version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 448
start: 7 23 117 20 4 10
data:
$ID,574
$MISSION,23
$DIVE,448
$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,333
$T_MISSION,343
$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,270
$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,44
$R_STBD_OVSHOOT,44
$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
$GPS1,230717,195734,-3152.9463,2954.0671,4,0.7,4,-26.6,0.9,229.2,12,38.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-74.8
$GPS2,230717,200323,-3153.2412,2953.9695,4,0.7,4,-26.6,1.4,173.5,12,42.7
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3153.241,2941.251
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,296.6,20000,-13.3,-10.010,-16.52,4021
$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,-175.2,126,1989,529,447,0.0,0.0,0,103,0.00,0.00,-85.40,0.000,16386,0.000,0.000,126,1988,2915,2928,2903,0,0,0,0,0,0,26.34,28.83,26.35
$GC,107,-0.48,-175.2,126,1988,2930,2903,3.8,-5.1,11,132,9.40,2.12,-5.12,0.000,18948,0.205,0.041,2644,581,3184,3221,3148,0,0,0,0,0,0,25.61,24.53,25.78
$GC,188,-0.48,-175.2,2644,581,3223,3147,26.6,-16.1,23,197,0.00,2.17,0.00,0.000,1030,0.000,0.028,2635,1989,3185,3223,3147,0,0,0,0,0,0,26.15,26.13,26.18
$GC,331,-0.48,-175.2,2634,1989,3224,3147,54.8,-20.6,48,340,0.00,2.10,0.00,0.000,260,0.000,0.031,2624,3394,3185,3223,3147,0,0,0,0,0,0,26.53,26.19,26.54
$GC,479,-0.48,-175.2,2624,3394,3222,3146,79.2,-15.3,75,486,0.00,2.08,0.00,0.000,1030,0.000,0.022,2624,1973,3184,3223,3146,0,0,0,0,0,0,26.34,26.27,26.36
$GC,798,-0.48,-175.2,2624,1968,3224,3146,136.8,-16.6,116,807,0.00,2.10,0.00,0.000,260,0.000,0.032,2614,3401,3185,3224,3146,0,0,0,0,0,0,26.65,26.29,26.66
$GC,991,-0.48,-175.2,2613,3401,3223,3146,166.0,-14.8,135,999,0.10,2.10,0.00,0.000,3078,0.153,0.023,2647,1979,3184,3223,3146,0,0,0,0,0,0,26.07,26.35,26.27
$GC,1299,-0.48,-175.2,2646,1976,3224,3145,207.5,-12.4,163,1305,0.00,2.10,0.00,0.000,260,0.000,0.031,2638,3412,3184,3223,3145,0,0,0,0,0,0,26.70,26.34,26.71
$GC,1387,-0.48,-175.2,2637,3413,3224,3144,216.1,-10.7,167,1391,0.00,2.08,0.00,0.000,1030,0.000,0.023,2638,1991,3184,3224,3144,0,0,0,0,0,0,26.44,26.37,26.46
$GC,2199,-0.48,-175.2,2637,1987,3224,3138,325.4,-14.0,208,2205,0.00,2.08,0.00,0.000,260,0.000,0.033,2627,3400,3181,3224,3138,0,0,0,0,0,0,26.72,26.34,26.73
$GC,2307,-0.48,-175.2,2627,3400,3223,3138,338.5,-12.4,213,2311,0.00,2.05,0.00,0.000,1030,0.000,0.024,2627,1996,3180,3223,3137,0,0,0,0,0,0,26.44,26.37,26.47
$GC,3120,-0.48,-175.2,2627,1993,3218,3131,453.5,-13.8,254,3126,0.00,2.08,0.00,0.000,516,0.000,0.031,2627,590,3174,3217,3131,0,0,0,0,0,0,26.73,26.31,26.74
$GC,3182,-0.48,-175.2,2627,589,3217,3131,461.5,-13.6,257,3187,0.10,2.10,0.00,0.000,3078,0.168,0.030,2649,1993,3174,3217,3131,0,0,0,0,0,0,26.00,26.34,26.09
$GC,4001,-0.48,-175.2,2648,1994,3212,3126,574.0,-14.1,298,4006,0.00,2.08,0.00,0.000,516,0.000,0.031,2649,593,3168,3212,3125,0,0,0,0,0,0,26.73,26.29,26.74
