version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 394
start: 7 16 117 0 55 49
data:
$ID,574
$MISSION,23
$DIVE,394
$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,38
$R_STBD_OVSHOOT,59
$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
$GPS1,160717,004755,-3033.1055,3157.0850,37,0.8,37,-25.9,0.7,196.8,11,23.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-78.1
$GPS2,160717,005503,-3033.4414,3156.9634,6,0.8,6,-25.9,2.1,203.2,10,13.8
$SPEED_LIMITS,0.325,0.335
$TGT_NAME,HEADING
$TGT_LATLONG,-3033.441,3144.423
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,295.9,20000,-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,-175.2,124,2157,1182,1017,0.0,0.0,0,80,0.00,0.00,-62.08,0.000,16386,0.000,0.000,124,2157,2842,2843,2842,0,0,0,0,0,0,26.08,28.83,26.10
$GC,83,-0.48,-175.2,124,2157,2846,2840,3.8,-4.5,8,109,9.93,2.12,-6.12,0.000,18692,0.216,0.045,2665,3530,3178,3215,3142,0,0,0,0,0,0,25.38,25.25,25.54
$GC,129,-0.48,-175.2,2665,3529,3222,3137,21.8,-38.4,14,138,0.00,2.15,0.00,0.000,1030,0.000,0.024,2665,2128,3179,3225,3134,0,0,0,0,0,0,25.89,25.84,25.90
$GC,273,-0.48,-175.2,2665,2128,3227,3132,56.2,-20.9,39,280,0.00,2.12,0.00,0.000,516,0.000,0.028,2666,708,3179,3227,3132,0,0,0,0,0,0,26.28,25.93,26.29
$GC,313,-0.48,-175.2,2665,708,3227,3132,64.8,-20.0,46,320,0.00,2.15,0.00,0.000,1030,0.000,0.030,2655,2119,3179,3227,3132,0,0,0,0,0,0,26.03,25.95,26.06
$GC,635,-0.48,-175.2,2655,2121,3228,3132,132.1,-18.1,92,639,0.00,2.12,0.00,0.000,260,0.000,0.037,2645,3536,3180,3228,3132,0,0,0,0,0,0,26.45,26.06,26.46
$GC,746,-0.48,-175.2,2644,3537,3229,3132,149.5,-13.9,103,756,0.10,2.10,0.00,0.000,3078,0.127,0.023,2677,2112,3181,3231,3132,0,0,0,0,0,0,25.96,26.15,26.08
$GC,1056,-0.48,-175.2,2677,2108,3234,3131,193.4,-13.6,134,1060,0.00,2.05,0.00,0.000,516,0.000,0.028,2678,714,3182,3234,3131,0,0,0,0,0,0,26.55,26.19,26.57
$GC,1095,-0.48,-175.2,2677,714,3234,3132,198.5,-14.0,137,1102,0.00,2.12,0.00,0.000,1030,0.000,0.029,2670,2133,3183,3235,3131,0,0,0,0,0,0,26.27,26.20,26.30
$GC,1414,-0.48,-175.2,2669,2133,3234,3131,242.1,-13.1,154,1418,0.00,2.10,0.00,0.000,260,0.000,0.036,2659,3540,3183,3236,3131,0,0,0,0,0,0,26.58,26.21,26.60
$GC,1435,-0.48,-175.2,2659,3541,3235,3131,244.9,-13.0,155,1439,0.00,2.08,0.00,0.000,1030,0.000,0.021,2659,2119,3183,3235,3131,0,0,0,0,0,0,26.34,26.27,26.36
$GC,2254,-0.48,-175.2,2659,2115,3235,3130,354.2,-13.4,196,2259,0.00,2.10,0.00,0.000,260,0.000,0.036,2649,3532,3182,3235,3130,0,0,0,0,0,0,26.67,26.27,26.69
$GC,2285,-0.48,-175.2,2649,3532,3235,3130,356.8,-13.1,197,2292,0.10,2.05,0.00,0.000,3078,0.119,0.023,2685,2133,3182,3234,3130,0,0,0,0,0,0,26.15,26.32,26.25
$GC,3094,-0.48,-175.2,2684,2129,3234,3126,435.6,-8.6,238,3099,0.00,2.08,0.00,0.000,260,0.000,0.037,2677,3532,3180,3234,3126,0,0,0,0,0,0,26.71,26.29,26.72
$GC,3206,-0.48,-175.2,2676,3532,3234,3126,443.6,-7.6,243,3213,0.00,2.05,0.00,0.000,1030,0.000,0.022,2677,2123,3180,3234,3126,0,0,0,0,0,0,26.42,26.34,26.44
$GC,4012,-0.48,-175.2,2676,2119,3232,3121,527.5,-10.3,284,4017,0.00,2.12,0.00,0.000,260,0.000,0.038,2666,3536,3176,3232,3121,0,0,0,0,0,0,26.72,26.27,26.73
