version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 401
start: 7 17 117 7 23 25
data:
$ID,574
$MISSION,23
$DIVE,401
$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,35
$R_STBD_OVSHOOT,36
$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
$GPS1,170717,071502,-3055.2776,3106.0723,38,1.0,38,-26.0,0.8,305.4,8,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-73.2
$GPS2,170717,072237,-3055.3081,3105.9126,6,1.0,6,-26.0,1.3,245.2,8,47.3
$SPEED_LIMITS,0.325,0.335
$TGT_NAME,HEADING
$TGT_LATLONG,-3045.956,3059.629
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.48,-175.2,125,2120,532,441,0.0,0.0,0,96,0.00,0.00,-77.78,0.000,16386,0.000,0.000,125,2121,2661,2650,2673,0,0,0,0,0,0,26.08,28.83,26.09
$GC,99,-0.48,-175.2,125,2121,2652,2673,3.1,-2.1,10,125,9.90,2.20,-10.82,0.000,18948,0.214,0.043,2669,707,3182,3228,3137,0,0,0,0,0,0,25.27,24.18,25.47
$GC,191,-0.48,-175.2,2669,707,3231,3137,23.9,-14.2,24,200,0.00,2.22,0.00,0.000,1030,0.000,0.029,2661,2129,3184,3231,3137,0,0,0,0,0,0,25.86,25.83,25.89
$GC,338,-0.48,-175.2,2660,2129,3232,3137,52.3,-20.1,49,345,0.00,2.12,0.00,0.000,260,0.000,0.034,2650,3547,3184,3231,3137,0,0,0,0,0,0,26.30,25.89,26.31
$GC,359,-0.48,-175.2,2649,3547,3232,3137,56.3,-18.6,52,366,0.00,2.17,0.00,0.000,1030,0.000,0.024,2650,2123,3184,3232,3137,0,0,0,0,0,0,25.98,25.94,26.01
$GC,685,-0.48,-175.2,2649,2119,3233,3137,112.5,-15.7,106,687,0.10,0.00,0.00,0.000,2054,0.162,0.000,2680,2119,3185,3233,3137,0,0,0,0,0,0,25.92,26.07,26.01
$GC,985,-0.48,-175.2,2679,2119,3236,3136,151.5,-12.0,136,994,0.00,2.08,0.00,0.000,516,0.000,0.028,2680,715,3186,3236,3136,0,0,0,0,0,0,26.52,26.11,26.53
$GC,1056,-0.48,-175.2,2679,714,3236,3136,159.3,-10.4,143,1065,0.00,2.15,0.00,0.000,1030,0.000,0.027,2671,2148,3186,3236,3136,0,0,0,0,0,0,26.22,26.15,26.25
$GC,1366,-0.48,-175.2,2670,2148,3237,3136,196.3,-12.0,174,1370,0.00,2.05,0.00,0.000,260,0.000,0.034,2660,3535,3186,3236,3136,0,0,0,0,0,0,26.58,26.15,26.59
$GC,1403,-0.48,-175.2,2659,3535,3237,3137,200.5,-11.9,177,1409,0.00,2.08,0.00,0.000,1030,0.000,0.023,2660,2124,3187,3237,3137,0,0,0,0,0,0,26.27,26.20,26.30
$GC,2224,-0.48,-175.2,2659,2121,3237,3134,303.3,-12.6,218,2229,0.00,2.10,0.00,0.000,260,0.000,0.034,2650,3539,3185,3237,3133,0,0,0,0,0,0,26.66,26.24,26.67
$GC,2356,-0.48,-175.2,2649,3539,3237,3132,316.5,-10.7,224,2363,0.00,2.08,0.00,0.000,1030,0.000,0.024,2650,2125,3184,3237,3132,0,0,0,0,0,0,26.34,26.26,26.36
$GC,3162,-0.48,-175.2,2649,2121,3237,3128,423.4,-13.1,265,3168,0.00,2.10,0.00,0.000,260,0.000,0.034,2640,3533,3182,3237,3128,0,0,0,0,0,0,26.70,26.22,26.71
$GC,3325,-0.48,-175.2,2639,3533,3235,3128,440.9,-10.7,273,3331,0.12,2.08,0.00,0.000,3078,0.123,0.025,2683,2132,3181,3235,3128,0,0,0,0,0,0,26.04,26.27,26.16
$GC,4144,-0.48,-175.2,2682,2128,3234,3121,517.8,-9.3,314,4150,0.00,2.10,0.00,0.000,260,0.000,0.035,2675,3534,3177,3234,3121,0,0,0,0,0,0,26.71,26.21,26.72
$GC,4213,-0.48,-175.2,2674,3534,3233,3121,522.8,-8.6,317,4217,0.00,2.08,0.00,0.000,1030,0.000,0.024,2675,2128,3177,3233,3121,0,0,0,0,0,0,26.36,26.28,26.39
