version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 400
start: 7 17 117 3 1 22
data:
$ID,574
$MISSION,23
$DIVE,400
$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,37
$R_STBD_OVSHOOT,66
$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
$GPS1,170717,025002,-3056.2041,3112.0955,26,1.1,26,-26.0,0.5,116.7,8,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-72.2
$GPS2,170717,030035,-3056.3220,3111.7844,5,1.0,5,-26.0,1.0,259.8,8,18.9
$SPEED_LIMITS,0.325,0.335
$TGT_NAME,HEADING
$TGT_LATLONG,-3046.970,3105.499
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,356.0,20000,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.48,-175.2,125,2172,534,432,0.0,0.0,0,96,0.00,0.00,-77.65,0.000,16386,0.000,0.000,125,2171,2699,2689,2710,0,0,0,0,0,0,26.03,28.83,26.04
$GC,99,-0.48,-175.2,125,2171,2689,2709,3.6,-3.4,10,125,9.93,2.25,-9.52,0.000,19204,0.216,0.034,2669,695,3182,3223,3142,0,0,0,0,0,0,25.27,24.20,25.46
$GC,234,-0.48,-175.2,2669,694,3226,3141,29.8,-13.9,31,243,0.00,2.20,0.00,0.000,1030,0.000,0.031,2661,2095,3183,3226,3141,0,0,0,0,0,0,25.89,25.84,25.90
$GC,378,-0.48,-175.2,2660,2095,3228,3139,57.0,-19.5,56,385,0.00,2.20,0.00,0.000,260,0.000,0.034,2650,3535,3183,3228,3139,0,0,0,0,0,0,26.31,25.91,26.32
$GC,465,-0.48,-175.2,2649,3535,3228,3137,71.1,-14.8,72,474,0.00,2.15,0.00,0.000,1030,0.000,0.022,2650,2116,3182,3229,3136,0,0,0,0,0,0,26.04,26.01,26.06
$GC,783,-0.48,-175.2,2649,2112,3232,3136,127.4,-15.9,117,785,0.10,0.00,0.00,0.000,2054,0.174,0.000,2679,2112,3184,3232,3136,0,0,0,0,0,0,25.94,26.09,26.03
$GC,1083,-0.48,-175.2,2679,2112,3234,3135,168.6,-13.3,147,1084,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2112,3185,3234,3136,0,0,0,0,0,0,26.54,26.55,26.55
$GC,1384,-0.48,-175.2,2678,2112,3235,3136,203.0,-10.3,176,1389,0.00,2.15,0.00,0.000,260,0.000,0.034,2670,3547,3185,3235,3135,0,0,0,0,0,0,26.59,26.17,26.60
$GC,1403,-0.48,-175.2,2669,3547,3235,3135,204.8,-9.9,177,1409,0.00,2.10,0.00,0.000,1030,0.000,0.022,2670,2118,3185,3235,3135,0,0,0,0,0,0,26.29,26.22,26.32
$GC,2223,-0.48,-175.2,2669,2115,3235,3131,293.1,-11.8,218,2229,0.00,2.05,0.00,0.000,516,0.000,0.028,2670,723,3183,3234,3132,0,0,0,0,0,0,26.66,26.25,26.67
$GC,2296,-0.48,-175.2,2669,723,3235,3132,299.9,-11.5,221,2304,0.00,2.12,0.00,0.000,1030,0.000,0.028,2660,2146,3183,3235,3131,0,0,0,0,0,0,26.34,26.25,26.37
$GC,3103,-0.48,-175.2,2659,2146,3235,3126,399.8,-12.0,262,3108,0.00,2.08,0.00,0.000,260,0.000,0.035,2649,3543,3180,3234,3126,0,0,0,0,0,0,26.70,26.24,26.71
$GC,3208,-0.48,-175.2,2648,3543,3234,3126,410.0,-9.8,267,3212,0.00,2.08,0.00,0.000,1030,0.000,0.024,2649,2130,3179,3234,3125,0,0,0,0,0,0,26.37,26.29,26.39
$GC,4019,-0.48,-175.2,2648,2127,3232,3119,517.9,-13.2,308,4026,0.08,2.12,0.00,0.000,2308,0.181,0.034,2671,3534,3175,3232,3119,0,0,0,0,0,0,26.19,26.23,26.22
$GC,4137,-0.48,-175.2,2670,3535,3230,3119,527.3,-8.5,313,4144,0.00,2.08,0.00,0.000,1030,0.000,0.024,2670,2133,3174,3230,3119,0,0,0,0,0,0,26.38,26.29,26.40
