version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 423
start: 7 21 117 2 20 11
data:
$ID,574
$MISSION,23
$DIVE,423
$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,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,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,69
$R_STBD_OVSHOOT,46
$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
$GPS1,210717,020702,-3141.4292,3020.3809,27,0.8,27,-26.6,1.3,261.1,10,6.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-75.9
$GPS2,210717,021923,-3141.7371,3019.8215,3,0.8,4,-26.6,1.5,251.9,10,14.2
$SPEED_LIMITS,0.325,0.335
$TGT_NAME,HEADING
$TGT_LATLONG,-3138.044,3007.903
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,316.6,20000,-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,-175.2,127,1956,539,436,0.0,0.0,0,96,0.00,0.00,-77.25,0.000,16386,0.000,0.000,127,1954,2658,2646,2671,0,0,0,0,0,0,26.03,28.83,26.04
$GC,99,-0.48,-175.2,128,1954,2647,2671,3.4,-2.8,10,125,9.93,2.10,-10.65,0.000,18948,0.219,0.041,2642,606,3182,3225,3140,0,0,0,0,0,0,25.25,24.15,25.44
$GC,152,-0.48,-175.2,2642,605,3227,3140,18.6,-28.5,17,161,0.00,2.15,0.00,0.000,1030,0.000,0.027,2633,1979,3183,3227,3140,0,0,0,0,0,0,25.83,25.77,25.84
$GC,211,-0.48,-175.2,2632,1978,3227,3140,31.1,-22.4,26,220,0.00,2.17,0.00,0.000,260,0.000,0.031,2622,3401,3183,3227,3140,0,0,0,0,0,0,26.20,25.82,26.21
$GC,278,-0.48,-175.2,2622,3401,3228,3138,44.7,-16.2,37,286,0.10,2.08,0.00,0.000,3078,0.151,0.025,2653,2016,3183,3228,3138,0,0,0,0,0,0,25.64,25.89,25.78
$GC,602,-0.48,-175.2,2651,2012,3230,3136,106.6,-18.5,95,611,0.00,2.15,0.00,0.000,516,0.000,0.028,2652,576,3183,3230,3136,0,0,0,0,0,0,26.41,26.01,26.42
$GC,683,-0.48,-175.2,2652,576,3231,3136,120.0,-14.2,103,692,0.00,2.15,0.00,0.000,1030,0.000,0.028,2643,1999,3183,3230,3136,0,0,0,0,0,0,26.13,26.06,26.16
$GC,993,-0.48,-175.2,2643,1999,3232,3136,171.7,-16.9,134,1002,0.00,2.08,0.00,0.000,260,0.000,0.033,2633,3403,3184,3232,3136,0,0,0,0,0,0,26.52,26.10,26.53
$GC,1215,-0.48,-175.2,2632,3403,3233,3137,201.8,-12.9,156,1219,0.00,2.08,0.00,0.000,1030,0.000,0.023,2633,1984,3184,3233,3136,0,0,0,0,0,0,26.26,26.18,26.28
$GC,2032,-0.48,-175.2,2632,1980,3233,3135,326.8,-14.6,197,2038,0.00,2.08,0.00,0.000,260,0.000,0.031,2622,3402,3183,3233,3134,0,0,0,0,0,0,26.65,26.22,26.65
$GC,2194,-0.48,-175.2,2622,3401,3233,3132,346.3,-11.8,205,2199,0.10,2.08,0.00,0.000,3078,0.150,0.024,2655,1991,3182,3233,3132,0,0,0,0,0,0,26.00,26.25,26.13
$GC,3008,-0.48,-175.2,2655,1988,3233,3127,444.7,-12.0,246,3013,0.00,2.08,0.00,0.000,260,0.000,0.031,2647,3397,3179,3233,3126,0,0,0,0,0,0,26.68,26.22,26.70
$GC,3080,-0.48,-175.2,2646,3397,3233,3125,451.0,-10.9,249,3086,0.00,2.08,0.00,0.000,1030,0.000,0.024,2647,1991,3179,3233,3125,0,0,0,0,0,0,26.34,26.27,26.37
$GC,3888,-0.48,-175.2,2646,1989,3231,3118,551.8,-13.1,290,3891,0.00,2.10,0.00,0.000,260,0.000,0.032,2637,3399,3174,3231,3118,0,0,0,0,0,0,26.67,26.21,26.68
$GC,3971,-0.48,-175.2,2636,3399,3228,3118,561.4,-11.5,294,3976,0.00,2.12,0.00,0.000,1030,0.000,0.026,2637,1999,3173,3228,3119,0,0,0,0,0,0,26.32,26.25,26.32
