version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 403
start: 7 17 117 16 0 59
data:
$ID,574
$MISSION,23
$DIVE,403
$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,0
$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,350
$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,2820
$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,2050
$C_ROLL_CLIMB,1820
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,38
$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
$GPS1,170717,155232,-3052.2952,3057.9109,46,0.9,46,-25.8,1.1,298.0,9,7.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-78.1
$GPS2,170717,160012,-3052.2581,3057.6770,6,0.8,6,-25.8,0.6,148.4,11,39.9
$SPEED_LIMITS,0.325,0.335
$TGT_NAME,HEADING
$TGT_LATLONG,-3041.459,3057.677
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,25.8,20000,-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,-175.2,125,2039,1084,960,0.0,0.0,0,80,0.00,0.00,-61.95,0.000,16386,0.000,0.000,125,2039,2760,2756,2765,0,0,0,0,0,0,26.03,28.83,26.05
$GC,83,-0.48,-175.2,125,2039,2756,2765,3.5,-3.1,8,109,10.02,2.20,-8.32,0.000,19204,0.231,0.047,2647,3458,3184,3223,3145,0,0,0,0,0,0,25.24,25.20,25.44
$GC,175,-0.48,-175.2,2646,3458,3229,3139,26.8,-16.4,22,184,0.00,2.15,0.00,0.000,1030,0.000,0.024,2647,2057,3183,3229,3138,0,0,0,0,0,0,25.84,25.82,25.86
$GC,319,-0.48,-175.2,2647,2054,3232,3138,55.8,-18.4,47,325,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2054,3185,3232,3138,0,0,0,0,0,0,26.26,26.27,26.27
$GC,639,-0.48,-175.2,2647,2053,3235,3137,109.4,-15.1,102,648,0.00,2.10,0.00,0.000,260,0.000,0.032,2637,3461,3186,3235,3138,0,0,0,0,0,0,26.41,26.01,26.42
$GC,733,-0.48,-175.2,2637,3461,3236,3138,121.2,-11.9,111,740,0.00,2.10,0.00,0.000,1030,0.000,0.023,2637,2040,3187,3236,3138,0,0,0,0,0,0,26.15,26.07,26.17
$GC,1040,-0.48,-175.2,2637,2037,3237,3137,168.8,-16.2,142,1049,0.00,2.08,0.00,0.000,516,0.000,0.028,2637,640,3187,3238,3137,0,0,0,0,0,0,26.51,26.11,26.52
$GC,1061,-0.48,-175.2,2636,640,3238,3137,172.1,-16.2,144,1071,0.12,2.15,0.00,0.000,3078,0.180,0.027,2664,2065,3187,3238,3137,0,0,0,0,0,0,25.71,26.13,25.90
$GC,1371,-0.48,-175.2,2664,2065,3238,3137,207.6,-11.0,172,1376,0.00,2.08,0.00,0.000,260,0.000,0.034,2655,3462,3187,3238,3137,0,0,0,0,0,0,26.56,26.13,26.58
$GC,1426,-0.48,-175.2,2654,3462,3238,3138,212.1,-11.2,174,1432,0.00,2.08,0.00,0.000,1030,0.000,0.024,2655,2050,3187,3238,3137,0,0,0,0,0,0,26.27,26.19,26.30
$GC,2233,-0.48,-175.2,2654,2049,3238,3135,316.6,-13.4,215,2238,0.00,2.10,0.00,0.000,260,0.000,0.033,2645,3456,3187,3239,3135,0,0,0,0,0,0,26.65,26.20,26.65
$GC,2293,-0.48,-175.2,2644,3456,3238,3134,323.6,-12.0,218,2297,0.00,2.08,0.00,0.000,1030,0.000,0.024,2644,2052,3186,3238,3134,0,0,0,0,0,0,26.33,26.25,26.35
$GC,3110,-0.48,-175.2,2644,2049,3238,3130,436.6,-12.3,259,3116,0.00,2.08,0.00,0.000,260,0.000,0.034,2635,3447,3183,3237,3130,0,0,0,0,0,0,26.68,26.22,26.70
$GC,3142,-0.48,-175.2,2634,3447,3237,3130,439.0,-12.2,260,3152,0.00,2.08,0.00,0.000,1030,0.000,0.024,2635,2047,3183,3237,3130,0,0,0,0,0,0,26.34,26.26,26.37
