.00,2.10,0.00,0.000,260,0.000,0.030,3027,3243,1686,1778,1594,0,0,0,0,0,0,26.60,26.21,26.61
$GC,13698,0.50,191.0,3026,3243,1778,1594,47.7,10.6,871,13706,0.12,2.10,0.00,0.000,5126,0.164,0.027,3001,1831,1686,1778,1594,0,0,0,0,0,0,25.89,26.23,26.07
$GC,14056,0.55,229.7,2999,1830,1781,1594,15.2,9.0,932,14081,0.00,2.12,18.17,0.535,8708,0.000,0.032,3010,435,1527,1634,1420,0,0,0,0,0,0,26.65,25.86,25.51
$GC,14132,0.56,241.5,3009,435,1622,1421,8.0,9.6,943,14142,0.00,2.17,5.07,0.399,9222,0.000,0.028,3010,1837,1479,1589,1370,0,0,0,0,0,0,26.17,26.13,25.41
$STATE,14179,end climb,SURFACE_DEPTH_REACHED
$STATE,14179,begin surface coast
$FINISH,0.8,1.006835
$STATE,14210,end surface coast,CONTROL_FINISHED_OK
$STATE,14211,begin surface
$SM_CCo,14227,25.25,0.047,0,0,1241,300.24
$SM_GC,1.62,7.35,0.43,25.25,0.020,0.033,0.047,126,2177,1241,-8.36,-1.24,300.24,0,0,0,0,0,0,26.15,26.20,26.06
$IRIDIUM_FIX,-2955.02,3159.79,150717,080621
$TT8_MAMPS,0.025466,0.290612
$HUMID,54.29
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.10,34.232
$10V_AH,10.15,17.246
$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,18.800,81.375,327.675,25.250,0.000,30.103,40.591,250.482,20.250,0.000,12.898,2357.665,9383.639,411.031,2399.051,157.004,0.000,1335.436,0.000,1971.573,0.000,137.102,0.000
$DEVICE_MAMPS,219.555,78.795,1315.800,47.430,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,662.731,106.566,455.217,464.021,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343228
$DATA_FILE_SIZE,60436,955
$CAP_FILE_SIZE,117926,0
$CFSIZE,2097086464,2053668864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,150717,121121,-3012.759,3202.701,17,0.8,17,-25.5,2.3,182.4,10,127.7