$GC,5020,-0.48,-175.2,2674,2124,3231,3117,599.8,-8.5,357,5024,0.00,2.10,0.00,0.000,260,0.000,0.036,2665,3532,3174,3231,3117,0,0,0,0,0,0,26.72,26.20,26.73
$GC,5094,-0.48,-175.2,2664,3532,3228,3117,604.5,-7.7,360,5103,0.00,2.05,0.00,0.000,1030,0.000,0.024,2665,2126,3173,3229,3117,0,0,0,0,0,0,26.36,26.27,26.39
$GC,5902,-0.48,-175.2,2664,2122,3227,3114,681.7,-9.5,401,5908,0.00,2.10,0.00,0.000,260,0.000,0.036,2654,3529,3170,3227,3114,0,0,0,0,0,0,26.69,26.18,26.70
$GC,6002,-0.48,-175.2,2653,3529,3226,3114,690.1,-8.1,406,6008,0.00,2.05,0.00,0.000,1030,0.000,0.025,2654,2136,3170,3226,3114,0,0,0,0,0,0,26.28,26.25,26.32
$GC,6821,-0.48,-175.2,2654,2133,3225,3108,787.8,-12.3,447,6827,0.00,2.10,0.00,0.000,260,0.000,0.037,2645,3531,3166,3225,3108,0,0,0,0,0,0,26.72,26.15,26.73
$GC,6945,-0.48,-175.2,2644,3530,3223,3108,800.1,-9.9,453,6951,0.10,2.08,0.00,0.000,3078,0.113,0.026,2680,2129,3165,3223,3108,0,0,0,0,0,0,25.98,26.22,26.04
$GC,7765,-0.48,-175.2,2679,2125,3223,3106,863.9,-6.4,494,7770,0.00,2.10,0.00,0.000,260,0.000,0.038,2671,3526,3164,3223,3106,0,0,0,0,0,0,26.72,26.12,26.73
$GC,7823,-0.48,-175.2,2670,3526,3221,3106,867.2,-5.6,497,7829,0.00,2.10,0.00,0.000,1030,0.000,0.025,2671,2117,3163,3221,3106,0,0,0,0,0,0,26.31,26.22,26.34
$GC,8644,-0.48,-175.2,2671,2113,3220,3101,930.1,-8.3,538,8650,0.00,2.12,0.00,0.000,260,0.000,0.039,2661,3526,3160,3219,3101,0,0,0,0,0,0,26.69,26.08,26.70
$GC,8707,-0.48,-175.2,2661,3526,3217,3101,934.8,-8.1,541,8711,0.00,2.08,0.00,0.000,1030,0.000,0.026,2661,2129,3159,3218,3101,0,0,0,0,0,0,26.29,26.20,26.32
$STATE,9337,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9337,begin apogee
$GC,9342,0.00,0.0,2661,1808,3218,3099,1000.0,-10.5,573,9488,0.55,0.00,142.20,1.331,10246,0.122,0.000,2831,1808,2464,2526,2403,0,0,0,0,0,0,25.61,24.36,23.55
$STATE,9489,end apogee,CONTROL_FINISHED_OK
$STATE,9489,begin climb
$GC,9491,0.48,175.2,2831,1808,2526,2403,1005.7,0.0,580,9652,0.43,2.42,153.85,1.290,10500,0.056,0.031,2987,3237,1749,1833,1665,0,0,0,0,0,0,24.54,23.42,22.84
$GC,9669,0.48,175.2,2987,3237,1828,1665,993.5,13.7,588,9676,0.00,2.28,0.00,0.000,1030,0.000,0.031,2997,1869,1746,1828,1665,0,0,0,0,0,0,24.15,24.08,24.18
$GC,10477,0.48,175.2,2997,1869,1823,1655,821.9,20.0,629,10483,0.00,2.05,0.00,0.000,260,0.000,0.028,2998,3240,1738,1823,1654,0,0,0,0,0,0,26.25,25.89,26.27
$GC,10504,0.48,175.2,2997,3240,1822,1655,817.9,20.0,630,10508,0.00,2.15,0.00,0.000,1030,0.000,0.031,3007,1837,1738,1821,1655,0,0,0,0,0,0,25.97,25.88,26.01
$GC,11311,0.48,175.2,3007,1837,1819,1654,649.8,20.2,670,11316,0.00,2.12,0.00,0.000,260,0.000,0.030,3007,3251,1736,1818,1654,0,0,0,0,0,0,26.48,26.06,26.50
$GC,11424,0.48,175.2,3006,3251,1818,1654,631.0,18.4,675,11430,0.00,2.15,0.00,0.000,1030,0.000,0.032,3017,1838,1736,1818,1654,0,0,0,0,0,0,26.17,26.07,26.21
$GC,12231,0.48,175.2,3017,1838,1815,1653,463.2,19.8,716,12236,0.00,2.17,0.00,0.000,516,0.000,0.038,3028,432,1734,1815,1653,0,0,0,0,0,0,26.58,26.06,26.60
$GC,12311,0.48,175.2,3027,431,1808,1653,447.2,19.9,720,12317,0.12,2.15,0.00,0.000,5126,0.199,0.028,2995,1838,1730,1808,1653,0,0,0,0,0,0,25.70,26.16,25.94
