version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 434
start: 7 23 117 3 20 50
data:
$ID,574
$MISSION,23
$DIVE,434
$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,225
$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,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,23
$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
$GPS1,230717,031050,-3139.7974,2954.3447,39,0.9,39,-26.4,0.0,0.0,9,7.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-78.1
$GPS2,230717,032002,-3139.8364,2954.3733,3,0.9,3,-26.4,0.0,0.0,8,21.9
$SPEED_LIMITS,0.325,0.335
$TGT_NAME,HEADING
$TGT_LATLONG,-3129.037,2954.373
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,26.4,20000,-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,-175.2,124,2007,531,444,0.0,0.0,0,96,0.00,0.00,-77.68,0.000,16386,0.000,0.000,124,2007,2627,2618,2636,0,0,0,0,0,0,26.04,28.83,26.06
$GC,99,-0.48,-175.2,124,2007,2618,2636,3.1,-2.4,10,132,9.90,2.22,-12.10,0.000,18948,0.216,0.040,2645,568,3183,3228,3138,0,0,0,0,0,0,25.19,24.06,25.39
$GC,210,-0.48,-175.2,2644,567,3228,3138,24.5,-15.7,27,219,0.00,2.25,0.00,0.000,1030,0.000,0.030,2636,1992,3183,3228,3138,0,0,0,0,0,0,25.85,25.79,25.86
$GC,354,-0.48,-175.2,2635,1992,3229,3138,53.7,-20.9,52,362,0.00,2.15,0.00,0.000,260,0.000,0.033,2625,3396,3183,3229,3138,0,0,0,0,0,0,26.29,25.86,26.30
$GC,450,-0.48,-175.2,2624,3396,3230,3138,69.6,-15.3,69,457,0.00,2.15,0.00,0.000,1030,0.000,0.025,2625,1965,3184,3230,3138,0,0,0,0,0,0,26.01,25.93,26.04
$GC,772,-0.48,-175.2,2624,1961,3232,3137,127.9,-19.2,116,780,0.00,2.15,0.00,0.000,260,0.000,0.028,2615,3411,3185,3232,3138,0,0,0,0,0,0,26.45,26.01,26.46
$GC,863,-0.48,-175.2,2614,3411,3232,3138,142.4,-14.0,125,873,0.12,2.12,0.00,0.000,3078,0.142,0.024,2654,1978,3185,3233,3138,0,0,0,0,0,0,25.76,26.07,25.90
$GC,1173,-0.48,-175.2,2653,1974,3234,3138,185.3,-15.5,156,1181,0.00,2.12,0.00,0.000,260,0.000,0.031,2645,3409,3186,3234,3138,0,0,0,0,0,0,26.53,26.08,26.54
$GC,1224,-0.48,-175.2,2644,3408,3235,3138,192.7,-14.7,161,1228,0.00,2.10,0.00,0.000,1030,0.000,0.024,2645,1988,3186,3234,3138,0,0,0,0,0,0,26.20,26.13,26.23
$GC,1540,-0.48,-175.2,2644,1985,3235,3137,236.1,-12.2,179,1545,0.00,2.08,0.00,0.000,260,0.000,0.030,2634,3403,3186,3235,3138,0,0,0,0,0,0,26.58,26.13,26.59
$GC,1572,-0.48,-175.2,2634,3403,3235,3138,238.4,-12.0,180,1579,0.00,2.08,0.00,0.000,1030,0.000,0.024,2635,1990,3186,3235,3138,0,0,0,0,0,0,26.25,26.17,26.27
$GC,2379,-0.48,-175.2,2634,1987,3235,3134,346.1,-15.2,221,2384,0.00,2.10,0.00,0.000,260,0.000,0.031,2625,3404,3184,3235,3134,0,0,0,0,0,0,26.65,26.16,26.65
$GC,2472,-0.48,-175.2,2624,3404,3235,3133,357.2,-13.8,225,2480,0.10,2.10,0.00,0.000,3078,0.142,0.025,2657,1990,3184,3235,3133,0,0,0,0,0,0,25.96,26.20,26.08
$GC,3280,-0.48,-175.2,2657,1986,3234,3129,468.3,-12.3,266,3281,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,1986,3181,3234,3129,0,0,0,0,0,0,26.67,26.69,26.69
$GC,4079,-0.48,-175.2,2656,1986,3231,3125,556.6,-11.2,306,4084,0.00,2.12,0.00,0.000,260,0.000,0.033,2649,3409,3177,3230,3125,0,0,0,0,0,0,26.69,26.15,26.70
