version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 417
start: 7 20 117 1 4 52
data:
$ID,574
$MISSION,23
$DIVE,417
$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,290
$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,320
$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,2810
$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,1990
$C_ROLL_CLIMB,1790
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,64
$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
$GPS1,200717,005702,-3115.3777,3056.2544,34,0.8,34,-26.3,2.1,200.6,11,20.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-79.6
$GPS2,200717,010406,-3115.6882,3056.1770,4,0.8,5,-26.3,1.4,180.5,11,19.7
$SPEED_LIMITS,0.325,0.335
$TGT_NAME,HEADING
$TGT_LATLONG,-3111.995,3044.313
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,316.3,20000,-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,-175.2,126,2028,1024,827,0.0,0.0,0,80,0.00,0.00,-62.25,0.000,16386,0.000,0.000,125,2030,2642,2632,2652,0,0,0,0,0,0,26.10,28.83,26.12
$GC,83,-0.48,-175.2,126,2030,2632,2653,3.1,-2.9,8,117,9.80,2.10,-11.38,0.000,18692,0.216,0.045,2635,3381,3182,3226,3139,0,0,0,0,0,0,25.28,24.22,25.48
$GC,149,-0.48,-175.2,2634,3382,3229,3136,19.8,-21.0,17,158,0.00,2.12,0.00,0.000,1030,0.000,0.024,2635,1989,3182,3229,3135,0,0,0,0,0,0,25.88,25.86,25.92
$GC,208,-0.48,-175.2,2635,1987,3231,3134,31.5,-21.1,26,216,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,1986,3182,3231,3134,0,0,0,0,0,0,26.25,26.26,26.25
$GC,347,-0.48,-175.2,2635,1986,3231,3134,64.7,-23.1,51,353,0.00,2.08,0.00,0.000,260,0.000,0.028,2625,3387,3183,3232,3134,0,0,0,0,0,0,26.34,25.96,26.35
$GC,361,-0.48,-175.2,2624,3387,3232,3134,67.8,-23.9,53,367,0.00,2.08,0.00,0.000,1030,0.000,0.023,2625,1983,3183,3233,3134,0,0,0,0,0,0,26.06,26.00,26.09
$GC,677,-0.48,-175.2,2624,1979,3234,3134,134.5,-18.9,97,685,0.00,2.08,0.00,0.000,260,0.000,0.031,2615,3384,3183,3234,3133,0,0,0,0,0,0,26.46,26.07,26.48
$GC,781,-0.48,-175.2,2615,3384,3235,3133,150.5,-14.7,107,788,0.12,2.05,0.00,0.000,3078,0.155,0.024,2654,1984,3184,3235,3134,0,0,0,0,0,0,25.82,26.13,25.98
$GC,1087,-0.48,-175.2,2653,1980,3237,3133,198.8,-16.0,138,1089,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,1980,3185,3237,3133,0,0,0,0,0,0,26.56,26.58,26.57
$GC,1399,-0.48,-175.2,2653,1979,3238,3133,247.8,-15.7,154,1404,0.00,2.05,0.00,0.000,260,0.000,0.031,2645,3381,3185,3238,3133,0,0,0,0,0,0,26.60,26.18,26.62
$GC,1437,-0.48,-175.2,2645,3382,3238,3133,253.8,-15.1,156,1443,0.00,2.05,0.00,0.000,1030,0.000,0.023,2645,1979,3185,3237,3133,0,0,0,0,0,0,26.32,26.24,26.34
$GC,2259,-0.48,-175.2,2645,1975,3238,3131,363.7,-12.7,197,2264,0.00,2.05,0.00,0.000,260,0.000,0.031,2635,3378,3184,3238,3131,0,0,0,0,0,0,26.67,26.25,26.68
$GC,2401,-0.48,-175.2,2635,3378,3238,3131,379.3,-10.9,204,2405,0.00,2.03,0.00,0.000,1030,0.000,0.024,2635,1993,3184,3238,3131,0,0,0,0,0,0,26.36,26.29,26.39
$GC,3220,-0.48,-175.2,2635,1991,3237,3127,501.0,-14.5,245,3226,0.00,2.03,0.00,0.000,260,0.000,0.031,2625,3377,3182,3238,3127,0,0,0,0,0,0,26.68,26.26,26.69
$GC,3361,-0.48,-175.2,2625,3377,3238,3126,517.8,-11.5,252,3366,0.00,2.05,0.00,0.000,1030,0.000,0.025,2625,1983,3182,3238,3126,0,0,0,0,0,0,26.37,26.29,26.40
