version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 393
start: 7 15 117 20 45 14
data:
$ID,574
$MISSION,23
$DIVE,393
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,270
$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,33
$R_STBD_OVSHOOT,54
$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
$GPS1,150717,203032,-3025.2351,3200.3860,27,0.9,27,-25.7,1.0,209.7,8,15.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-79.0
$GPS2,150717,204428,-3025.8696,3200.2021,6,0.7,6,-25.8,1.1,156.6,12,38.4
$SPEED_LIMITS,0.325,0.335
$TGT_NAME,HEADING
$TGT_LATLONG,-3025.870,3147.677
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,295.8,20000,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.48,-175.2,126,2148,1019,836,0.0,0.0,0,89,0.00,0.00,-70.78,0.000,16386,0.000,0.000,126,2149,2935,2946,2925,0,0,0,0,0,0,26.07,28.83,26.08
$GC,92,-0.48,-175.2,126,2149,2946,2925,4.0,-5.1,9,110,9.90,0.00,-4.38,0.000,18694,0.215,0.000,2671,2148,3183,3218,3148,0,0,0,0,0,0,25.34,24.51,25.56
$GC,160,-0.48,-175.2,2670,2149,3228,3141,29.2,-25.6,19,168,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2149,3184,3228,3141,0,0,0,0,0,0,26.18,26.20,26.20
$GC,300,-0.48,-175.2,2670,2149,3230,3140,64.4,-23.3,44,307,0.00,2.10,0.00,0.000,260,0.000,0.034,2662,3521,3184,3229,3140,0,0,0,0,0,0,26.29,25.94,26.30
$GC,319,-0.48,-175.2,2661,3522,3229,3139,69.1,-23.9,47,326,0.00,2.10,0.00,0.000,1030,0.000,0.022,2662,2106,3184,3231,3138,0,0,0,0,0,0,26.05,25.98,26.07
$GC,640,-0.48,-175.2,2661,2101,3233,3137,137.1,-19.8,90,648,0.00,2.12,0.00,0.000,260,0.000,0.031,2651,3532,3185,3233,3137,0,0,0,0,0,0,26.45,26.08,26.46
$GC,713,-0.48,-175.2,2650,3532,3234,3137,147.2,-12.8,97,720,0.00,2.08,0.00,0.000,1030,0.000,0.021,2651,2117,3185,3234,3137,0,0,0,0,0,0,26.20,26.14,26.23
$GC,1021,-0.48,-175.2,2650,2113,3235,3136,201.7,-18.0,128,1027,0.00,2.05,0.00,0.000,516,0.000,0.027,2651,719,3185,3235,3136,0,0,0,0,0,0,26.51,26.17,26.53
$GC,1068,-0.48,-175.2,2650,718,3236,3136,208.9,-18.0,130,1073,0.12,2.10,0.00,0.000,3078,0.146,0.027,2679,2133,3186,3236,3136,0,0,0,0,0,0,25.92,26.20,26.08
$GC,1876,-0.48,-175.2,2678,2133,3236,3135,313.2,-11.0,170,1880,0.00,2.10,0.00,0.000,260,0.000,0.034,2670,3543,3185,3235,3135,0,0,0,0,0,0,26.65,26.25,26.66
$GC,2021,-0.48,-175.2,2669,3543,3235,3133,327.2,-9.8,177,2025,0.00,2.08,0.00,0.000,1030,0.000,0.023,2670,2127,3184,3235,3133,0,0,0,0,0,0,26.38,26.30,26.41
$GC,2838,-0.48,-175.2,2669,2122,3236,3129,434.3,-12.3,218,2844,0.00,2.08,0.00,0.000,516,0.000,0.028,2670,715,3183,3236,3130,0,0,0,0,0,0,26.70,26.29,26.71
$GC,2891,-0.48,-175.2,2669,714,3236,3129,438.9,-12.1,220,2899,0.00,2.12,0.00,0.000,1030,0.000,0.029,2659,2135,3182,3236,3129,0,0,0,0,0,0,26.39,26.32,26.42
