version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 395
start: 7 16 117 5 22 9
data:
$ID,574
$MISSION,23
$DIVE,395
$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,72
$R_STBD_OVSHOOT,40
$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
$GPS1,160717,051050,-3040.4578,3151.2798,63,0.7,63,-26.0,2.1,200.5,12,5.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-78.2
$GPS2,160717,052122,-3040.9717,3151.1331,6,0.7,6,-26.0,1.7,185.3,12,36.9
$SPEED_LIMITS,0.325,0.335
$TGT_NAME,HEADING
$TGT_LATLONG,-3040.972,3138.576
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,296.0,20000,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.48,-175.2,126,2088,1298,1157,0.0,0.0,0,73,0.00,0.00,-55.53,0.000,16386,0.000,0.000,126,2088,2796,2787,2806,0,0,0,0,0,0,26.10,28.83,26.11
$GC,76,-0.48,-175.2,126,2088,2787,2806,3.6,-4.2,7,101,9.90,2.03,-7.22,0.000,19204,0.216,0.036,2669,733,3182,3218,3146,0,0,0,0,0,0,25.33,25.27,25.51
$GC,186,-0.48,-175.2,2669,733,3223,3144,33.2,-19.0,24,195,0.00,2.20,0.00,0.000,1030,0.000,0.033,2661,2134,3183,3225,3141,0,0,0,0,0,0,25.93,25.86,25.93
$GC,328,-0.48,-175.2,2660,2135,3227,3140,65.3,-24.5,49,334,0.00,2.10,0.00,0.000,260,0.000,0.034,2650,3543,3183,3227,3139,0,0,0,0,0,0,26.33,25.95,26.34
$GC,383,-0.48,-175.2,2649,3543,3228,3138,76.9,-16.7,59,390,0.00,2.05,0.00,0.000,1030,0.000,0.023,2650,2155,3182,3228,3137,0,0,0,0,0,0,26.09,26.01,26.10
$GC,701,-0.48,-175.2,2649,2151,3231,3136,142.9,-19.6,100,711,0.08,2.10,0.00,0.000,2308,0.177,0.030,2669,3550,3183,3231,3136,0,0,0,0,0,0,25.98,26.08,26.02
$GC,775,-0.48,-175.2,2669,3551,3232,3136,152.8,-11.6,107,783,0.00,2.12,0.00,0.000,1030,0.000,0.023,2669,2135,3184,3232,3136,0,0,0,0,0,0,26.17,26.15,26.23
$GC,1083,-0.48,-175.2,2669,2133,3235,3134,199.8,-15.5,138,1092,0.00,2.08,0.00,0.000,516,0.000,0.027,2669,716,3184,3235,3134,0,0,0,0,0,0,26.57,26.19,26.58
$GC,1133,-0.48,-175.2,2669,716,3235,3134,205.8,-14.9,141,1137,0.00,2.12,0.00,0.000,1030,0.000,0.028,2659,2141,3184,3235,3134,0,0,0,0,0,0,26.28,26.20,26.30
$GC,1941,-0.48,-175.2,2658,2141,3235,3133,317.8,-12.6,181,1947,0.00,2.08,0.00,0.000,260,0.000,0.036,2648,3540,3184,3235,3133,0,0,0,0,0,0,26.67,26.25,26.67
$GC,2000,-0.48,-175.2,2648,3540,3235,3133,324.0,-10.6,184,2006,0.10,2.08,0.00,0.000,3078,0.125,0.022,2683,2120,3184,3235,3133,0,0,0,0,0,0,26.11,26.31,26.22
$GC,2821,-0.48,-175.2,2682,2116,3235,3130,407.7,-9.9,225,2827,0.00,2.10,0.00,0.000,260,0.000,0.034,2674,3539,3182,3236,3129,0,0,0,0,0,0,26.70,26.28,26.72
$GC,2954,-0.48,-175.2,2674,3539,3233,3130,418.2,-8.6,231,2961,0.00,2.05,0.00,0.000,1030,0.000,0.022,2674,2130,3182,3234,3130,0,0,0,0,0,0,26.41,26.34,26.44
$GC,3760,-0.48,-175.2,2674,2126,3231,3124,502.0,-9.0,272,3764,0.00,2.12,0.00,0.000,260,0.000,0.036,2664,3538,3177,3231,3124,0,0,0,0,0,0,26.72,26.27,26.73
$GC,3903,-0.48,-175.2,2663,3538,3228,3124,512.8,-7.3,279,3908,0.00,2.05,0.00,0.000,1030,0.000,0.023,2664,2128,3176,3228,3124,0,0,0,0,0,0,26.37,26.34,26.39