$GC,4941,-0.48,-175.2,2669,2129,3228,3115,617.8,-10.4,354,4945,0.00,2.12,0.00,0.000,260,0.000,0.037,2660,3534,3171,3228,3114,0,0,0,0,0,0,26.72,26.21,26.73
$GC,5027,-0.48,-175.2,2660,3536,3227,3114,625.2,-8.8,358,5031,0.00,2.12,0.00,0.000,1030,0.000,0.024,2660,2123,3170,3227,3114,0,0,0,0,0,0,26.33,26.29,26.40
$GC,5844,-0.48,-175.2,2660,2119,3226,3109,713.6,-10.9,399,5847,0.00,2.12,0.00,0.000,260,0.000,0.036,2650,3530,3167,3226,3109,0,0,0,0,0,0,26.72,26.20,26.73
$GC,5966,-0.48,-175.2,2650,3532,3224,3109,725.0,-9.0,405,5972,0.00,2.05,0.00,0.000,1030,0.000,0.024,2650,2131,3167,3225,3109,0,0,0,0,0,0,26.31,26.27,26.34
$GC,6788,-0.48,-175.2,2650,2127,3224,3107,810.4,-9.9,446,6793,0.00,2.10,0.00,0.000,260,0.000,0.036,2640,3533,3165,3223,3107,0,0,0,0,0,0,26.70,26.18,26.72
$GC,6915,-0.48,-175.2,2640,3533,3220,3107,820.6,-8.3,452,6920,0.12,2.08,0.00,0.000,3078,0.129,0.026,2682,2131,3163,3220,3107,0,0,0,0,0,0,25.98,26.25,26.11
$GC,7721,-0.48,-175.2,2682,2127,3220,3100,894.3,-9.5,492,7726,0.00,2.12,0.00,0.000,260,0.000,0.037,2674,3534,3160,3220,3101,0,0,0,0,0,0,26.72,26.15,26.73
$GC,7784,-0.48,-175.2,2673,3534,3220,3101,899.4,-8.7,495,7788,0.00,2.08,0.00,0.000,1030,0.000,0.024,2674,2128,3160,3220,3101,0,0,0,0,0,0,26.34,26.25,26.36
$GC,8596,-0.48,-175.2,2673,2124,3219,3098,968.5,-7.9,536,8602,0.00,2.15,0.00,0.000,260,0.000,0.038,2663,3539,3158,3218,3098,0,0,0,0,0,0,26.72,26.11,26.73
$GC,8659,-0.48,-175.2,2663,3539,3217,3099,972.6,-7.2,539,8663,0.00,2.10,0.00,0.000,1030,0.000,0.026,2664,2127,3158,3217,3099,0,0,0,0,0,0,26.31,26.22,26.34
$STATE,8969,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8970,begin apogee
$GC,8976,0.00,0.0,2664,1807,3217,3098,1001.1,-9.6,555,9120,0.55,0.00,141.02,1.302,10246,0.122,0.000,2834,1807,2465,2530,2400,0,0,0,0,0,0,25.65,24.41,23.62
$STATE,9121,end apogee,CONTROL_FINISHED_OK
$STATE,9122,begin climb
$GC,9124,0.48,175.2,2834,1807,2528,2399,1006.4,0.0,562,9285,0.43,2.33,152.90,1.314,10756,0.054,0.037,3003,462,1749,1838,1661,0,0,0,0,0,0,24.60,23.46,22.87
$GC,9308,0.48,175.2,3003,461,1827,1661,987.7,16.4,571,9314,0.00,2.30,0.00,0.000,1030,0.000,0.028,3003,1837,1743,1826,1661,0,0,0,0,0,0,24.29,24.22,24.30
$GC,10128,0.48,175.2,3003,1841,1820,1656,819.8,20.9,612,10129,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1841,1738,1820,1656,0,0,0,0,0,0,26.29,26.31,26.30
$GC,10928,0.48,175.2,3002,1841,1818,1654,657.7,18.9,652,10933,0.00,2.12,0.00,0.000,260,0.000,0.032,3003,3253,1736,1818,1654,0,0,0,0,0,0,26.50,26.08,26.51
$GC,10968,0.48,175.2,3003,3253,1815,1654,650.6,18.7,654,10974,0.00,2.10,0.00,0.000,1030,0.000,0.030,3013,1865,1734,1815,1654,0,0,0,0,0,0,26.19,26.10,26.23
$GC,11788,0.48,175.2,3013,1865,1815,1653,493.2,20.1,695,11793,0.00,2.10,0.00,0.000,260,0.000,0.029,3013,3267,1734,1815,1653,0,0,0,0,0,0,26.59,26.16,26.61
$GC,11896,0.48,175.2,3013,3266,1814,1653,475.3,17.2,700,11901,0.10,2.17,0.00,0.000,5126,0.237,0.031,2996,1831,1733,1814,1653,0,0,0,0,0,0,25.67,26.15,25.94