$GC,4180,-0.48,-175.2,2625,1980,3236,3119,637.3,-14.2,293,4186,0.00,2.05,0.00,0.000,260,0.000,0.032,2616,3375,3177,3236,3119,0,0,0,0,0,0,26.71,26.25,26.72
$GC,4287,-0.48,-175.2,2615,3374,3234,3119,649.8,-12.0,298,4292,0.12,2.05,0.00,0.000,3078,0.156,0.026,2655,1990,3176,3233,3119,0,0,0,0,0,0,25.94,26.28,26.10
$GC,5096,-0.48,-175.2,2655,1985,3233,3114,741.1,-11.6,338,5101,0.00,2.05,0.00,0.000,260,0.000,0.033,2647,3376,3173,3233,3114,0,0,0,0,0,0,26.69,26.22,26.70
$GC,5162,-0.48,-175.2,2647,3376,3232,3114,747.6,-11.0,341,5166,0.00,2.05,0.00,0.000,1030,0.000,0.025,2647,1990,3173,3232,3114,0,0,0,0,0,0,26.36,26.27,26.39
$GC,5969,-0.48,-175.2,2646,1987,3229,3107,849.7,-11.9,381,5974,0.00,2.08,0.00,0.000,260,0.000,0.033,2637,3381,3168,3228,3108,0,0,0,0,0,0,26.72,26.20,26.73
$GC,6063,-0.48,-175.2,2637,3381,3227,3108,857.7,-9.8,385,6069,0.00,2.05,0.00,0.000,1030,0.000,0.027,2637,1993,3167,3227,3108,0,0,0,0,0,0,26.33,26.24,26.36
$GC,6872,-0.48,-175.2,2637,1993,3226,3104,960.1,-12.7,426,6877,0.00,2.05,0.00,0.000,260,0.000,0.033,2627,3377,3165,3226,3104,0,0,0,0,0,0,26.70,26.19,26.71
$GC,6889,-0.48,-175.2,2627,3378,3225,3104,962.7,-12.9,427,6893,0.00,2.08,0.00,0.000,1030,0.000,0.026,2627,1982,3164,3225,3104,0,0,0,0,0,0,26.32,26.22,26.35
$STATE,7164,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7166,begin apogee
$GC,7171,0.00,0.0,2627,1750,3224,3101,1000.6,-13.7,441,7316,0.60,0.00,141.10,1.284,10246,0.139,0.000,2808,1748,2465,2534,2396,0,0,0,0,0,0,25.60,24.49,23.71
$STATE,7317,end apogee,CONTROL_FINISHED_OK
$STATE,7317,begin climb
$GC,7319,0.48,175.2,2808,1748,2532,2396,1006.1,0.0,448,7479,0.40,2.40,150.07,1.256,10500,0.053,0.031,2967,3168,1749,1847,1652,0,0,0,0,0,0,24.70,23.91,23.14
$GC,7520,0.48,175.2,2966,3168,1842,1652,986.6,16.5,458,7527,0.00,2.17,0.00,0.000,1030,0.000,0.030,2976,1824,1746,1842,1651,0,0,0,0,0,0,24.65,24.58,24.68
$GC,8327,0.48,175.2,2975,1824,1835,1645,840.1,17.6,499,8333,0.00,2.28,0.00,0.000,516,0.000,0.040,2987,372,1739,1834,1645,0,0,0,0,0,0,26.36,25.91,26.37
$GC,8435,0.48,175.2,2987,371,1824,1645,823.7,15.7,504,8439,0.00,2.15,0.00,0.000,1030,0.000,0.027,2987,1772,1734,1824,1645,0,0,0,0,0,0,26.11,26.03,26.15
$GC,9242,0.48,175.2,2987,1777,1825,1645,690.6,15.7,544,9247,0.00,2.15,0.00,0.000,260,0.000,0.030,2987,3208,1735,1825,1645,0,0,0,0,0,0,26.55,26.13,26.58
$GC,9290,0.48,175.2,2987,3208,1825,1645,684.2,15.9,546,9295,0.10,2.15,0.00,0.000,5126,0.219,0.030,2972,1786,1735,1825,1645,0,0,0,0,0,0,25.75,26.13,25.97
$GC,10097,0.48,175.2,2971,1786,1825,1644,560.3,14.9,586,10103,0.00,2.12,0.00,0.000,260,0.000,0.028,2972,3215,1734,1825,1644,0,0,0,0,0,0,26.63,26.19,26.65
$GC,10170,0.48,175.2,2971,3215,1824,1644,551.8,14.3,589,10177,0.00,2.15,0.00,0.000,1030,0.000,0.031,2980,1790,1734,1825,1644,0,0,0,0,0,0,26.27,26.17,26.31
$GC,10977,0.48,175.2,2979,1790,1824,1644,428.5,15.4,630,10982,0.00,2.17,0.00,0.000,516,0.000,0.037,2991,374,1733,1823,1644,0,0,0,0,0,0,26.66,26.10,26.67
$GC,10997,0.48,175.2,2991,375,1819,1644,425.4,15.6,631,11001,0.00,2.15,0.00,0.000,1030,0.000,0.028,2991,1790,1731,1819,1644,0,0,0,0,0,0,26.29,26.21,26.34