$GC,4722,-0.48,-175.2,2663,2124,3227,3118,598.2,-10.9,320,4727,0.00,2.10,0.00,0.000,260,0.000,0.036,2655,3532,3172,3226,3118,0,0,0,0,0,0,26.72,26.26,26.74
$GC,4836,-0.48,-175.2,2653,3532,3225,3118,608.0,-9.6,325,4843,0.00,2.05,0.00,0.000,1030,0.000,0.024,2654,2132,3171,3225,3118,0,0,0,0,0,0,26.40,26.32,26.42
$GC,5642,-0.48,-175.2,2653,2128,3224,3113,705.1,-11.5,366,5647,0.00,2.12,0.00,0.000,260,0.000,0.037,2644,3543,3168,3224,3113,0,0,0,0,0,0,26.73,26.24,26.74
$GC,5795,-0.48,-175.2,2643,3542,3221,3113,718.3,-9.0,373,5803,0.10,2.08,0.00,0.000,3078,0.122,0.025,2678,2132,3167,3221,3113,0,0,0,0,0,0,26.10,26.29,26.22
$GC,6603,-0.48,-175.2,2677,2128,3220,3107,784.5,-8.8,414,6608,0.00,2.12,0.00,0.000,260,0.000,0.037,2670,3539,3163,3220,3107,0,0,0,0,0,0,26.73,26.21,26.74
$GC,6685,-0.48,-175.2,2669,3539,3219,3107,790.5,-7.5,418,6689,0.00,2.08,0.00,0.000,1030,0.000,0.023,2670,2127,3163,3219,3107,0,0,0,0,0,0,26.39,26.30,26.41
$GC,7502,-0.48,-175.2,2669,2123,3218,3101,875.2,-10.4,459,7508,0.00,2.15,0.00,0.000,260,0.000,0.039,2660,3530,3159,3217,3101,0,0,0,0,0,0,26.73,26.18,26.74
$GC,7606,-0.48,-175.2,2659,3530,3215,3100,884.3,-8.8,464,7610,0.00,2.08,0.00,0.000,1030,0.000,0.024,2660,2127,3158,3216,3101,0,0,0,0,0,0,26.36,26.27,26.39
$GC,8417,-0.48,-175.2,2659,2124,3213,3098,969.4,-10.6,505,8423,0.00,2.12,0.00,0.000,260,0.000,0.039,2649,3528,3156,3213,3099,0,0,0,0,0,0,26.72,26.16,26.74
$GC,8533,-0.48,-175.2,2650,3528,3212,3099,978.8,-8.9,510,8542,0.10,2.08,0.00,0.000,3078,0.121,0.026,2683,2131,3155,3212,3099,0,0,0,0,0,0,26.06,26.24,26.17
$STATE,8758,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8758,begin apogee
$GC,8764,0.00,0.0,2684,1804,3212,3098,1000.0,-9.0,522,8908,0.47,0.00,140.43,1.287,10246,0.117,0.000,2834,1804,2465,2538,2392,0,0,0,0,0,0,25.77,24.48,23.70
$STATE,8909,end apogee,CONTROL_FINISHED_OK
$STATE,8909,begin climb
$GC,8911,0.48,175.2,2834,1804,2537,2392,1006.2,0.0,529,9072,0.40,2.33,151.15,1.271,10756,0.050,0.037,3001,470,1749,1848,1651,0,0,0,0,0,0,24.68,23.87,23.11
$GC,9113,0.48,175.2,3000,470,1835,1651,987.9,16.9,539,9120,0.00,2.25,0.00,0.000,1030,0.000,0.031,3001,1831,1743,1835,1651,0,0,0,0,0,0,24.61,24.54,24.63
$GC,9920,0.48,175.2,3000,1834,1830,1648,819.0,21.4,580,9925,0.00,2.17,0.00,0.000,260,0.000,0.034,3001,3251,1738,1829,1648,0,0,0,0,0,0,26.33,25.94,26.34
$GC,9933,0.48,175.2,3000,3251,1828,1648,819.0,21.4,580,9940,0.00,2.10,0.00,0.000,1030,0.000,0.028,3011,1866,1738,1828,1648,0,0,0,0,0,0,26.06,25.97,26.09
$GC,10740,0.48,175.2,3010,1866,1827,1646,652.1,18.5,621,10745,0.00,2.22,0.00,0.000,516,0.000,0.038,3022,434,1736,1826,1646,0,0,0,0,0,0,26.53,26.06,26.54
$GC,10833,0.48,175.2,3021,435,1820,1646,637.0,18.8,625,10840,0.10,2.17,0.00,0.000,5126,0.181,0.030,2995,1849,1733,1821,1646,0,0,0,0,0,0,25.83,26.13,26.03
$GC,11640,0.48,175.2,2994,1852,1823,1646,490.6,17.6,666,11644,0.00,2.12,0.00,0.000,260,0.000,0.034,2995,3250,1734,1823,1646,0,0,0,0,0,0,26.62,26.17,26.63