$GC,4790,-0.48,-175.2,2636,1997,3226,3113,673.3,-13.4,335,4795,0.00,2.12,0.00,0.000,516,0.000,0.032,2637,582,3170,3227,3113,0,0,0,0,0,0,26.70,26.19,26.72
$GC,4829,-0.48,-175.2,2636,582,3226,3113,678.8,-13.5,337,4835,0.00,2.12,0.00,0.000,1030,0.000,0.028,2626,1987,3169,3226,3113,0,0,0,0,0,0,26.33,26.24,26.36
$GC,5650,-0.48,-175.2,2626,1988,3223,3107,795.3,-13.7,378,5655,0.00,2.10,0.00,0.000,516,0.000,0.030,2626,589,3165,3223,3107,0,0,0,0,0,0,26.70,26.17,26.72
$GC,5749,-0.48,-175.2,2626,588,3222,3107,807.6,-11.7,383,5756,0.12,2.12,0.00,0.000,3078,0.168,0.028,2654,1992,3164,3222,3107,0,0,0,0,0,0,25.82,26.22,25.98
$GC,6570,-0.48,-175.2,2653,1991,3219,3101,898.3,-10.8,424,6574,0.00,2.12,0.00,0.000,260,0.000,0.037,2644,3393,3160,3220,3101,0,0,0,0,0,0,26.71,26.11,26.72
$GC,6741,-0.48,-175.2,2643,3393,3217,3101,912.8,-8.7,432,6745,0.00,2.10,0.00,0.000,1030,0.000,0.028,2644,1991,3159,3217,3101,0,0,0,0,0,0,26.28,26.19,26.32
$STATE,7491,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7492,begin apogee
$GC,7497,0.00,0.0,2644,1761,3216,3098,1001.3,-11.8,470,7642,0.55,0.00,141.20,1.308,10246,0.137,0.000,2810,1759,2464,2528,2401,0,0,0,0,0,0,25.53,24.42,23.63
$STATE,7643,end apogee,CONTROL_FINISHED_OK
$STATE,7643,begin climb
$GC,7645,0.48,175.2,2809,1759,2528,2401,1006.8,0.0,477,7807,0.45,2.45,152.32,1.281,10500,0.053,0.031,2978,3191,1749,1839,1660,0,0,0,0,0,0,24.66,23.72,22.94
$GC,7896,0.48,175.2,2978,3191,1830,1660,977.8,16.4,490,7901,0.00,2.22,0.00,0.000,1030,0.000,0.031,2988,1813,1744,1830,1659,0,0,0,0,0,0,24.86,24.77,24.88
$GC,8714,0.48,175.2,2987,1813,1826,1650,820.7,19.3,531,8720,0.00,2.10,0.00,0.000,260,0.000,0.026,2988,3210,1738,1826,1650,0,0,0,0,0,0,26.35,25.98,26.36
$GC,8736,0.48,175.2,2988,3209,1825,1650,816.8,19.4,532,8741,0.10,2.22,0.00,0.000,5126,0.224,0.032,2972,1792,1737,1825,1650,0,0,0,0,0,0,25.60,25.96,25.83
$GC,9554,0.48,175.2,2971,1792,1824,1649,683.3,15.9,573,9560,0.00,2.10,0.00,0.000,260,0.000,0.028,2972,3201,1736,1824,1649,0,0,0,0,0,0,26.53,26.12,26.55
$GC,9596,0.48,175.2,2971,3201,1823,1649,677.3,15.6,575,9601,0.00,2.20,0.00,0.000,1030,0.000,0.031,2980,1785,1736,1823,1649,0,0,0,0,0,0,26.22,26.09,26.26
$GC,10416,0.48,175.2,2979,1785,1821,1649,535.8,17.2,616,10421,0.00,2.15,0.00,0.000,516,0.000,0.038,2991,383,1734,1820,1649,0,0,0,0,0,0,26.60,26.06,26.63
$GC,10476,0.48,175.2,2990,383,1812,1649,525.7,17.2,619,10481,0.00,2.17,0.00,0.000,1030,0.000,0.027,2991,1782,1730,1812,1649,0,0,0,0,0,0,26.29,26.17,26.32
$GC,11294,0.48,175.2,2990,1785,1815,1649,391.8,15.8,660,11300,0.00,2.12,0.00,0.000,260,0.000,0.031,2991,3200,1732,1815,1649,0,0,0,0,0,0,26.65,26.14,26.66
$GC,11334,0.48,175.2,2990,3200,1815,1649,385.4,16.0,662,11341,0.12,2.15,0.00,0.000,5126,0.185,0.031,2968,1780,1732,1815,1649,0,0,0,0,0,0,25.69,26.15,25.91
$GC,12154,0.48,175.2,2967,1780,1815,1649,272.1,13.0,703,12160,0.00,2.15,0.00,0.000,516,0.000,0.038,2976,382,1732,1815,1649,0,0,0,0,0,0,26.67,26.06,26.68
