version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 435
start: 7 23 117 7 38 48
data:
$ID,574
$MISSION,23
$DIVE,435
$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,29
$R_STBD_OVSHOOT,43
$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
$GPS1,230717,073102,-3139.9331,2955.4448,30,0.9,30,-26.4,0.0,0.0,9,7.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-75.4
$GPS2,230717,073801,-3140.0222,2955.4348,4,0.9,4,-26.4,1.1,110.5,9,14.3
$SPEED_LIMITS,0.325,0.335
$TGT_NAME,HEADING
$TGT_LATLONG,-3129.223,2955.435
$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,15,-0.48,-175.2,126,1991,529,441,0.0,0.0,0,103,0.00,0.00,-85.43,0.000,16386,0.000,0.000,126,1992,2870,2884,2856,0,0,0,0,0,0,26.10,28.83,26.12
$GC,106,-0.48,-175.2,125,1992,2884,2857,3.5,-2.7,11,132,9.98,2.20,-6.18,0.000,18948,0.220,0.038,2645,572,3181,3220,3143,0,0,0,0,0,0,25.21,25.24,25.41
$GC,230,-0.48,-175.2,2644,571,3223,3142,29.9,-15.1,30,238,0.00,2.22,0.00,0.000,1030,0.000,0.028,2636,1988,3183,3223,3143,0,0,0,0,0,0,25.86,25.83,25.89
$GC,373,-0.48,-175.2,2635,1988,3225,3142,56.7,-19.6,55,380,0.00,2.12,0.00,0.000,260,0.000,0.033,2625,3406,3183,3225,3142,0,0,0,0,0,0,26.33,25.86,26.34
$GC,423,-0.48,-175.2,2624,3406,3226,3141,64.7,-12.8,64,430,0.00,2.17,0.00,0.000,1030,0.000,0.023,2625,1975,3182,3225,3140,0,0,0,0,0,0,25.98,25.93,26.03
$GC,743,-0.48,-175.2,2624,1971,3228,3140,124.1,-15.7,112,751,0.00,2.12,0.00,0.000,260,0.000,0.030,2615,3404,3184,3228,3140,0,0,0,0,0,0,26.46,26.00,26.47
$GC,873,-0.48,-175.2,2614,3404,3228,3139,138.1,-10.1,125,883,0.12,2.10,0.00,0.000,3078,0.139,0.024,2654,1985,3183,3228,3139,0,0,0,0,0,0,25.77,26.08,25.90
$GC,1183,-0.48,-175.2,2653,1982,3231,3139,178.0,-11.8,156,1192,0.00,2.12,0.00,0.000,260,0.000,0.031,2645,3414,3185,3231,3140,0,0,0,0,0,0,26.55,26.07,26.56
$GC,1248,-0.48,-175.2,2644,3414,3231,3139,184.2,-9.9,162,1254,0.00,2.10,0.00,0.000,1030,0.000,0.024,2645,1987,3185,3232,3139,0,0,0,0,0,0,26.21,26.13,26.23
$GC,1556,-0.48,-175.2,2644,1986,3232,3139,223.3,-12.4,184,1561,0.00,2.08,0.00,0.000,260,0.000,0.030,2635,3403,3185,3231,3139,0,0,0,0,0,0,26.60,26.12,26.60
$GC,1574,-0.48,-175.2,2634,3403,3232,3139,225.8,-12.4,185,1578,0.00,2.10,0.00,0.000,1030,0.000,0.024,2635,1980,3185,3232,3139,0,0,0,0,0,0,26.24,26.16,26.27
$GC,2391,-0.48,-175.2,2634,1980,3232,3136,335.5,-14.6,226,2397,0.00,2.12,0.00,0.000,260,0.000,0.031,2625,3411,3184,3232,3136,0,0,0,0,0,0,26.65,26.16,26.66
$GC,2411,-0.48,-175.2,2624,3411,3232,3136,338.3,-14.6,227,2417,0.10,2.10,0.00,0.000,3078,0.141,0.024,2657,1989,3184,3232,3136,0,0,0,0,0,0,25.95,26.20,26.06
$GC,3233,-0.48,-175.2,2656,1986,3232,3130,442.4,-11.4,268,3239,0.00,2.08,0.00,0.000,260,0.000,0.031,2648,3397,3181,3232,3130,0,0,0,0,0,0,26.68,26.17,26.70
$GC,3291,-0.48,-175.2,2648,3397,3232,3130,448.5,-10.5,271,3295,0.00,2.08,0.00,0.000,1030,0.000,0.024,2648,1990,3181,3232,3130,0,0,0,0,0,0,26.30,26.22,26.32
$GC,4107,-0.48,-175.2,2648,1986,3229,3127,546.0,-11.8,312,4111,0.00,2.12,0.00,0.000,260,0.000,0.031,2638,3407,3177,3228,3127,0,0,0,0,0,0,26.69,26.15,26.70