$GC,11674,0.48,175.2,2994,3250,1823,1646,486.9,17.4,667,11681,0.00,2.12,0.00,0.000,1030,0.000,0.030,3003,1838,1734,1823,1646,0,0,0,0,0,0,26.28,26.19,26.32
$GC,12481,0.48,175.2,3003,1838,1822,1646,339.6,16.8,708,12486,0.00,2.15,0.00,0.000,516,0.000,0.035,3014,434,1734,1822,1646,0,0,0,0,0,0,26.65,26.15,26.67
$GC,12634,0.48,175.2,3014,433,1815,1646,317.7,15.3,715,12641,0.00,2.15,0.00,0.000,1030,0.000,0.031,3014,1840,1731,1817,1646,0,0,0,0,0,0,26.31,26.22,26.35
$GC,13441,0.48,175.2,3014,1845,1822,1646,185.4,14.8,761,13449,0.00,2.12,0.00,0.000,260,0.000,0.034,3014,3258,1734,1822,1646,0,0,0,0,0,0,26.68,26.20,26.70
$GC,13575,0.48,175.2,3014,3257,1823,1646,167.7,13.0,774,13583,0.10,2.12,0.00,0.000,5126,0.181,0.028,2996,1828,1735,1824,1646,0,0,0,0,0,0,25.87,26.24,26.07
$GC,13882,0.48,175.2,2995,1828,1825,1646,130.2,10.1,805,13890,0.00,2.12,0.00,0.000,260,0.000,0.030,2996,3254,1735,1825,1646,0,0,0,0,0,0,26.69,26.23,26.70
$GC,13962,0.48,175.2,2995,3255,1825,1647,122.0,10.2,813,13967,0.00,2.10,0.00,0.000,1030,0.000,0.026,3004,1838,1736,1826,1647,0,0,0,0,0,0,26.34,26.25,26.38
$GC,14273,0.55,227.5,3004,1838,1828,1646,92.2,8.6,852,14317,0.00,0.00,41.12,0.670,8710,0.000,0.000,3004,1838,1535,1643,1428,0,0,0,0,0,0,26.69,25.73,25.18
$GC,14637,0.55,227.5,3004,1838,1638,1427,58.4,10.6,919,14644,0.00,2.12,0.00,0.000,260,0.000,0.029,3004,3262,1532,1638,1427,0,0,0,0,0,0,26.36,25.98,26.38
$GC,14656,0.55,227.5,3004,3261,1638,1427,56.3,10.2,922,14662,0.00,2.15,0.00,0.000,1030,0.000,0.027,3014,1831,1532,1637,1427,0,0,0,0,0,0,26.08,26.00,26.10
$GC,15005,0.63,292.2,3014,1830,1638,1427,19.0,8.3,983,15046,0.00,2.20,31.15,0.558,8708,0.000,0.035,3025,439,1269,1398,1140,0,0,0,0,0,0,26.49,25.60,25.26
$GC,15112,0.63,292.2,3024,439,1384,1139,7.8,10.0,999,15121,0.00,2.20,0.00,0.000,1030,0.000,0.027,3025,1848,1261,1383,1139,0,0,0,0,0,0,25.96,25.90,25.96
$STATE,15151,end climb,SURFACE_DEPTH_REACHED
$STATE,15151,begin surface coast
$FINISH,0.9,1.024875
$STATE,15171,end surface coast,CONTROL_FINISHED_OK
$STATE,15171,begin surface
$SM_CCo,15188,1.90,0.051,0,0,1240,300.24
$SM_GC,2.68,7.62,0.43,1.90,0.034,0.028,0.051,126,2232,1240,-8.36,-0.90,300.24,0,0,0,0,0,0,25.91,26.04,25.89
$IRIDIUM_FIX,-3029.96,3151.56,160717,051539
$TT8_MAMPS,0.025466,0.289863
$HUMID,54.68
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.11,34.979
$10V_AH,10.17,17.626
$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,18.975,90.050,363.850,1.900,0.000,61.365,61.204,300.255,20.250,0.000,12.828,2468.260,10105.296,439.599,2656.844,173.538,0.000,1451.543,0.000,2101.219,0.000,138.201,0.000
$DEVICE_MAMPS,215.730,39.015,1286.730,51.255,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,694.965,99.152,425.498,431.443,0.000,0.000,0.000,0.000,0.000,0.000
$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,63815,1008
$CAP_FILE_SIZE,130416,0
$CFSIZE,2097086464,2053013504
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,8538.11,0x2338ba,0,24
$WARN,PPS timeout
$GPS,160717,093633,-3047.256,3144.079,38,1.1,38,-26.1,1.4,214.9,8,10.1