$GC,3698,-0.48,-175.2,2659,2135,3236,3122,544.1,-13.2,261,3704,0.00,2.10,0.00,0.000,260,0.000,0.037,2648,3543,3179,3236,3122,0,0,0,0,0,0,26.72,26.28,26.72
$GC,3811,-0.48,-175.2,2648,3543,3235,3122,555.2,-10.5,266,3819,0.10,2.08,0.00,0.000,3078,0.156,0.024,2683,2134,3178,3235,3122,0,0,0,0,0,0,26.05,26.33,26.19
$GC,4619,-0.48,-175.2,2682,2130,3233,3116,633.9,-8.6,307,4623,0.00,2.15,0.00,0.000,260,0.000,0.037,2674,3535,3174,3233,3115,0,0,0,0,0,0,26.72,26.27,26.74
$GC,4713,-0.48,-175.2,2674,3535,3232,3115,640.4,-7.9,311,4720,0.00,2.08,0.00,0.000,1030,0.000,0.024,2674,2123,3173,3232,3115,0,0,0,0,0,0,26.41,26.33,26.44
$GC,5520,-0.48,-175.2,2674,2118,3228,3108,722.5,-10.1,352,5526,0.00,2.15,0.00,0.000,260,0.000,0.038,2664,3542,3167,3227,3108,0,0,0,0,0,0,26.73,26.25,26.74
$GC,5629,-0.48,-175.2,2663,3542,3227,3108,731.8,-8.9,357,5633,0.00,2.10,0.00,0.000,1030,0.000,0.024,2664,2127,3167,3227,3108,0,0,0,0,0,0,26.40,26.32,26.43
$GC,6441,-0.48,-175.2,2663,2124,3225,3104,828.9,-12.4,398,6446,0.00,2.12,0.00,0.000,260,0.000,0.040,2654,3530,3164,3225,3104,0,0,0,0,0,0,26.73,26.22,26.74
$GC,6602,-0.48,-175.2,2653,3529,3221,3104,844.8,-9.4,406,6606,0.00,2.10,0.00,0.000,1030,0.000,0.025,2654,2126,3162,3221,3104,0,0,0,0,0,0,26.38,26.29,26.41
$GC,7424,-0.48,-175.2,2653,2122,3220,3099,934.2,-10.5,447,7429,0.00,2.15,0.00,0.000,260,0.000,0.041,2644,3533,3159,3220,3098,0,0,0,0,0,0,26.73,26.19,26.74
$GC,7565,-0.48,-175.2,2644,3534,3218,3099,946.2,-8.2,454,7571,0.10,2.08,0.00,0.000,3078,0.112,0.026,2679,2129,3158,3218,3099,0,0,0,0,0,0,26.03,26.27,26.10
$STATE,8204,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8204,begin apogee
$GC,8210,0.00,0.0,2679,1802,3217,3095,1000.4,-9.5,486,8354,0.47,0.00,140.65,1.327,10246,0.115,0.000,2829,1802,2464,2531,2398,0,0,0,0,0,0,25.82,24.46,23.69
$STATE,8355,end apogee,CONTROL_FINISHED_OK
$STATE,8355,begin climb
$GC,8356,0.48,175.2,2828,1802,2530,2398,1006.8,0.0,493,8518,0.43,2.45,151.75,1.304,10500,0.050,0.037,2992,3226,1749,1844,1655,0,0,0,0,0,0,24.65,23.85,23.10
$GC,8569,0.48,175.2,2992,3226,1839,1655,984.2,17.5,504,8574,0.00,2.17,0.00,0.000,1030,0.000,0.030,3002,1877,1747,1839,1655,0,0,0,0,0,0,24.69,24.61,24.70
$GC,9381,0.48,175.2,3002,1877,1831,1649,812.7,21.5,545,9386,0.00,2.08,0.00,0.000,260,0.000,0.033,3002,3239,1740,1831,1649,0,0,0,0,0,0,26.34,25.98,26.35
$GC,9449,0.48,175.2,3002,3240,1830,1648,800.3,20.9,548,9453,0.00,2.12,0.00,0.000,1030,0.000,0.031,3012,1838,1739,1830,1649,0,0,0,0,0,0,26.09,26.00,26.12
$GC,10256,0.48,175.2,3011,1837,1826,1647,628.0,18.9,588,10262,0.00,2.17,0.00,0.000,516,0.000,0.039,3023,433,1736,1825,1647,0,0,0,0,0,0,26.54,26.10,26.55
$GC,10309,0.48,175.2,3022,432,1818,1647,620.3,18.9,590,10317,0.10,2.15,0.00,0.000,5126,0.200,0.031,2997,1835,1733,1819,1647,0,0,0,0,0,0,25.83,26.15,26.05