$GC,12227,0.48,175.2,2975,382,1810,1649,264.7,12.5,706,12234,0.00,2.15,0.00,0.000,1030,0.000,0.028,2975,1799,1730,1812,1649,0,0,0,0,0,0,26.27,26.18,26.31
$GC,13034,0.48,175.2,2975,1802,1816,1649,163.9,11.9,762,13043,0.00,2.10,0.00,0.000,260,0.000,0.031,2976,3211,1732,1816,1649,0,0,0,0,0,0,26.68,26.15,26.69
$GC,13156,0.48,175.2,2976,3212,1818,1649,150.9,10.0,774,13165,0.00,2.10,0.00,0.000,1030,0.000,0.026,2986,1787,1733,1818,1649,0,0,0,0,0,0,26.23,26.20,26.27
$GC,13465,0.49,183.3,2985,1787,1819,1649,118.7,9.7,805,13476,0.00,2.20,5.45,0.518,8708,0.000,0.036,2998,382,1716,1804,1629,0,0,0,0,0,0,26.68,26.06,25.20
$GC,13488,0.51,196.8,2997,381,1796,1629,116.5,9.6,807,13509,0.00,2.15,12.68,0.653,9222,0.000,0.029,2997,1793,1661,1749,1573,0,0,0,0,0,0,26.32,26.24,25.29
$GC,13817,0.55,233.2,2997,1796,1749,1573,87.7,9.0,852,13855,0.00,2.17,30.10,0.665,8452,0.000,0.029,2997,3210,1513,1611,1415,0,0,0,0,0,0,26.53,25.75,25.13
$GC,13905,0.55,233.2,2997,3210,1610,1414,77.9,11.1,867,13911,0.00,2.17,0.00,0.000,1030,0.000,0.029,3007,1789,1513,1611,1415,0,0,0,0,0,0,25.92,25.84,25.94
$GC,14236,0.55,233.2,3007,1788,1607,1414,36.4,14.6,928,14244,0.00,2.20,0.00,0.000,516,0.000,0.037,3018,387,1509,1604,1414,0,0,0,0,0,0,26.38,25.91,26.39
$GC,14277,0.55,233.2,3018,386,1598,1414,30.8,13.0,934,14286,0.08,2.20,0.00,0.000,5126,0.148,0.028,2995,1798,1507,1600,1414,0,0,0,0,0,0,25.74,26.00,25.81
$GC,14430,0.55,233.2,2994,1803,1603,1414,13.8,10.8,959,14439,0.00,2.10,0.00,0.000,260,0.000,0.026,2995,3200,1509,1603,1415,0,0,0,0,0,0,26.44,26.03,26.45
$GC,14459,0.55,233.2,2994,3200,1603,1415,10.2,11.9,963,14468,0.00,2.17,0.00,0.000,1030,0.000,0.029,3003,1789,1508,1603,1414,0,0,0,0,0,0,26.08,26.03,26.10
$GC,14519,0.59,267.3,3003,1788,1604,1414,4.8,9.1,972,14544,0.00,2.20,15.20,0.050,8708,0.000,0.035,3015,377,1371,1476,1267,0,0,0,0,0,0,26.46,25.98,25.97
$STATE,14551,end climb,SURFACE_DEPTH_REACHED
$STATE,14551,begin surface coast
$FINISH,1.1,1.007216
$STATE,14564,end surface coast,CONTROL_FINISHED_OK
$STATE,14564,begin surface
$SM_CCo,14583,94.25,0.047,0,0,500,482.01
$SM_GC,2.08,7.40,2.47,94.25,0.021,0.016,0.047,126,2000,500,-8.31,-1.10,482.01,0,0,0,0,0,0,26.10,26.13,25.91
$IRIDIUM_FIX,-3130.35,3019.58,210717,020837
$TT8_MAMPS,0.025466,0.262899
$HUMID,53.54
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,21.10
$XPDR_PINGS,0
$24V_AH,22.94,39.104
$10V_AH,10.16,19.772
$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,18.950,94.975,356.950,94.250,0.000,31.328,40.023,546.524,20.250,0.000,12.845,2400.426,9597.341,531.475,2698.217,215.683,0.000,1525.146,0.000,2012.001,0.000,137.260,0.000
$DEVICE_MAMPS,224.145,87.210,1308.150,47.430,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,679.334,94.058,407.071,413.005,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343624
$DATA_FILE_SIZE,63832,978
$CAP_FILE_SIZE,129256,0
$CFSIZE,2097086464,2049376256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$WARN,PPS timeout
$GPS,210717,062604,-3144.053,3013.611,39,1.1,39,-26.6,2.9,251.8,8,21.7