$GC,4210,-0.48,-175.2,2637,3408,3228,3127,556.4,-9.9,317,4216,0.00,2.10,0.00,0.000,1030,0.000,0.025,2638,1994,3176,3227,3126,0,0,0,0,0,0,26.28,26.20,26.32
$GC,5030,-0.48,-175.2,2638,1992,3226,3122,654.3,-12.3,358,5036,0.00,2.12,0.00,0.000,516,0.000,0.031,2638,583,3173,3225,3122,0,0,0,0,0,0,26.70,26.13,26.71
$GC,5058,-0.48,-175.2,2638,582,3226,3122,656.9,-12.4,359,5062,0.00,2.12,0.00,0.000,1030,0.000,0.026,2628,1997,3173,3225,3122,0,0,0,0,0,0,26.27,26.19,26.31
$GC,5868,-0.48,-175.2,2628,2000,3222,3118,781.1,-15.5,399,5874,0.00,2.12,0.00,0.000,516,0.000,0.029,2628,582,3170,3222,3119,0,0,0,0,0,0,26.68,26.11,26.70
$GC,5954,-0.48,-175.2,2627,581,3222,3118,792.9,-14.3,403,5959,0.12,2.15,0.00,0.000,3078,0.151,0.028,2656,1996,3170,3222,3118,0,0,0,0,0,0,25.80,26.16,25.94
$GC,6762,-0.48,-175.2,2656,1996,3219,3114,877.9,-9.9,443,6767,0.00,2.15,0.00,0.000,516,0.000,0.031,2656,579,3166,3219,3114,0,0,0,0,0,0,26.70,26.07,26.71
$GC,6822,-0.48,-175.2,2655,578,3219,3114,883.6,-9.5,446,6828,0.00,2.15,0.00,0.000,1030,0.000,0.029,2647,1987,3166,3219,3114,0,0,0,0,0,0,26.22,26.11,26.25
$GC,7643,-0.48,-175.2,2647,1987,3215,3110,972.2,-10.9,487,7648,0.00,2.10,0.00,0.000,516,0.000,0.031,2647,588,3162,3215,3110,0,0,0,0,0,0,26.70,26.05,26.72
$GC,7736,-0.48,-175.2,2647,588,3214,3110,980.0,-9.7,491,7743,0.00,2.12,0.00,0.000,1030,0.000,0.028,2637,1993,3162,3214,3110,0,0,0,0,0,0,26.20,26.11,26.25
$STATE,7902,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7902,begin apogee
$GC,7908,0.00,0.0,2637,1732,3213,3110,1000.8,-12.1,500,8055,0.55,0.10,143.27,1.290,10246,0.133,0.071,2802,1845,2465,2523,2408,0,0,0,0,0,0,25.41,24.36,23.53
$STATE,8056,end apogee,CONTROL_FINISHED_OK
$STATE,8056,begin climb
$GC,8058,0.48,175.2,2802,1846,2523,2407,1006.4,0.0,507,8225,0.43,2.28,153.18,1.260,10500,0.048,0.030,2968,3191,1749,1830,1668,0,0,0,0,0,0,24.59,23.60,22.80
$GC,8267,0.48,175.2,2968,3191,1824,1668,984.9,15.9,518,8274,0.00,2.28,0.00,0.000,1030,0.000,0.031,2978,1802,1746,1824,1668,0,0,0,0,0,0,24.48,24.39,24.49
$GC,9088,0.48,175.2,2978,1801,1820,1658,837.7,18.4,559,9093,0.00,2.25,0.00,0.000,516,0.000,0.041,2989,374,1738,1818,1658,0,0,0,0,0,0,26.31,25.80,26.32
$GC,9211,0.48,175.2,2989,373,1808,1658,816.5,16.8,565,9215,0.00,2.20,0.00,0.000,1030,0.000,0.028,2989,1797,1733,1808,1658,0,0,0,0,0,0,26.03,25.94,26.06
$GC,10024,0.48,175.2,2989,1801,1809,1658,667.3,17.6,606,10029,0.00,2.08,0.00,0.000,260,0.000,0.030,2989,3201,1733,1809,1658,0,0,0,0,0,0,26.52,26.04,26.53
$GC,10131,0.48,175.2,2989,3201,1808,1658,651.1,15.8,611,10136,0.12,2.15,0.00,0.000,5126,0.199,0.031,2967,1781,1733,1809,1658,0,0,0,0,0,0,25.58,26.04,25.81
$GC,10938,0.48,175.2,2967,1781,1809,1656,530.1,13.6,651,10943,0.00,2.15,0.00,0.000,516,0.000,0.038,2976,383,1732,1808,1656,0,0,0,0,0,0,26.60,25.98,26.61
$GC,10972,0.48,175.2,2976,383,1805,1656,527.4,13.6,652,10979,0.00,2.12,0.00,0.000,1030,0.000,0.027,2976,1793,1731,1807,1656,0,0,0,0,0,0,26.20,26.12,26.25
$GC,11778,0.48,175.2,2976,1797,1808,1655,415.8,13.2,693,11783,0.00,2.10,0.00,0.000,260,0.000,0.031,2976,3212,1732,1808,1656,0,0,0,0,0,0,26.63,26.09,26.65