$GC,11116,0.48,175.2,2996,1839,1821,1646,477.3,16.8,631,11122,0.00,2.12,0.00,0.000,260,0.000,0.034,2996,3247,1733,1821,1646,0,0,0,0,0,0,26.62,26.20,26.63
$GC,11158,0.48,175.2,2996,3248,1821,1646,470.4,16.8,633,11162,0.00,2.17,0.00,0.000,1030,0.000,0.030,3005,1831,1733,1821,1646,0,0,0,0,0,0,26.25,26.21,26.28
$GC,11976,0.48,175.2,3004,1830,1821,1646,327.2,16.8,674,11982,0.00,2.12,0.00,0.000,260,0.000,0.031,3005,3251,1734,1821,1647,0,0,0,0,0,0,26.65,26.22,26.66
$GC,12076,0.48,175.2,3004,3250,1820,1646,312.1,14.4,679,12082,0.00,2.12,0.00,0.000,1030,0.000,0.029,3015,1833,1733,1821,1646,0,0,0,0,0,0,26.32,26.23,26.36
$GC,12886,0.48,175.2,3014,1833,1824,1646,190.7,13.3,723,12895,0.00,2.12,0.00,0.000,516,0.000,0.034,3026,438,1734,1823,1646,0,0,0,0,0,0,26.67,26.18,26.69
$GC,12987,0.48,175.2,3026,437,1819,1646,176.0,14.2,733,12996,0.12,2.15,0.00,0.000,5126,0.157,0.032,2990,1843,1733,1821,1646,0,0,0,0,0,0,25.89,26.23,26.10
$GC,13297,0.48,175.2,2989,1846,1825,1646,135.7,12.0,764,13301,0.00,2.12,0.00,0.000,260,0.000,0.035,2990,3258,1735,1825,1646,0,0,0,0,0,0,26.68,26.22,26.70
$GC,13328,0.48,175.2,2989,3258,1825,1648,132.1,11.7,767,13337,0.00,2.10,0.00,0.000,1030,0.000,0.025,2999,1837,1737,1826,1648,0,0,0,0,0,0,26.35,26.27,26.39
$GC,13638,0.48,175.2,2998,1836,1827,1647,100.0,10.2,798,13646,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,1836,1737,1827,1648,0,0,0,0,0,0,26.69,26.70,26.70
$GC,13966,0.59,260.7,2998,1836,1829,1648,77.6,7.8,859,14040,0.00,2.17,67.00,0.656,8452,0.000,0.028,2999,3251,1402,1516,1288,0,0,0,0,0,0,26.70,25.32,24.94
$GC,14085,0.67,330.3,2998,3252,1512,1287,67.6,8.2,879,14149,0.15,2.17,57.62,0.635,11270,0.054,0.028,3093,1836,1117,1243,992,0,0,0,0,0,0,25.70,25.67,24.60
$STATE,14398,end climb,SURFACE_DEPTH_REACHED
$STATE,14399,begin surface coast
$FINISH,0.8,1.012155
$STATE,14413,end surface coast,CONTROL_FINISHED_OK
$STATE,14413,begin surface
$SM_CCo,14490,0.00,0.000,0,0,1106,333.36
$SM_GC,2.21,7.88,0.45,0.00,0.033,0.038,0.000,125,2152,1106,-8.42,-1.22,333.36,0,0,0,0,0,0,25.79,25.84,25.85
$IRIDIUM_FIX,-3012.46,3202.97,150717,203232
$TT8_MAMPS,0.025466,0.289863
$HUMID,55.11
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,21.80
$XPDR_PINGS,17
$24V_AH,23.10,34.700
$10V_AH,10.17,17.465
$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,19.375,77.450,417.025,0.000,0.000,107.391,117.090,344.115,24.500,0.000,12.799,2282.699,9858.128,455.515,2590.420,159.938,0.000,1410.501,0.000,1890.040,0.000,136.132,0.000
$DEVICE_MAMPS,214.965,40.545,1327.275,0.000,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,641.933,73.107,293.143,305.103,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343296
$DATA_FILE_SIZE,60270,935
$CAP_FILE_SIZE,121474,0
$CFSIZE,2097086464,2053275648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,160717,004755,-3033.105,3157.085,37,0.8,37,-25.9,0.7,196.8,11,23.7