$GC,4100,-0.48,-175.2,2648,3409,3230,3125,558.9,-11.3,307,4106,0.00,2.10,0.00,0.000,1030,0.000,0.024,2649,1989,3177,3230,3125,0,0,0,0,0,0,26.25,26.20,26.27
$GC,4919,-0.48,-175.2,2648,1986,3227,3121,659.7,-13.3,348,4920,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,1986,3174,3227,3122,0,0,0,0,0,0,26.70,26.71,26.71
$GC,5719,-0.48,-175.2,2648,1986,3224,3118,759.0,-13.1,388,5724,0.00,2.12,0.00,0.000,260,0.000,0.032,2639,3407,3171,3224,3118,0,0,0,0,0,0,26.70,26.13,26.71
$GC,5793,-0.48,-175.2,2638,3407,3223,3117,766.1,-11.8,391,5800,0.00,2.12,0.00,0.000,1030,0.000,0.026,2638,1980,3170,3223,3117,0,0,0,0,0,0,26.27,26.17,26.30
$GC,6601,-0.48,-175.2,2638,1978,3219,3114,871.4,-11.5,432,6607,0.00,2.12,0.00,0.000,516,0.000,0.033,2639,579,3166,3219,3114,0,0,0,0,0,0,26.67,26.08,26.67
$GC,6633,-0.48,-175.2,2638,578,3219,3114,873.9,-11.5,433,6640,0.00,2.15,0.00,0.000,1030,0.000,0.026,2628,2000,3167,3220,3114,0,0,0,0,0,0,26.25,26.17,26.29
$GC,7440,-0.48,-175.2,2628,1999,3216,3110,974.1,-11.9,474,7446,0.00,2.10,0.00,0.000,260,0.000,0.034,2617,3400,3162,3215,3110,0,0,0,0,0,0,26.70,26.07,26.72
$GC,7575,-0.48,-175.2,2617,3400,3214,3110,986.4,-9.7,480,7582,0.10,2.12,0.00,0.000,3078,0.158,0.028,2650,1988,3161,3213,3110,0,0,0,0,0,0,25.82,26.12,25.94
$STATE,7699,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7700,begin apogee
$GC,7705,0.00,0.0,2649,1758,3213,3110,1000.6,-10.2,487,7852,0.50,0.00,143.55,1.314,10246,0.121,0.000,2804,1758,2465,2523,2408,0,0,0,0,0,0,25.52,24.34,23.51
$STATE,7853,end apogee,CONTROL_FINISHED_OK
$STATE,7853,begin climb
$GC,7855,0.48,175.2,2804,1757,2522,2408,1006.1,0.0,494,8022,0.43,2.45,153.90,1.294,10500,0.053,0.031,2967,3188,1748,1827,1670,0,0,0,0,0,0,24.54,23.57,22.77
$GC,8118,0.48,175.2,2967,3189,1821,1669,977.4,16.0,507,8125,0.00,2.22,0.00,0.000,1030,0.000,0.031,2977,1823,1744,1821,1668,0,0,0,0,0,0,24.82,24.73,24.84
$GC,8925,0.48,175.2,2976,1823,1821,1663,833.9,17.9,548,8930,0.00,2.08,0.00,0.000,260,0.000,0.028,2977,3203,1741,1821,1662,0,0,0,0,0,0,26.32,25.92,26.33
$GC,9025,0.48,175.2,2976,3203,1819,1663,818.3,15.1,553,9031,0.00,2.17,0.00,0.000,1030,0.000,0.032,2986,1786,1741,1820,1663,0,0,0,0,0,0,26.02,25.92,26.06
$GC,9845,0.48,175.2,2986,1786,1820,1663,668.1,17.3,594,9851,0.00,2.12,0.00,0.000,260,0.000,0.028,2986,3207,1741,1820,1663,0,0,0,0,0,0,26.52,26.06,26.53
$GC,9974,0.48,175.2,2986,3207,1820,1663,649.6,14.9,600,9979,0.10,2.15,0.00,0.000,5126,0.237,0.031,2971,1788,1741,1820,1663,0,0,0,0,0,0,25.60,26.05,25.84
$GC,10781,0.48,175.2,2971,1788,1820,1662,534.4,16.2,640,10787,0.00,2.15,0.00,0.000,516,0.000,0.038,2980,388,1741,1820,1663,0,0,0,0,0,0,26.60,26.00,26.61
$GC,10882,0.48,175.2,2980,388,1812,1663,518.5,15.7,645,10887,0.00,2.17,0.00,0.000,1030,0.000,0.027,2980,1789,1738,1813,1664,0,0,0,0,0,0,26.17,26.14,26.27
$GC,11700,0.48,175.2,2980,1792,1819,1663,398.0,13.2,686,11706,0.00,2.12,0.00,0.000,260,0.000,0.029,2980,3213,1741,1819,1663,0,0,0,0,0,0,26.64,26.11,26.65
$GC,11788,0.48,175.2,2980,3213,1820,1665,388.1,12.3,690,11792,0.00,2.15,0.00,0.000,1030,0.000,0.031,2990,1785,1742,1820,1665,0,0,0,0,0,0,26.20,26.10,26.25