$GC,11871,0.48,175.2,2976,3211,1808,1656,405.5,12.9,697,11877,0.00,2.12,0.00,0.000,1030,0.000,0.031,2986,1789,1732,1808,1656,0,0,0,0,0,0,26.19,26.09,26.23
$GC,12678,0.48,175.2,2986,1789,1808,1656,286.0,12.9,738,12683,0.00,2.15,0.00,0.000,516,0.000,0.037,2997,383,1732,1808,1656,0,0,0,0,0,0,26.66,26.00,26.67
$GC,12738,0.48,175.2,2997,383,1803,1656,278.8,12.1,741,12744,0.10,2.15,0.00,0.000,5126,0.190,0.028,2970,1801,1730,1805,1656,0,0,0,0,0,0,25.74,26.12,25.91
$GC,13548,0.48,175.2,2970,1803,1808,1655,180.5,12.1,789,13556,0.00,2.17,0.00,0.000,516,0.000,0.034,2980,376,1732,1808,1656,0,0,0,0,0,0,26.67,26.01,26.68
$GC,13673,0.48,175.2,2979,376,1805,1657,166.1,12.2,801,13679,0.00,2.12,0.00,0.000,1030,0.000,0.028,2980,1791,1732,1807,1657,0,0,0,0,0,0,26.23,26.14,26.27
$GC,13979,0.48,175.2,2979,1791,1808,1657,129.0,12.1,832,13982,0.00,2.15,0.00,0.000,516,0.000,0.034,2990,381,1732,1808,1657,0,0,0,0,0,0,26.67,26.01,26.68
$GC,14130,0.48,175.2,2990,381,1806,1658,112.8,10.3,847,14138,0.00,2.12,0.00,0.000,1030,0.000,0.027,2990,1790,1733,1808,1658,0,0,0,0,0,0,26.23,26.14,26.27
$GC,14448,0.48,175.2,2990,1792,1809,1658,78.8,12.0,896,14455,0.00,2.20,0.00,0.000,516,0.000,0.034,3000,374,1733,1808,1658,0,0,0,0,0,0,26.67,26.03,26.69
$GC,14575,0.48,175.2,3000,375,1807,1659,64.1,11.5,919,14582,0.10,2.15,0.00,0.000,5126,0.157,0.028,2971,1800,1733,1808,1659,0,0,0,0,0,0,25.82,26.15,25.97
$GC,14911,0.59,260.3,2970,1800,1813,1659,32.7,7.8,980,14960,0.00,2.15,43.30,0.618,8452,0.000,0.030,2970,3202,1402,1499,1305,0,0,0,0,0,0,26.67,25.72,25.09
$GC,15026,0.59,260.3,2970,3202,1496,1304,21.7,10.2,997,15035,0.00,2.17,0.00,0.000,1030,0.000,0.027,2979,1785,1399,1495,1304,0,0,0,0,0,0,25.84,25.80,25.87
$GC,15181,0.59,260.3,2978,1785,1491,1302,6.9,10.4,1022,15189,0.00,2.17,0.00,0.000,516,0.000,0.034,2990,390,1395,1490,1301,0,0,0,0,0,0,26.31,25.76,26.32
$STATE,15220,end climb,SURFACE_DEPTH_REACHED
$STATE,15220,begin surface coast
$FINISH,1.1,1.025517
$STATE,15257,end surface coast,CONTROL_FINISHED_OK
$STATE,15257,begin surface
$SM_CCo,15275,98.65,0.050,0,0,499,482.01
$SM_GC,1.96,7.50,2.45,98.65,0.028,0.015,0.050,125,2000,499,-8.35,-1.13,482.01,0,0,0,0,0,0,25.96,25.98,25.75
$IRIDIUM_FIX,-3125.29,2954.43,230717,073232
$TT8_MAMPS,0.025466,0.261401
$HUMID,54.09
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,19.90
$XPDR_PINGS,0
$24V_AH,22.80,41.042
$10V_AH,10.12,20.773
$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,19.125,99.500,339.750,98.650,0.000,30.210,22.673,250.911,20.250,0.000,10.772,2536.386,10027.722,529.397,2544.597,178.201,0.000,1561.785,0.000,2136.156,0.000,136.091,0.000
$DEVICE_MAMPS,220.320,71.145,1289.790,50.490,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,721.308,109.930,490.270,490.253,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343428
$DATA_FILE_SIZE,67110,1034
$CAP_FILE_SIZE,128930,0
$CFSIZE,2097086464,2047770624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,230717,115620,-3140.851,2956.576,40,1.0,40,-26.4,0.7,139.6,9,7.8