$GC,12703,0.48,175.2,2996,1831,1814,1653,330.1,17.3,740,12708,0.00,2.15,0.00,0.000,516,0.000,0.037,3006,431,1733,1814,1653,0,0,0,0,0,0,26.64,26.11,26.65
$GC,12844,0.48,175.2,3005,430,1808,1653,307.6,15.6,747,12850,0.00,2.15,0.00,0.000,1030,0.000,0.029,3006,1848,1730,1808,1653,0,0,0,0,0,0,26.24,26.20,26.27
$GC,13653,0.48,175.2,3006,1854,1808,1657,163.1,17.5,797,13661,0.00,2.08,0.00,0.000,260,0.000,0.029,3007,3254,1732,1808,1657,0,0,0,0,0,0,26.67,26.20,26.68
$GC,13684,0.48,175.2,3005,3254,1808,1657,157.9,16.8,800,13692,0.00,2.12,0.00,0.000,1030,0.000,0.030,3017,1839,1733,1809,1657,0,0,0,0,0,0,26.29,26.20,26.33
$GC,13994,0.48,175.2,3016,1840,1808,1657,109.5,14.5,831,14003,0.00,2.15,0.00,0.000,516,0.000,0.036,3028,432,1732,1808,1657,0,0,0,0,0,0,26.67,26.13,26.69
$GC,14081,0.48,175.2,3027,431,1806,1657,96.1,14.6,842,14088,0.12,2.15,0.00,0.000,5126,0.169,0.027,2992,1855,1732,1808,1657,0,0,0,0,0,0,25.82,26.23,26.02
$GC,14410,0.54,221.5,2991,1856,1810,1657,67.3,8.8,903,14449,0.00,0.00,35.60,0.688,8454,0.000,0.000,2993,1857,1560,1655,1465,0,0,0,0,0,0,26.67,25.77,25.20
$GC,14785,0.54,221.5,2991,1859,1653,1463,22.7,12.2,969,14794,0.00,2.22,0.00,0.000,516,0.000,0.034,3001,434,1556,1651,1462,0,0,0,0,0,0,26.39,25.93,26.39
$GC,14879,0.54,221.5,3000,433,1641,1465,13.0,10.4,984,14887,0.00,2.17,0.00,0.000,1030,0.000,0.027,3001,1833,1554,1644,1465,0,0,0,0,0,0,26.09,26.03,26.10
$GC,14938,0.54,221.5,3000,1837,1646,1465,6.8,11.0,993,14947,0.00,2.15,0.00,0.000,260,0.000,0.031,3001,3244,1556,1647,1465,0,0,0,0,0,0,26.43,26.01,26.44
$GC,14968,0.54,224.4,3000,3249,1645,1466,3.9,9.9,997,14976,0.00,2.17,0.00,0.000,1030,0.000,0.033,3011,1847,1556,1646,1466,0,0,0,0,0,0,26.05,26.00,26.08
$STATE,14983,end climb,SURFACE_DEPTH_REACHED
$STATE,14983,begin surface coast
$FINISH,1.1,1.015421
$STATE,15014,end surface coast,CONTROL_FINISHED_OK
$STATE,15015,begin surface
$SM_CCo,15031,114.80,0.050,0,0,498,482.01
$SM_GC,2.02,7.47,0.43,114.80,0.024,0.023,0.050,124,2250,498,-8.42,-0.90,482.01,0,0,0,0,0,0,26.06,26.25,25.89
$IRIDIUM_FIX,-3042.49,3120.65,160717,223947
$TT8_MAMPS,0.025466,0.262899
$HUMID,55.04
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,20.00
$XPDR_PINGS,2
$24V_AH,22.87,35.707
$10V_AH,10.16,18.025
$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,18.900,82.125,329.525,114.800,0.000,32.960,44.889,437.302,20.750,0.000,12.723,2457.849,9982.327,516.057,2671.648,174.555,0.000,1499.019,0.000,2053.730,0.000,138.428,0.000
$DEVICE_MAMPS,237.150,38.250,1313.505,50.490,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,699.989,105.938,461.709,467.992,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343244
$DATA_FILE_SIZE,63716,1004
$CAP_FILE_SIZE,126427,0
$CFSIZE,2097086464,2052358144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,170717,071502,-3055.278,3106.072,38,1.0,38,-26.0,0.8,305.4,8,10.0