version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 399
start: 7 16 117 22 45 41
data:
$ID,574
$MISSION,23
$DIVE,399
$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,330
$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,482.00665
$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,30
$R_STBD_OVSHOOT,41
$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
$GPS1,160717,223059,-3056.0054,3119.4653,43,0.9,43,-26.1,2.1,282.0,8,129.4
$_CALLS,5
$_XMS_NAKs,9
$_XMS_TOUTs,9
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-74.4
$GPS2,160717,224454,-3056.1409,3118.7566,5,1.0,5,-26.1,0.9,308.5,8,57.7
$SPEED_LIMITS,0.325,0.335
$TGT_NAME,HEADING
$TGT_LATLONG,-3046.789,3112.472
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,356.1,20000,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.48,-175.2,125,2125,1258,1105,0.0,0.0,0,73,0.00,0.00,-54.50,0.000,16386,0.000,0.000,125,2126,2743,2726,2761,0,0,0,0,0,0,26.15,28.83,26.16
$GC,76,-0.48,-175.2,125,2126,2729,2759,3.6,-4.5,7,102,9.80,2.15,-8.43,0.000,18948,0.211,0.037,2669,701,3182,3223,3141,0,0,0,0,0,0,25.34,25.28,25.53
$GC,146,-0.48,-175.2,2669,701,3226,3141,23.1,-19.4,17,154,0.00,2.22,0.00,0.000,1030,0.000,0.030,2661,2123,3183,3227,3139,0,0,0,0,0,0,25.89,25.84,25.91
$GC,290,-0.48,-175.2,2661,2123,3229,3137,50.9,-18.4,42,299,0.00,2.15,0.00,0.000,260,0.000,0.033,2650,3537,3183,3229,3137,0,0,0,0,0,0,26.32,25.93,26.33
$GC,368,-0.48,-175.2,2650,3537,3229,3136,62.9,-12.5,56,376,0.00,2.15,0.00,0.000,1030,0.000,0.023,2650,2118,3183,3231,3135,0,0,0,0,0,0,26.06,26.01,26.06
$GC,693,-0.48,-175.2,2650,2115,3233,3134,121.5,-16.7,106,702,0.00,2.08,0.00,0.000,516,0.000,0.027,2650,705,3183,3233,3134,0,0,0,0,0,0,26.46,26.08,26.48
$GC,734,-0.48,-175.2,2650,705,3234,3133,128.4,-17.1,110,743,0.12,2.15,0.00,0.000,3078,0.144,0.028,2678,2139,3183,3233,3134,0,0,0,0,0,0,25.81,26.10,25.96
$GC,1044,-0.48,-175.2,2677,2138,3236,3134,173.0,-14.1,141,1045,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2139,3185,3236,3134,0,0,0,0,0,0,26.55,26.56,26.56
$GC,1356,-0.48,-175.2,2678,2139,3236,3134,212.7,-11.7,167,1362,0.00,2.03,0.00,0.000,260,0.000,0.034,2669,3529,3184,3236,3133,0,0,0,0,0,0,26.60,26.17,26.61
$GC,1414,-0.48,-175.2,2668,3529,3236,3133,218.7,-10.3,170,1420,0.00,2.08,0.00,0.000,1030,0.000,0.021,2669,2112,3184,3236,3133,0,0,0,0,0,0,26.32,26.25,26.34
$GC,2234,-0.48,-175.2,2669,2108,3236,3130,314.6,-11.9,211,2238,0.00,2.05,0.00,0.000,516,0.000,0.028,2669,725,3183,3236,3131,0,0,0,0,0,0,26.67,26.25,26.68
$GC,2284,-0.48,-175.2,2668,725,3236,3130,319.3,-11.9,213,2288,0.00,2.10,0.00,0.000,1030,0.000,0.028,2659,2134,3183,3236,3131,0,0,0,0,0,0,26.35,26.27,26.38
$GC,3090,-0.48,-175.2,2658,2134,3235,3126,423.5,-13.5,253,3096,0.00,2.08,0.00,0.000,260,0.000,0.035,2648,3532,3181,3236,3126,0,0,0,0,0,0,26.70,26.24,26.71