$GC,4040,-0.48,-175.2,2649,592,3212,3126,579.4,-13.7,300,4045,0.00,2.12,0.00,0.000,1030,0.000,0.031,2640,1995,3169,3212,3126,0,0,0,0,0,0,26.41,26.32,26.44
$GC,4861,-0.48,-175.2,2640,1996,3207,3120,695.1,-14.4,341,4866,0.00,2.08,0.00,0.000,260,0.000,0.037,2629,3395,3163,3207,3120,0,0,0,0,0,0,26.72,26.27,26.74
$GC,4948,-0.48,-175.2,2628,3394,3207,3119,705.1,-12.4,345,4954,0.00,2.08,0.00,0.000,1030,0.000,0.028,2630,1987,3162,3206,3119,0,0,0,0,0,0,26.39,26.29,26.41
$GC,5761,-0.48,-175.2,2629,1986,3203,3115,814.6,-13.3,386,5767,0.00,2.12,0.00,0.000,260,0.000,0.037,2619,3397,3158,3202,3115,0,0,0,0,0,0,26.72,26.22,26.73
$GC,5943,-0.48,-175.2,2619,3397,3201,3115,834.7,-10.9,395,5949,0.10,2.10,0.00,0.000,3078,0.183,0.028,2651,1988,3157,3201,3114,0,0,0,0,0,0,25.94,26.27,26.09
$GC,6766,-0.48,-175.2,2650,1988,3198,3109,927.7,-11.3,436,6771,0.00,2.10,0.00,0.000,516,0.000,0.034,2651,588,3153,3198,3109,0,0,0,0,0,0,26.72,26.18,26.73
$GC,6817,-0.48,-175.2,2651,587,3198,3109,932.6,-11.6,438,6823,0.00,2.15,0.00,0.000,1030,0.000,0.034,2642,1993,3153,3198,3109,0,0,0,0,0,0,26.32,26.22,26.35
$STATE,7344,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7344,begin apogee
$GC,7350,0.00,0.0,2642,1746,3194,3108,1001.4,-12.8,465,7493,0.55,0.08,139.35,1.274,10246,0.137,0.090,2810,1821,2465,2515,2415,0,0,0,0,0,0,25.67,24.64,23.87
$STATE,7494,end apogee,CONTROL_FINISHED_OK
$STATE,7494,begin climb
$GC,7497,0.48,175.2,2810,1821,2514,2415,1009.2,0.0,472,7655,0.47,2.35,148.93,1.237,10756,0.066,0.037,2996,427,1750,1813,1687,0,0,0,0,0,0,24.86,24.09,23.56
$GC,7742,0.48,175.2,2995,426,1801,1683,982.1,16.7,485,7748,0.00,2.15,0.00,0.000,1030,0.000,0.035,2996,1760,1742,1801,1683,0,0,0,0,0,0,25.30,25.22,25.33
$GC,8562,0.48,175.2,2995,1764,1796,1677,823.3,18.9,526,8568,0.00,2.20,0.00,0.000,260,0.000,0.038,2996,3203,1736,1796,1677,0,0,0,0,0,0,26.48,26.06,26.50
$GC,8682,0.48,175.2,2995,3203,1795,1677,802.5,16.7,532,8689,0.12,2.08,0.00,0.000,5126,0.216,0.032,2973,1836,1736,1795,1677,0,0,0,0,0,0,25.67,26.10,25.94
$GC,9502,0.48,175.2,2972,1836,1794,1674,681.6,14.1,573,9508,0.00,2.25,0.00,0.000,516,0.000,0.040,2982,384,1733,1793,1674,0,0,0,0,0,0,26.63,26.09,26.64
$GC,9575,0.48,175.2,2982,384,1789,1674,673.3,14.0,576,9582,0.00,2.17,0.00,0.000,1030,0.000,0.032,2982,1795,1731,1789,1674,0,0,0,0,0,0,26.28,26.18,26.32
$GC,10382,0.48,175.2,2982,1798,1791,1673,538.2,17.9,617,10388,0.00,2.12,0.00,0.000,260,0.000,0.035,2983,3207,1731,1790,1672,0,0,0,0,0,0,26.67,26.17,26.68
$GC,10502,0.48,175.2,2982,3207,1790,1672,516.7,18.2,623,10506,0.00,2.15,0.00,0.000,1030,0.000,0.031,2992,1789,1731,1790,1673,0,0,0,0,0,0,26.29,26.19,26.33
$GC,11323,0.48,175.2,2992,1789,1790,1672,378.4,16.1,664,11329,0.00,2.17,0.00,0.000,516,0.000,0.037,3004,375,1731,1790,1672,0,0,0,0,0,0,26.69,26.10,26.70
$GC,11363,0.48,175.2,3003,374,1788,1672,372.1,15.8,666,11370,0.12,2.17,0.00,0.000,5126,0.216,0.034,2971,1788,1730,1788,1672,0,0,0,0,0,0,25.65,26.16,25.89
