version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 397
start: 7 16 117 14 11 29
data:
$ID,574
$MISSION,23
$DIVE,397
$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,280
$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,61
$R_STBD_OVSHOOT,43
$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
$GPS1,160717,135502,-3051.8535,3136.2253,122,0.9,122,-26.1,2.0,268.8,9,8.7
$_CALLS,4
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-77.3
$GPS2,160717,141042,-3052.0854,3135.6248,5,0.9,5,-26.1,1.0,192.9,10,51.0
$SPEED_LIMITS,0.325,0.335
$TGT_NAME,HEADING
$TGT_LATLONG,-3050.210,3123.239
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,306.1,20000,-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,14,begin dive
$GC,16,-0.48,-175.2,126,2101,1300,1158,0.0,0.0,0,73,0.00,0.00,-54.78,0.000,16386,0.000,0.000,126,2101,2770,2754,2786,0,0,0,0,0,0,26.07,28.83,26.08
$GC,76,-0.48,-175.2,126,2101,2755,2786,3.5,-4.1,7,101,9.95,2.08,-7.93,0.000,18948,0.216,0.039,2672,721,3177,3214,3141,0,0,0,0,0,0,25.33,25.25,25.48
$GC,110,-0.48,-175.2,2671,720,3216,3141,15.9,-32.0,11,119,0.00,2.20,0.00,0.000,1030,0.000,0.026,2664,2138,3179,3220,3138,0,0,0,0,0,0,25.82,25.80,25.85
$GC,169,-0.48,-175.2,2663,2137,3224,3135,31.9,-24.8,20,178,0.00,2.12,0.00,0.000,260,0.000,0.033,2653,3532,3179,3224,3135,0,0,0,0,0,0,26.20,25.83,26.20
$GC,216,-0.48,-175.2,2652,3531,3224,3134,41.0,-18.7,27,223,0.00,2.10,0.00,0.000,1030,0.000,0.026,2653,2139,3179,3224,3134,0,0,0,0,0,0,25.96,25.89,25.98
$GC,541,-0.48,-175.2,2652,2134,3227,3131,104.7,-19.7,86,549,0.00,2.08,0.00,0.000,260,0.000,0.031,2643,3540,3179,3227,3131,0,0,0,0,0,0,26.42,26.05,26.43
$GC,722,-0.48,-175.2,2642,3540,3228,3132,129.5,-12.4,104,731,0.10,2.10,0.00,0.000,3078,0.128,0.024,2676,2117,3180,3228,3132,0,0,0,0,0,0,25.94,26.13,26.06
$GC,1032,-0.48,-175.2,2676,2113,3233,3130,173.6,-13.1,135,1036,0.00,2.05,0.00,0.000,516,0.000,0.027,2677,716,3181,3232,3130,0,0,0,0,0,0,26.55,26.18,26.57
$GC,1060,-0.48,-175.2,2676,716,3232,3130,177.1,-13.0,137,1067,0.00,2.15,0.00,0.000,1030,0.000,0.027,2668,2126,3181,3232,3130,0,0,0,0,0,0,26.22,26.19,26.25
$GC,1369,-0.48,-175.2,2667,2126,3233,3130,219.4,-13.3,161,1373,0.00,2.10,0.00,0.000,260,0.000,0.034,2657,3539,3181,3233,3130,0,0,0,0,0,0,26.61,26.20,26.62
$GC,1438,-0.48,-175.2,2656,3539,3233,3130,226.3,-11.6,164,1442,0.00,2.05,0.00,0.000,1030,0.000,0.021,2657,2126,3181,3232,3130,0,0,0,0,0,0,26.34,26.27,26.36
$GC,2248,-0.48,-175.2,2656,2124,3233,3129,333.7,-13.3,204,2253,0.00,2.05,0.00,0.000,516,0.000,0.028,2657,719,3180,3232,3129,0,0,0,0,0,0,26.68,26.29,26.70
$GC,2348,-0.48,-175.2,2656,718,3232,3128,346.3,-12.3,209,2353,0.10,2.12,0.00,0.000,3078,0.151,0.028,2677,2144,3180,3232,3128,0,0,0,0,0,0,26.05,26.29,26.17
$GC,3162,-0.48,-175.2,2677,2144,3230,3122,438.9,-10.2,250,3167,0.00,2.10,0.00,0.000,516,0.000,0.028,2677,718,3176,3230,3122,0,0,0,0,0,0,26.71,26.30,26.72