$GC,3158,-0.48,-175.2,2648,3532,3234,3125,430.5,-12.1,256,3163,0.10,2.05,0.00,0.000,3078,0.137,0.024,2682,2133,3179,3234,3125,0,0,0,0,0,0,26.09,26.29,26.21
$GC,3969,-0.48,-175.2,2682,2129,3232,3119,510.4,-9.1,296,3975,0.00,2.10,0.00,0.000,260,0.000,0.035,2674,3536,3175,3232,3119,0,0,0,0,0,0,26.70,26.25,26.71
$GC,4020,-0.48,-175.2,2674,3536,3232,3119,513.8,-8.6,298,4027,0.00,2.08,0.00,0.000,1030,0.000,0.022,2675,2117,3175,3232,3119,0,0,0,0,0,0,26.39,26.32,26.41
$GC,4827,-0.48,-175.2,2674,2113,3228,3114,602.5,-12.0,339,4833,0.00,2.12,0.00,0.000,260,0.000,0.035,2664,3533,3171,3228,3115,0,0,0,0,0,0,26.72,26.22,26.73
$GC,4887,-0.48,-175.2,2664,3533,3227,3114,609.1,-11.3,342,4891,0.00,2.08,0.00,0.000,1030,0.000,0.023,2664,2130,3170,3226,3114,0,0,0,0,0,0,26.38,26.29,26.40
$GC,5709,-0.48,-175.2,2664,2127,3226,3109,705.3,-9.9,383,5715,0.00,2.10,0.00,0.000,260,0.000,0.036,2654,3534,3167,3226,3109,0,0,0,0,0,0,26.72,26.22,26.74
$GC,5798,-0.48,-175.2,2653,3535,3225,3110,712.3,-8.5,387,5802,0.00,2.08,0.00,0.000,1030,0.000,0.024,2654,2128,3167,3225,3109,0,0,0,0,0,0,26.36,26.27,26.39
$GC,6605,-0.48,-175.2,2654,2124,3224,3107,809.6,-11.9,427,6610,0.00,2.12,0.00,0.000,260,0.000,0.037,2644,3538,3165,3224,3107,0,0,0,0,0,0,26.72,26.19,26.74
$GC,6706,-0.48,-175.2,2644,3538,3222,3107,819.6,-9.6,432,6713,0.10,2.08,0.00,0.000,3078,0.123,0.025,2679,2129,3164,3222,3107,0,0,0,0,0,0,25.98,26.25,26.05
$GC,7525,-0.48,-175.2,2679,2124,3221,3100,889.7,-8.8,473,7529,0.00,2.12,0.00,0.000,260,0.000,0.038,2671,3529,3160,3221,3100,0,0,0,0,0,0,26.72,26.15,26.74
$GC,7595,-0.48,-175.2,2670,3529,3220,3101,894.7,-8.3,476,7599,0.00,2.08,0.00,0.000,1030,0.000,0.024,2671,2121,3160,3220,3101,0,0,0,0,0,0,26.34,26.26,26.37
$GC,8402,-0.48,-175.2,2670,2117,3219,3099,973.0,-8.7,516,8408,0.00,2.15,0.00,0.000,260,0.000,0.039,2661,3531,3159,3219,3099,0,0,0,0,0,0,26.72,26.12,26.74
$GC,8503,-0.48,-175.2,2660,3530,3217,3099,980.4,-7.3,521,8507,0.00,2.10,0.00,0.000,1030,0.000,0.025,2661,2126,3158,3217,3099,0,0,0,0,0,0,26.32,26.22,26.34
$STATE,8723,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8723,begin apogee
$GC,8729,0.00,0.0,2661,1814,3217,3098,1000.9,-9.6,532,8872,0.55,0.00,140.38,1.288,10246,0.123,0.000,2830,1814,2464,2538,2391,0,0,0,0,0,0,25.66,24.46,23.68
$STATE,8873,end apogee,CONTROL_FINISHED_OK
$STATE,8874,begin climb
$GC,8875,0.48,175.2,2830,1814,2538,2391,1005.4,0.0,539,9037,0.43,2.42,151.23,1.258,11012,0.058,0.031,2989,3234,1749,1844,1654,0,0,0,0,0,0,24.63,23.82,23.06
$GC,9133,0.48,175.2,2989,3234,1838,1654,974.4,17.2,552,9137,0.00,2.17,0.00,0.000,1030,0.000,0.030,2999,1876,1745,1837,1654,0,0,0,0,0,0,24.92,24.84,24.94
$GC,9945,0.48,175.2,2998,1876,1828,1650,805.1,20.7,593,9950,0.00,2.08,0.00,0.000,260,0.000,0.028,2999,3252,1739,1828,1650,0,0,0,0,0,0,26.34,25.97,26.35