$GC,3950,-0.48,-175.2,2634,2043,3234,3127,552.1,-13.9,301,3955,0.00,2.10,0.00,0.000,260,0.000,0.034,2625,3459,3180,3234,3127,0,0,0,0,0,0,26.67,26.21,26.68
$GC,3991,-0.48,-175.2,2624,3459,3233,3127,557.1,-13.4,303,3996,0.10,2.15,0.00,0.000,3078,0.197,0.026,2657,2042,3180,3233,3127,0,0,0,0,0,0,25.74,26.27,25.99
$GC,4809,-0.48,-175.2,2656,2041,3231,3121,647.6,-10.6,344,4814,0.00,2.10,0.00,0.000,516,0.000,0.032,2657,643,3176,3231,3121,0,0,0,0,0,0,26.71,26.20,26.72
$GC,4831,-0.48,-175.2,2657,642,3231,3121,649.9,-10.7,345,4836,0.00,2.17,0.00,0.000,1030,0.000,0.028,2648,2053,3176,3231,3122,0,0,0,0,0,0,26.29,26.25,26.35
$GC,5649,-0.48,-175.2,2648,2053,3227,3117,748.3,-12.5,386,5654,0.00,2.12,0.00,0.000,516,0.000,0.030,2648,639,3172,3227,3117,0,0,0,0,0,0,26.71,26.20,26.72
$GC,5771,-0.48,-175.2,2648,639,3227,3117,762.3,-11.0,392,5776,0.00,2.12,0.00,0.000,1030,0.000,0.029,2639,2047,3172,3227,3117,0,0,0,0,0,0,26.27,26.23,26.30
$GC,6590,-0.48,-175.2,2639,2047,3225,3113,875.1,-13.0,433,6596,0.00,2.10,0.00,0.000,260,0.000,0.036,2628,3455,3169,3225,3113,0,0,0,0,0,0,26.71,26.15,26.72
$GC,6754,-0.48,-175.2,2628,3455,3223,3113,892.3,-10.2,441,6759,0.10,2.10,0.00,0.000,3078,0.223,0.028,2659,2047,3168,3223,3113,0,0,0,0,0,0,25.74,26.20,25.91
$GC,7566,-0.48,-175.2,2658,2047,3223,3108,977.0,-11.2,482,7571,0.00,2.12,0.00,0.000,516,0.000,0.034,2659,639,3165,3223,3108,0,0,0,0,0,0,26.71,26.13,26.72
$GC,7629,-0.48,-175.2,2658,638,3223,3108,983.4,-10.9,485,7633,0.00,2.17,0.00,0.000,1030,0.000,0.030,2650,2052,3165,3223,3108,0,0,0,0,0,0,26.27,26.17,26.31
$STATE,7785,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7785,begin apogee
$GC,7790,0.00,0.0,2649,1773,3222,3108,1002.0,-12.0,493,7938,0.57,0.05,142.70,1.304,10246,0.231,0.110,2816,1848,2464,2529,2399,0,0,0,0,0,0,25.29,24.37,23.58
$STATE,7938,end apogee,CONTROL_FINISHED_OK
$STATE,7939,begin climb
$GC,7941,0.48,175.2,2815,1848,2529,2399,1008.0,0.0,500,8107,0.43,2.45,152.65,1.280,10756,0.103,0.037,2982,467,1748,1839,1658,0,0,0,0,0,0,24.52,23.60,22.82
$GC,8130,0.48,175.2,2982,466,1830,1658,988.0,17.0,510,8135,0.00,2.20,0.00,0.000,1030,0.000,0.028,2982,1785,1744,1830,1658,0,0,0,0,0,0,24.29,24.22,24.30
$GC,8950,0.48,175.2,2982,1789,1825,1653,820.6,19.8,551,8955,0.00,2.22,0.00,0.000,260,0.000,0.034,2982,3236,1738,1824,1653,0,0,0,0,0,0,26.26,25.86,26.27
$GC,9070,0.48,175.2,2982,3236,1822,1653,799.2,17.2,557,9074,0.00,2.10,0.00,0.000,1030,0.000,0.031,2991,1868,1737,1822,1653,0,0,0,0,0,0,26.01,25.92,26.06
$GC,9891,0.48,175.2,2991,1868,1820,1650,640.5,20.5,598,9897,0.00,2.28,0.00,0.000,516,0.000,0.041,3002,411,1734,1819,1650,0,0,0,0,0,0,26.50,26.00,26.51
$GC,10020,0.48,175.2,3002,410,1812,1650,617.5,18.6,604,10024,0.00,2.17,0.00,0.000,1030,0.000,0.028,3002,1828,1731,1812,1650,0,0,0,0,0,0,26.19,26.10,26.22
$GC,10826,0.48,175.2,3002,1831,1814,1650,460.9,19.5,644,10831,0.00,2.12,0.00,0.000,260,0.000,0.032,3003,3241,1732,1814,1650,0,0,0,0,0,0,26.59,26.13,26.60
$GC,10910,0.48,175.2,3002,3241,1814,1650,446.9,17.4,648,10915,0.12,2.15,0.00,0.000,5126,0.273,0.031,2980,1814,1732,1814,1650,0,0,0,0,0,0,25.48,26.13,25.80