$GC,3214,-0.48,-175.2,2677,718,3229,3121,443.1,-10.5,252,3221,0.00,2.12,0.00,0.000,1030,0.000,0.031,2669,2132,3175,3229,3121,0,0,0,0,0,0,26.38,26.29,26.41
$GC,4021,-0.48,-175.2,2668,2132,3226,3116,535.5,-11.9,293,4026,0.00,2.10,0.00,0.000,260,0.000,0.037,2658,3535,3171,3226,3116,0,0,0,0,0,0,26.72,26.25,26.73
$GC,4089,-0.48,-175.2,2658,3535,3225,3116,541.8,-10.9,296,4093,0.00,2.08,0.00,0.000,1030,0.000,0.024,2658,2132,3170,3225,3116,0,0,0,0,0,0,26.40,26.32,26.43
$GC,4901,-0.48,-175.2,2657,2128,3223,3111,646.9,-13.3,337,4907,0.00,2.12,0.00,0.000,260,0.000,0.037,2648,3541,3167,3223,3111,0,0,0,0,0,0,26.73,26.25,26.74
$GC,5004,-0.48,-175.2,2647,3540,3221,3111,658.4,-11.2,342,5009,0.10,2.10,0.00,0.000,3078,0.124,0.025,2682,2123,3166,3221,3111,0,0,0,0,0,0,26.12,26.30,26.23
$GC,5818,-0.48,-175.2,2681,2119,3220,3107,731.2,-8.0,383,5822,0.00,2.15,0.00,0.000,260,0.000,0.037,2674,3535,3163,3220,3107,0,0,0,0,0,0,26.71,26.22,26.72
$GC,5923,-0.48,-175.2,2673,3535,3219,3107,738.6,-7.0,388,5927,0.00,2.08,0.00,0.000,1030,0.000,0.023,2674,2122,3163,3219,3107,0,0,0,0,0,0,26.39,26.31,26.41
$GC,6736,-0.48,-175.2,2673,2118,3218,3100,820.4,-10.8,429,6741,0.00,2.15,0.00,0.000,260,0.000,0.039,2663,3551,3159,3218,3100,0,0,0,0,0,0,26.70,26.20,26.71
$GC,6856,-0.48,-175.2,2663,3551,3214,3101,832.0,-9.3,435,6862,0.00,2.10,0.00,0.000,1030,0.000,0.025,2664,2127,3157,3215,3100,0,0,0,0,0,0,26.31,26.27,26.34
$GC,7675,-0.48,-175.2,2663,2124,3213,3098,928.5,-11.7,476,7679,0.00,2.15,0.00,0.000,260,0.000,0.040,2653,3533,3155,3213,3097,0,0,0,0,0,0,26.73,26.17,26.74
$GC,7809,-0.48,-175.2,2653,3533,3211,3098,940.4,-9.4,482,7816,0.00,2.10,0.00,0.000,1030,0.000,0.025,2653,2118,3155,3212,3098,0,0,0,0,0,0,26.35,26.26,26.38
$STATE,8335,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8335,begin apogee
$GC,8341,0.00,0.0,2653,1809,3212,3095,1000.9,-10.7,509,8484,0.57,0.00,139.90,1.308,10246,0.125,0.000,2829,1809,2464,2539,2390,0,0,0,0,0,0,25.69,24.47,23.68
$STATE,8485,end apogee,CONTROL_FINISHED_OK
$STATE,8485,begin climb
$GC,8487,0.48,175.2,2829,1809,2539,2390,1005.1,0.0,516,8649,0.43,2.45,151.55,1.299,10500,0.062,0.034,2988,3237,1749,1847,1651,0,0,0,0,0,0,24.65,23.85,23.09
$GC,8690,0.48,175.2,2987,3237,1843,1651,983.4,17.6,526,8697,0.00,2.22,0.00,0.000,1030,0.000,0.030,2998,1866,1747,1843,1651,0,0,0,0,0,0,24.61,24.54,24.63
$GC,9497,0.48,175.2,2997,1866,1834,1647,810.8,20.4,567,9502,0.00,2.10,0.00,0.000,260,0.000,0.029,2998,3258,1740,1833,1647,0,0,0,0,0,0,26.33,25.98,26.35
$GC,9585,0.48,175.2,2997,3258,1833,1647,796.3,18.0,571,9589,0.00,2.17,0.00,0.000,1030,0.000,0.031,3008,1834,1740,1833,1647,0,0,0,0,0,0,26.08,25.99,26.12
$GC,10392,0.48,175.2,3007,1834,1830,1645,623.3,21.4,611,10397,0.00,2.17,0.00,0.000,516,0.000,0.037,3018,432,1737,1829,1645,0,0,0,0,0,0,26.54,26.08,26.55
$GC,10474,0.48,175.2,3018,431,1821,1645,607.3,19.9,615,10479,0.00,2.20,0.00,0.000,1030,0.000,0.030,3019,1835,1733,1821,1645,0,0,0,0,0,0,26.19,26.15,26.22