$GC,10005,0.48,175.2,2998,3253,1828,1650,793.5,19.9,596,10011,0.00,2.17,0.00,0.000,1030,0.000,0.031,3009,1837,1739,1828,1650,0,0,0,0,0,0,26.06,25.96,26.10
$GC,10825,0.48,175.2,3008,1837,1825,1649,615.9,21.0,637,10831,0.00,2.17,0.00,0.000,516,0.000,0.038,3020,430,1736,1824,1649,0,0,0,0,0,0,26.53,26.06,26.55
$GC,10954,0.48,175.2,3019,430,1816,1648,593.1,18.3,643,10958,0.00,2.15,0.00,0.000,1030,0.000,0.029,3020,1839,1732,1816,1648,0,0,0,0,0,0,26.23,26.13,26.27
$GC,11760,0.48,175.2,3019,1841,1819,1648,433.3,19.2,683,11761,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1842,1733,1819,1648,0,0,0,0,0,0,26.62,26.63,26.63
$GC,12560,0.48,175.2,3020,1842,1819,1648,268.6,21.4,723,12561,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1842,1733,1819,1648,0,0,0,0,0,0,26.66,26.67,26.67
$GC,13360,0.48,175.2,3020,1842,1820,1648,125.7,15.0,785,13369,0.00,2.15,0.00,0.000,516,0.000,0.034,3030,432,1734,1819,1649,0,0,0,0,0,0,26.68,26.14,26.69
$GC,13524,0.48,175.2,3030,431,1814,1649,102.7,14.3,801,13532,0.12,2.15,0.00,0.000,5126,0.166,0.031,2994,1841,1732,1816,1649,0,0,0,0,0,0,25.84,26.20,26.03
$GC,13851,0.55,232.5,2993,1845,1822,1648,70.0,8.5,861,13900,0.00,2.20,44.12,0.656,8452,0.000,0.031,2994,3257,1516,1621,1412,0,0,0,0,0,0,26.68,25.74,25.15
$GC,13946,0.56,239.6,2993,3257,1619,1411,61.5,9.8,877,13960,0.00,2.17,7.50,0.558,9222,0.000,0.028,3003,1830,1488,1594,1382,0,0,0,0,0,0,25.91,25.84,25.06
$GC,14293,0.56,239.6,3002,1830,1589,1380,21.1,12.4,939,14301,0.00,2.17,0.00,0.000,516,0.000,0.036,3013,440,1482,1587,1378,0,0,0,0,0,0,26.34,25.90,26.34
$GC,14434,0.56,239.6,3013,440,1579,1378,3.8,12.7,962,14443,0.00,2.17,0.00,0.000,1030,0.000,0.025,3014,1848,1479,1580,1379,0,0,0,0,0,0,26.08,26.04,26.10
$STATE,14450,end climb,SURFACE_DEPTH_REACHED
$STATE,14450,begin surface coast
$FINISH,1.1,1.011401
$STATE,14475,end surface coast,CONTROL_FINISHED_OK
$STATE,14475,begin surface
$SM_CCo,14491,106.97,0.050,0,0,498,482.01
$SM_GC,2.03,7.53,0.43,106.97,0.028,0.031,0.050,125,2165,498,-8.39,-1.02,482.01,0,0,0,0,0,0,26.05,26.13,25.89
$IRIDIUM_FIX,-3042.49,3120.65,160717,223927
$TT8_MAMPS,0.025466,0.289114
$HUMID,54.80
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,20.10
$XPDR_PINGS,20
$24V_AH,23.06,35.558
$10V_AH,10.15,17.942
$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,18.750,77.600,343.225,106.975,0.000,174.448,50.047,231.571,25.250,0.000,12.790,2379.755,9872.069,497.607,2542.883,164.511,0.000,1428.900,0.000,1964.557,0.000,139.439,0.000
$DEVICE_MAMPS,211.140,73.440,1288.260,49.725,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,674.121,101.280,425.956,431.023,0.000,0.000,0.000,0.000,0.000,0.000
$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,63629,968
$CAP_FILE_SIZE,120335,0
$CFSIZE,2097086464,2052292608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,170717,025002,-3056.204,3112.095,26,1.1,26,-26.0,0.5,116.7,8,9.7