$GC,13131,0.48,175.2,2994,1841,1810,1654,304.7,16.8,761,13137,0.00,2.12,0.00,0.000,260,0.000,0.031,2994,3250,1732,1811,1653,0,0,0,0,0,0,26.63,26.16,26.65
$GC,13199,0.48,175.2,2994,3250,1812,1653,295.2,16.2,764,13203,0.00,2.15,0.00,0.000,1030,0.000,0.030,3003,1827,1732,1812,1653,0,0,0,0,0,0,26.25,26.16,26.30
$GC,14006,0.48,175.2,3003,1827,1813,1653,160.9,14.8,816,14015,0.00,2.15,0.00,0.000,516,0.000,0.036,3015,424,1732,1811,1654,0,0,0,0,0,0,26.66,26.10,26.67
$GC,14097,0.48,175.2,3014,424,1808,1654,147.6,14.3,825,14106,0.00,2.17,0.00,0.000,1030,0.000,0.028,3014,1851,1731,1808,1654,0,0,0,0,0,0,26.28,26.20,26.32
$GC,14407,0.48,175.2,3014,1854,1812,1654,103.9,13.3,856,14415,0.00,2.10,0.00,0.000,260,0.000,0.031,3014,3261,1733,1813,1654,0,0,0,0,0,0,26.67,26.17,26.67
$GC,14505,0.48,175.2,3014,3261,1813,1655,90.9,11.7,872,14513,0.10,2.17,0.00,0.000,5126,0.175,0.031,2996,1845,1734,1814,1655,0,0,0,0,0,0,25.77,26.17,25.86
$GC,14835,0.51,201.8,2996,1845,1814,1655,54.4,9.3,933,14861,0.00,2.17,20.25,0.648,8964,0.000,0.028,2996,3261,1641,1730,1552,0,0,0,0,0,0,26.67,26.01,25.37
$GC,14991,0.54,224.0,2995,3261,1727,1552,39.7,9.4,961,15016,0.00,2.20,19.05,0.620,9222,0.000,0.028,3005,1829,1550,1644,1456,0,0,0,0,0,0,26.13,26.06,25.21
$GC,15160,0.54,224.0,3005,1830,1639,1454,22.0,11.4,988,15169,0.00,2.17,0.00,0.000,516,0.000,0.034,3016,439,1545,1637,1454,0,0,0,0,0,0,26.31,25.89,26.32
$GC,15207,0.54,224.0,3015,439,1631,1454,16.6,11.2,995,15216,0.00,2.20,0.00,0.000,1030,0.000,0.028,3016,1846,1543,1632,1454,0,0,0,0,0,0,26.01,25.96,26.03
$GC,15265,0.54,224.0,3015,1849,1634,1454,9.8,12.8,1004,15274,0.00,2.15,0.00,0.000,260,0.000,0.029,3016,3251,1545,1636,1455,0,0,0,0,0,0,26.35,25.97,26.36
$GC,15289,0.54,224.0,3015,3251,1633,1454,6.8,12.6,1007,15297,0.00,2.17,0.00,0.000,1030,0.000,0.029,3026,1841,1543,1633,1454,0,0,0,0,0,0,26.02,25.98,26.07
$STATE,15323,end climb,SURFACE_DEPTH_REACHED
$STATE,15324,begin surface coast
$FINISH,1.1,1.014772
$STATE,15349,end surface coast,CONTROL_FINISHED_OK
$STATE,15349,begin surface
$SM_CCo,15365,113.95,0.048,0,0,498,482.01
$SM_GC,1.98,7.60,0.43,113.95,0.031,0.023,0.048,125,2245,498,-8.37,-1.27,482.01,0,0,0,0,0,0,25.99,26.18,25.86
$IRIDIUM_FIX,-3042.49,3109.46,170717,071639
$TT8_MAMPS,0.025466,0.267393
$HUMID,54.41
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,19.50
$XPDR_PINGS,0
$24V_AH,22.84,35.846
$10V_AH,10.17,18.106
$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,19.025,94.975,335.350,113.950,0.000,40.324,42.911,260.050,20.250,0.000,12.935,2499.246,10229.314,556.562,2505.893,166.817,0.000,1552.567,0.000,2060.807,0.000,136.080,0.000
$DEVICE_MAMPS,214.200,59.670,1331.100,48.195,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,707.397,99.786,438.250,441.547,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343308
$DATA_FILE_SIZE,67034,1016
$CAP_FILE_SIZE,128958,0
$CFSIZE,2097086464,2052194304
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,5094.61,0x2338ba,0,24
$WARN,PPS timeout
$GPS,170717,114232,-3054.330,3101.092,31,0.9,31,-25.9,0.9,288.9,9,7.5