$GC,4112,-0.48,-175.2,2665,3536,3230,3121,536.6,-8.6,289,4116,0.00,2.08,0.00,0.000,1030,0.000,0.023,2666,2129,3175,3230,3121,0,0,0,0,0,0,26.42,26.35,26.45
$GC,4934,-0.48,-175.2,2666,2125,3228,3116,623.6,-9.8,330,4939,0.00,2.12,0.00,0.000,260,0.000,0.040,2656,3532,3171,3227,3116,0,0,0,0,0,0,26.72,26.25,26.74
$GC,5002,-0.48,-175.2,2656,3532,3227,3116,628.7,-8.4,333,5006,0.00,2.05,0.00,0.000,1030,0.000,0.024,2656,2133,3171,3227,3116,0,0,0,0,0,0,26.41,26.33,26.44
$GC,5811,-0.48,-175.2,2656,2130,3225,3110,711.0,-10.2,373,5816,0.00,2.12,0.00,0.000,260,0.000,0.041,2647,3532,3167,3225,3110,0,0,0,0,0,0,26.71,26.24,26.72
$GC,5897,-0.48,-175.2,2646,3532,3223,3110,718.5,-9.2,377,5902,0.10,2.08,0.00,0.000,3078,0.125,0.024,2681,2126,3166,3223,3110,0,0,0,0,0,0,26.12,26.31,26.24
$GC,6705,-0.48,-175.2,2680,2121,3222,3105,794.2,-9.7,417,6710,0.00,2.15,0.00,0.000,260,0.000,0.041,2672,3529,3163,3222,3105,0,0,0,0,0,0,26.73,26.20,26.74
$GC,6785,-0.48,-175.2,2671,3529,3220,3106,801.3,-8.9,421,6790,0.00,2.05,0.00,0.000,1030,0.000,0.024,2673,2131,3163,3220,3106,0,0,0,0,0,0,26.34,26.30,26.36
$GC,7606,-0.48,-175.2,2672,2127,3219,3099,891.9,-11.0,462,7611,0.00,2.12,0.00,0.000,260,0.000,0.041,2662,3528,3158,3218,3099,0,0,0,0,0,0,26.71,26.18,26.72
$GC,7656,-0.48,-175.2,2662,3528,3218,3100,896.0,-10.6,464,7663,0.00,2.08,0.00,0.000,1030,0.000,0.025,2662,2132,3158,3217,3100,0,0,0,0,0,0,26.36,26.27,26.39
$GC,8464,-0.48,-175.2,2662,2128,3214,3097,981.2,-10.1,505,8470,0.00,2.15,0.00,0.000,260,0.000,0.041,2652,3537,3155,3213,3097,0,0,0,0,0,0,26.70,26.15,26.71
$GC,8524,-0.48,-175.2,2652,3537,3213,3097,986.7,-9.5,508,8528,0.00,2.12,0.00,0.000,1030,0.000,0.026,2652,2123,3155,3213,3097,0,0,0,0,0,0,26.34,26.25,26.37
$STATE,8664,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8664,begin apogee
$GC,8669,0.00,0.0,2652,1809,3213,3097,1001.5,-10.9,515,8813,0.57,0.00,140.20,1.294,10246,0.125,0.000,2829,1810,2464,2535,2393,0,0,0,0,0,0,25.71,24.48,23.71
$STATE,8814,end apogee,CONTROL_FINISHED_OK
$STATE,8814,begin climb
$GC,8816,0.48,175.2,2828,1810,2534,2393,1007.2,0.0,522,8976,0.43,2.28,150.88,1.266,10756,0.050,0.037,3002,475,1749,1847,1651,0,0,0,0,0,0,24.67,23.71,23.15
$GC,9046,0.48,175.2,3001,474,1831,1651,979.5,18.9,534,9050,0.00,2.22,0.00,0.000,1030,0.000,0.032,3002,1833,1741,1830,1652,0,0,0,0,0,0,24.83,24.75,24.86
$GC,9858,0.48,175.2,3001,1837,1827,1648,818.1,19.1,575,9864,0.00,2.12,0.00,0.000,516,0.000,0.037,3011,471,1737,1827,1648,0,0,0,0,0,0,26.34,25.94,26.36
$GC,9881,0.48,175.2,3011,470,1824,1648,814.3,18.8,576,9885,0.00,2.12,0.00,0.000,1030,0.000,0.031,3011,1845,1736,1824,1648,0,0,0,0,0,0,26.08,25.99,26.11
$GC,10693,0.48,175.2,3011,1849,1824,1646,649.7,21.4,617,10699,0.00,2.12,0.00,0.000,516,0.000,0.036,3021,469,1735,1824,1646,0,0,0,0,0,0,26.54,26.09,26.55
$GC,10716,0.48,175.2,3020,469,1820,1646,645.4,21.3,618,10721,0.10,2.10,0.00,0.000,5126,0.183,0.031,2994,1843,1733,1820,1646,0,0,0,0,0,0,25.84,26.15,26.04
$GC,11528,0.48,175.2,2994,1847,1822,1645,499.2,16.4,659,11534,0.00,2.12,0.00,0.000,260,0.000,0.035,2994,3251,1733,1822,1645,0,0,0,0,0,0,26.62,26.17,26.63
$GC,11571,0.48,175.2,2994,3251,1821,1645,492.6,16.6,661,11576,0.00,2.08,0.00,0.000,1030,0.000,0.029,3003,1869,1732,1820,1645,0,0,0,0,0,0,26.29,26.20,26.33