$GC,12183,0.48,175.2,2970,1791,1791,1671,266.1,13.6,707,12189,0.00,2.17,0.00,0.000,516,0.000,0.036,2980,372,1731,1791,1671,0,0,0,0,0,0,26.69,26.08,26.71
$GC,12317,0.48,175.2,2979,372,1788,1671,250.0,13.3,713,12324,0.00,2.17,0.00,0.000,1030,0.000,0.033,2980,1792,1730,1789,1671,0,0,0,0,0,0,26.26,26.16,26.31
$GC,13123,0.48,175.2,2979,1793,1793,1671,148.5,11.1,776,13132,0.00,2.12,0.00,0.000,260,0.000,0.036,2980,3203,1732,1793,1672,0,0,0,0,0,0,26.69,26.12,26.71
$GC,13237,0.48,175.2,2979,3203,1793,1672,136.6,10.1,787,13244,0.00,2.12,0.00,0.000,1030,0.000,0.029,2989,1779,1733,1794,1672,0,0,0,0,0,0,26.27,26.17,26.32
$GC,13545,0.58,253.8,2989,1779,1795,1671,107.7,8.0,818,13615,0.00,2.22,61.10,0.658,8452,0.000,0.032,2990,3202,1428,1507,1350,0,0,0,0,0,0,26.70,25.53,24.90
$GC,13654,0.59,261.7,2989,3202,1504,1350,97.9,9.8,830,13668,0.00,2.17,7.90,0.558,9222,0.000,0.029,3000,1784,1397,1477,1318,0,0,0,0,0,0,25.74,25.65,24.82
$GC,13989,0.59,261.7,2999,1784,1473,1314,60.2,11.7,892,13996,0.00,2.20,0.00,0.000,516,0.000,0.036,3011,384,1392,1472,1313,0,0,0,0,0,0,26.32,25.82,26.33
$GC,14021,0.59,261.7,3010,384,1467,1311,56.6,11.5,897,14027,0.00,2.20,0.00,0.000,1030,0.000,0.031,3011,1796,1389,1468,1311,0,0,0,0,0,0,25.99,25.91,26.03
$GC,14369,0.59,261.7,3010,1800,1471,1310,21.0,11.4,958,14378,0.00,2.15,0.00,0.000,260,0.000,0.032,3011,3211,1390,1471,1310,0,0,0,0,0,0,26.47,26.03,26.48
$GC,14428,0.59,261.7,3010,3211,1470,1310,14.1,10.7,967,14437,0.00,2.17,0.00,0.000,1030,0.000,0.030,3018,1794,1390,1470,1310,0,0,0,0,0,0,26.08,26.04,26.11
$GC,14486,0.59,261.7,3018,1794,1471,1311,7.6,11.9,976,14495,0.00,2.20,0.00,0.000,516,0.000,0.034,3029,378,1390,1470,1310,0,0,0,0,0,0,26.50,25.96,26.51
$STATE,14520,end climb,SURFACE_DEPTH_REACHED
$STATE,14520,begin surface coast
$FINISH,1.0,1.017251
$STATE,14545,end surface coast,CONTROL_FINISHED_OK
$STATE,14545,begin surface
$SM_CCo,14564,97.22,0.047,0,0,499,482.01
$SM_GC,2.00,7.45,2.47,97.22,0.021,0.018,0.047,125,1988,499,-8.35,-1.13,482.01,0,0,0,0,0,0,26.13,26.13,25.94
$IRIDIUM_FIX,-3140.47,2957.29,230717,193109
$TT8_MAMPS,0.025466,0.267393
$HUMID,56.81
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,21.10
$XPDR_PINGS,1
$24V_AH,23.56,42.042
$10V_AH,10.20,21.269
$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,18.425,90.775,357.275,97.225,0.000,32.929,81.063,142.748,20.500,0.000,11.798,2409.422,9492.642,536.980,2446.923,163.460,0.000,1544.943,0.000,2078.077,0.000,136.152,0.000
$DEVICE_MAMPS,216.495,89.505,1273.725,46.665,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,682.956,100.829,439.436,443.381,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343388
$DATA_FILE_SIZE,63681,985
$CAP_FILE_SIZE,122349,0
$CFSIZE,2097086464,2046492672
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,4948.50,0x2338b8,0,24
$WARN,PPS timeout
$GPS,240717,000950,-3157.375,2953.136,40,1.1,40,-26.7,2.0,189.5,8,28.9