$GC,12595,0.48,175.2,2990,1786,1822,1665,263.8,16.8,730,12601,0.00,2.15,0.00,0.000,516,0.000,0.037,3001,382,1743,1822,1665,0,0,0,0,0,0,26.65,26.01,26.67
$GC,12718,0.48,175.2,3001,380,1814,1667,244.9,15.4,736,12723,0.12,2.15,0.00,0.000,5126,0.168,0.028,2967,1799,1741,1815,1667,0,0,0,0,0,0,25.71,26.15,25.89
$GC,13531,0.48,175.2,2967,1802,1824,1667,139.0,12.1,800,13534,0.00,2.17,0.00,0.000,516,0.000,0.034,2976,381,1745,1824,1667,0,0,0,0,0,0,26.67,26.03,26.68
$GC,13673,0.53,216.7,2975,381,1817,1668,125.0,8.9,814,13713,0.00,2.12,34.38,0.711,9222,0.000,0.028,2976,1787,1581,1666,1496,0,0,0,0,0,0,26.20,26.16,25.06
$GC,14017,0.53,216.7,2975,1788,1662,1491,87.6,10.8,857,14024,0.00,2.12,0.00,0.000,260,0.000,0.030,2975,3209,1576,1662,1491,0,0,0,0,0,0,26.36,25.89,26.37
$GC,14088,0.53,216.7,2975,3208,1660,1492,79.7,10.7,870,14096,0.00,2.20,0.00,0.000,1030,0.000,0.028,2986,1783,1576,1660,1492,0,0,0,0,0,0,25.97,25.93,25.99
$GC,14414,0.53,216.7,2986,1783,1660,1491,43.5,11.1,931,14420,0.00,2.15,0.00,0.000,516,0.000,0.035,2997,379,1575,1659,1491,0,0,0,0,0,0,26.47,25.89,26.48
$GC,14467,0.53,216.7,2996,378,1654,1491,37.3,11.8,940,14476,0.00,2.20,0.00,0.000,1030,0.000,0.026,2997,1791,1574,1656,1492,0,0,0,0,0,0,26.07,26.03,26.09
$GC,14621,0.53,216.7,2997,1795,1658,1491,20.9,10.5,965,14630,0.00,2.12,0.00,0.000,260,0.000,0.028,2997,3201,1574,1658,1491,0,0,0,0,0,0,26.51,26.02,26.52
$GC,14658,0.53,216.7,2997,3201,1658,1492,17.0,11.3,970,14666,0.00,2.17,0.00,0.000,1030,0.000,0.028,3007,1785,1575,1659,1492,0,0,0,0,0,0,26.07,26.03,26.10
$GC,14716,0.53,216.7,3006,1785,1659,1492,10.2,12.7,979,14725,0.00,2.17,0.00,0.000,516,0.000,0.035,3018,390,1574,1657,1491,0,0,0,0,0,0,26.52,25.94,26.53
$GC,14751,0.53,216.7,3017,390,1653,1493,6.2,11.2,984,14761,0.10,2.17,0.00,0.000,5126,0.152,0.028,2988,1792,1574,1655,1494,0,0,0,0,0,0,25.70,26.07,25.77
$STATE,14779,end climb,SURFACE_DEPTH_REACHED
$STATE,14779,begin surface coast
$FINISH,1.1,1.011176
$STATE,14811,end surface coast,CONTROL_FINISHED_OK
$STATE,14811,begin surface
$SM_CCo,14827,117.30,0.048,0,0,498,482.01
$SM_GC,1.91,7.47,0.28,117.30,0.029,0.031,0.048,124,2112,498,-8.33,-1.10,482.01,0,0,0,0,0,0,26.10,26.33,25.88
$IRIDIUM_FIX,-3125.29,2953.17,230717,031442
$TT8_MAMPS,0.025466,0.297353
$HUMID,53.85
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,19.50
$XPDR_PINGS,0
$24V_AH,22.77,40.907
$10V_AH,10.10,20.689
$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,18.950,91.050,331.825,117.300,0.000,69.707,59.371,247.924,20.250,0.000,10.740,2427.463,9849.991,552.154,2523.176,167.912,0.000,1542.075,0.000,2042.095,0.000,138.346,0.000
$DEVICE_MAMPS,237.150,69.615,1313.505,48.195,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,686.823,102.323,453.684,450.321,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343400
$DATA_FILE_SIZE,63649,993
$CAP_FILE_SIZE,125217,0
$CFSIZE,2097086464,2047934464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,230717,073102,-3139.933,2955.445,30,0.9,30,-26.4,0.0,0.0,9,7.8