$GC,12383,0.48,175.2,3002,1869,1821,1645,347.2,17.1,702,12389,0.00,2.08,0.00,0.000,260,0.000,0.032,3003,3252,1733,1821,1645,0,0,0,0,0,0,26.66,26.21,26.67
$GC,12508,0.48,175.2,3002,3252,1820,1645,328.1,15.5,708,12512,0.00,2.12,0.00,0.000,1030,0.000,0.030,3013,1831,1733,1820,1646,0,0,0,0,0,0,26.32,26.22,26.36
$GC,13319,0.48,175.2,3012,1830,1822,1645,196.4,14.4,750,13323,0.00,2.15,0.00,0.000,260,0.000,0.031,3013,3255,1733,1822,1645,0,0,0,0,0,0,26.67,26.23,26.68
$GC,13393,0.48,175.2,3012,3260,1823,1645,186.9,13.4,757,13401,0.10,2.12,0.00,0.000,5126,0.177,0.028,2995,1837,1734,1824,1645,0,0,0,0,0,0,25.92,26.25,26.10
$GC,13700,0.48,175.2,2995,1836,1825,1645,150.5,10.8,788,13709,0.00,2.12,0.00,0.000,516,0.000,0.034,3005,437,1734,1823,1645,0,0,0,0,0,0,26.68,26.17,26.70
$GC,13754,0.48,175.2,3004,436,1820,1645,145.4,10.2,793,13761,0.00,2.12,0.00,0.000,1030,0.000,0.029,3005,1844,1733,1821,1646,0,0,0,0,0,0,26.34,26.25,26.38
$GC,14061,0.48,175.2,3004,1848,1825,1646,114.1,10.4,824,14065,0.00,2.12,0.00,0.000,260,0.000,0.034,3005,3257,1736,1826,1646,0,0,0,0,0,0,26.69,26.22,26.70
$GC,14195,0.48,175.2,3004,3257,1826,1648,100.4,10.1,837,14203,0.00,2.08,0.00,0.000,1030,0.000,0.027,3015,1841,1737,1827,1648,0,0,0,0,0,0,26.30,26.27,26.32
$GC,14523,0.57,251.4,3014,1841,1828,1648,74.1,8.0,898,14591,0.00,2.20,59.60,0.648,8452,0.000,0.031,3015,3251,1439,1552,1327,0,0,0,0,0,0,26.70,25.58,25.01
$GC,14630,0.57,251.4,3014,3251,1549,1327,63.5,12.4,916,14638,0.00,2.20,0.00,0.000,1030,0.000,0.028,3025,1840,1438,1549,1327,0,0,0,0,0,0,25.76,25.72,25.77
$GC,14977,0.57,251.4,3024,1840,1544,1326,22.5,11.6,977,14985,0.00,2.20,0.00,0.000,516,0.000,0.034,3036,442,1433,1541,1325,0,0,0,0,0,0,26.34,25.91,26.34
$GC,15071,0.58,259.3,3035,442,1533,1325,12.8,9.7,992,15080,0.00,2.17,2.95,0.269,9222,0.000,0.028,3036,1839,1406,1516,1296,0,0,0,0,0,0,26.06,26.01,25.18
$GC,15131,0.58,259.3,3035,1843,1516,1296,6.0,12.4,1001,15139,0.00,2.15,0.00,0.000,260,0.000,0.031,3036,3251,1406,1516,1296,0,0,0,0,0,0,26.39,26.01,26.40
$STATE,15152,end climb,SURFACE_DEPTH_REACHED
$STATE,15152,begin surface coast
$FINISH,0.8,1.013368
$STATE,15166,end surface coast,CONTROL_FINISHED_OK
$STATE,15166,begin surface
$SM_CCo,15183,17.85,0.047,0,0,1240,300.24
$SM_GC,2.09,7.53,1.70,17.85,0.026,0.021,0.047,126,2093,1240,-8.37,1.10,300.24,0,0,0,0,0,0,26.07,26.08,25.98
$IRIDIUM_FIX,-3019.96,3200.06,160717,004921
$TT8_MAMPS,0.025466,0.289863
$HUMID,53.85
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,22.60
$XPDR_PINGS,2
$24V_AH,23.15,34.836
$10V_AH,10.16,17.543
$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,18.950,101.775,353.625,17.850,0.000,31.462,45.974,240.421,20.750,0.000,12.763,2483.115,10112.991,442.878,2452.126,161.560,0.000,1435.920,0.000,2028.849,0.000,137.141,0.000
$DEVICE_MAMPS,215.730,45.135,1294.380,46.665,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,693.022,94.918,408.130,411.214,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343320
$DATA_FILE_SIZE,63811,1006
$CAP_FILE_SIZE,128865,0
$CFSIZE,2097086464,2053144576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,160717,051050,-3040.458,3151.280,63,0.7,63,-26.0,2.1,200.5,12,5.9