$GC,11722,0.48,175.2,2980,1814,1814,1650,317.9,14.3,689,11728,0.00,2.15,0.00,0.000,516,0.000,0.037,2990,415,1732,1814,1650,0,0,0,0,0,0,26.63,26.09,26.65
$GC,11775,0.48,175.2,2989,415,1809,1650,312.4,14.1,691,11782,0.00,2.17,0.00,0.000,1030,0.000,0.028,2990,1830,1730,1810,1650,0,0,0,0,0,0,26.27,26.18,26.32
$GC,12582,0.48,175.2,2989,1833,1814,1650,184.7,14.1,737,12591,0.00,2.10,0.00,0.000,260,0.000,0.032,2990,3234,1732,1814,1650,0,0,0,0,0,0,26.66,26.16,26.67
$GC,12657,0.48,175.2,2990,3234,1814,1650,174.4,14.0,744,12663,0.00,2.12,0.00,0.000,1030,0.000,0.031,3000,1820,1732,1814,1650,0,0,0,0,0,0,26.27,26.16,26.31
$GC,12963,0.48,175.2,2999,1820,1815,1650,125.7,15.0,775,12972,0.00,2.17,0.00,0.000,516,0.000,0.037,3011,404,1731,1813,1650,0,0,0,0,0,0,26.66,26.09,26.67
$GC,13026,0.48,175.2,3010,404,1810,1650,116.3,15.2,781,13035,0.10,2.15,0.00,0.000,5126,0.270,0.028,2984,1823,1731,1812,1650,0,0,0,0,0,0,25.44,26.20,25.59
$GC,13345,0.48,175.2,2983,1825,1816,1650,76.3,10.9,831,13352,0.00,2.12,0.00,0.000,260,0.000,0.032,2983,3238,1733,1816,1651,0,0,0,0,0,0,26.67,26.16,26.68
$GC,13458,0.50,191.2,2983,3238,1817,1650,64.6,9.5,852,13479,0.00,2.17,11.98,0.636,9222,0.000,0.027,2993,1807,1684,1771,1597,0,0,0,0,0,0,26.25,26.20,25.38
$GC,13813,0.52,206.4,2992,1807,1770,1597,28.2,9.6,915,13830,0.00,2.17,7.70,0.549,8452,0.000,0.028,2993,3231,1623,1715,1532,0,0,0,0,0,0,26.57,25.77,25.32
$GC,13850,0.52,206.4,2992,3231,1713,1530,24.2,10.9,920,13859,0.00,2.15,0.00,0.000,1030,0.000,0.029,3003,1826,1622,1713,1531,0,0,0,0,0,0,26.20,26.14,26.20
$GC,14005,0.52,206.4,3002,1826,1710,1531,6.5,13.3,945,14013,0.00,2.20,0.00,0.000,516,0.000,0.035,3014,413,1620,1709,1531,0,0,0,0,0,0,26.52,26.05,26.53
$GC,14022,0.52,206.4,3013,413,1704,1531,4.2,12.6,947,14031,0.00,2.17,0.00,0.000,1030,0.000,0.027,3014,1817,1619,1707,1531,0,0,0,0,0,0,26.19,26.13,26.20
$STATE,14038,end climb,SURFACE_DEPTH_REACHED
$STATE,14038,begin surface coast
$FINISH,1.1,1.018749
$STATE,14063,end surface coast,CONTROL_FINISHED_OK
$STATE,14063,begin surface
$SM_CCo,14080,62.58,0.049,0,0,1038,350.04
$SM_GC,1.97,7.57,0.32,62.58,0.046,0.037,0.049,124,2080,1038,-8.38,-1.39,350.04,0,0,0,0,0,0,26.14,26.26,26.01
$IRIDIUM_FIX,-3039.98,3053.52,170717,155411
$TT8_MAMPS,0.025466,0.263648
$HUMID,56.41
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,18.60
$XPDR_PINGS,1
$24V_AH,22.82,36.125
$10V_AH,10.14,18.264
$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,19.150,90.825,315.025,62.575,0.000,46.609,45.431,255.199,20.500,0.000,12.778,2345.708,9230.976,472.658,2412.315,165.290,0.000,1422.429,0.000,1964.802,0.000,137.102,0.000
$DEVICE_MAMPS,273.105,110.160,1303.560,48.960,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,663.093,101.050,429.768,432.824,0.000,0.000,0.000,0.000,0.000,0.000
$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,60471,953
$CAP_FILE_SIZE,121348,0
$CFSIZE,2097086464,2051964928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,170717,195756,-3050.146,3055.605,38,0.8,38,-25.8,0.5,283.0,10,7.7