$GC,11292,0.48,175.2,3018,1839,1823,1645,442.3,19.8,656,11293,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1839,1734,1823,1645,0,0,0,0,0,0,26.63,26.64,26.64
$GC,12092,0.48,175.2,3018,1839,1823,1645,286.1,19.3,696,12097,0.00,2.12,0.00,0.000,260,0.000,0.032,3018,3260,1734,1823,1645,0,0,0,0,0,0,26.66,26.21,26.67
$GC,12120,0.48,175.2,3018,3260,1823,1645,282.2,19.2,697,12125,0.12,2.12,0.00,0.000,5126,0.194,0.030,2994,1837,1734,1823,1645,0,0,0,0,0,0,25.79,26.22,26.02
$GC,12927,0.48,175.2,2993,1837,1825,1645,155.8,13.5,752,12936,0.00,2.12,0.00,0.000,260,0.000,0.031,2994,3267,1735,1825,1645,0,0,0,0,0,0,26.68,26.22,26.70
$GC,13018,0.48,175.2,2993,3267,1825,1645,143.9,12.2,761,13022,0.00,2.12,0.00,0.000,1030,0.000,0.028,3003,1834,1734,1824,1645,0,0,0,0,0,0,26.32,26.23,26.36
$GC,13323,0.51,197.7,3002,1834,1826,1645,108.4,9.4,791,13346,0.00,2.17,17.23,0.687,8708,0.000,0.035,3014,431,1658,1756,1561,0,0,0,0,0,0,26.69,26.05,25.39
$GC,13459,0.51,197.7,3013,431,1744,1561,92.0,13.5,810,13468,0.00,2.20,0.00,0.000,1030,0.000,0.031,3014,1843,1654,1747,1561,0,0,0,0,0,0,26.14,26.09,26.17
$GC,13788,0.51,197.7,3013,1847,1749,1561,53.7,12.2,871,13794,0.00,2.08,0.00,0.000,260,0.000,0.031,3014,3251,1655,1749,1561,0,0,0,0,0,0,26.55,26.14,26.57
$GC,13811,0.51,197.7,3013,3251,1749,1561,50.5,12.0,875,13818,0.00,2.10,0.00,0.000,1030,0.000,0.027,3024,1835,1655,1750,1561,0,0,0,0,0,0,26.25,26.16,26.27
$GC,14166,0.53,214.0,3024,1833,1752,1561,12.2,9.5,936,14183,0.00,2.15,7.72,0.492,8708,0.000,0.034,3035,449,1591,1693,1489,0,0,0,0,0,0,26.60,25.86,25.47
$GC,14222,0.53,214.0,3034,449,1678,1493,6.7,12.5,944,14232,0.08,2.15,0.00,0.000,5126,0.148,0.025,3012,1852,1586,1680,1493,0,0,0,0,0,0,25.96,26.19,26.05
$STATE,14251,end climb,SURFACE_DEPTH_REACHED
$STATE,14251,begin surface coast
$FINISH,1.0,1.025026
$STATE,14276,end surface coast,CONTROL_FINISHED_OK
$STATE,14276,begin surface
$SM_CCo,14292,37.08,0.048,0,0,1240,300.24
$SM_GC,2.60,7.43,0.40,37.08,0.023,0.028,0.048,124,2270,1240,-8.42,-1.19,300.24,0,0,0,0,0,0,26.17,26.33,26.09
$IRIDIUM_FIX,-3039.98,3135.30,160717,140308
$TT8_MAMPS,0.025466,0.289863
$HUMID,55.35
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,21.00
$XPDR_PINGS,0
$24V_AH,23.09,35.272
$10V_AH,10.16,17.784
$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,18.875,86.200,316.400,37.075,0.000,131.810,132.905,372.268,20.250,0.000,12.818,2354.338,9648.346,423.092,2703.405,163.991,0.000,1359.127,0.000,1955.244,0.000,137.247,0.000
$DEVICE_MAMPS,215.730,45.135,1308.150,48.195,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,661.754,95.345,403.798,406.473,0.000,0.000,0.000,0.000,0.000,0.000
$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,60346,952
$CAP_FILE_SIZE,123777,0
$CFSIZE,2097086464,2052751360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,160717,181139,-3054.849,3127.663,44,1.5,44,-26.1,1.1,298.5,6,38.3