$GC,11818,0.48,175.2,2991,1794,1822,1644,293.7,15.2,672,11823,0.00,2.10,0.00,0.000,260,0.000,0.031,2991,3202,1733,1822,1644,0,0,0,0,0,0,26.68,26.19,26.70
$GC,11920,0.48,175.2,2991,3202,1822,1644,280.2,13.1,677,11925,0.10,2.17,0.00,0.000,5126,0.168,0.030,2972,1781,1733,1822,1644,0,0,0,0,0,0,25.80,26.20,25.89
$GC,12728,0.48,175.2,2972,1781,1825,1644,189.9,11.4,721,12732,0.00,2.12,0.00,0.000,260,0.000,0.028,2972,3204,1734,1825,1644,0,0,0,0,0,0,26.69,26.21,26.70
$GC,12751,0.48,175.2,2972,3207,1825,1644,187.3,11.9,723,12759,0.00,2.12,0.00,0.000,1030,0.000,0.028,2981,1781,1735,1826,1644,0,0,0,0,0,0,26.29,26.20,26.33
$GC,13059,0.48,175.2,2980,1781,1827,1644,153.3,11.3,754,13067,0.00,2.12,0.00,0.000,516,0.000,0.035,2992,385,1734,1825,1644,0,0,0,0,0,0,26.70,26.11,26.70
$GC,13082,0.48,175.2,2992,384,1822,1644,151.0,11.3,756,13089,0.00,2.17,0.00,0.000,1030,0.000,0.028,2991,1822,1734,1825,1644,0,0,0,0,0,0,26.30,26.21,26.34
$GC,13390,0.52,208.8,2991,1824,1827,1644,119.0,9.1,787,13423,0.00,2.10,26.38,0.672,8452,0.000,0.029,2992,3202,1613,1715,1511,0,0,0,0,0,0,26.69,25.91,25.25
$GC,13463,0.52,208.8,2991,3202,1714,1511,112.1,10.1,794,13470,0.00,2.15,0.00,0.000,1030,0.000,0.028,3002,1783,1612,1714,1511,0,0,0,0,0,0,26.07,25.98,26.09
$GC,13778,0.52,208.8,3001,1783,1711,1508,75.8,10.5,844,13786,0.00,2.17,0.00,0.000,516,0.000,0.035,3013,388,1608,1708,1508,0,0,0,0,0,0,26.48,25.98,26.49
$GC,13852,0.59,261.5,3012,388,1700,1509,69.0,8.6,857,13903,0.00,2.12,42.35,0.640,9222,0.000,0.026,3013,1795,1400,1518,1283,0,0,0,0,0,0,26.17,26.09,25.03
$GC,14236,0.59,261.5,3012,1797,1511,1280,21.2,14.5,925,14245,0.00,2.12,0.00,0.000,260,0.000,0.028,3013,3198,1395,1510,1280,0,0,0,0,0,0,26.32,25.94,26.33
$GC,14348,0.61,277.0,3012,3204,1511,1280,11.1,9.6,943,14365,0.00,2.20,7.35,0.456,9222,0.000,0.037,3023,1800,1334,1454,1215,0,0,0,0,0,0,25.98,25.94,25.24
$GC,14416,0.61,277.0,3023,1800,1452,1213,3.9,11.7,953,14425,0.00,2.25,0.00,0.000,516,0.000,0.037,3034,369,1329,1446,1213,0,0,0,0,0,0,26.34,25.91,26.36
$STATE,14432,end climb,SURFACE_DEPTH_REACHED
$STATE,14432,begin surface coast
$FINISH,1.0,1.024920
$STATE,14457,end surface coast,CONTROL_FINISHED_OK
$STATE,14457,begin surface
$SM_CCo,14476,18.70,0.047,0,0,1159,320.11
$SM_GC,1.61,7.55,2.47,18.70,0.027,0.015,0.047,126,1987,1159,-8.31,-1.36,320.11,0,0,0,0,0,0,26.01,26.04,25.94
$IRIDIUM_FIX,-3105.11,3053.50,200717,005829
$TT8_MAMPS,0.025466,0.290612
$HUMID,54.29
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,22.10
$XPDR_PINGS,6
$24V_AH,23.14,38.191
$10V_AH,10.14,19.314
$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,18.800,93.800,367.250,18.700,0.000,30.143,19.629,262.645,21.750,0.000,11.813,2348.133,9593.548,462.620,2375.273,162.992,0.000,1431.200,0.000,1959.324,0.000,139.286,0.000
$DEVICE_MAMPS,218.790,45.135,1284.435,46.665,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,662.859,93.030,414.597,416.881,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343312
$DATA_FILE_SIZE,60435,959
$CAP_FILE_SIZE,123131,0
$CFSIZE,2097086464,2050162688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$WARN,PPS timeout
$GPS,200717,050732,-3121.284,3052.229,28,0.9,28,-26.4,1.2,220.9,10,7.3