version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 449
start: 7 24 117 0 18 4
data:
$ID,574
$MISSION,23
$DIVE,449
$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,36
$R_STBD_OVSHOOT,32
$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
$GPS1,240717,000950,-3157.3748,2953.1357,40,1.1,40,-26.7,2.0,189.5,8,28.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-75.1
$GPS2,240717,001718,-3157.7979,2953.0913,4,1.1,4,-26.7,1.2,172.1,8,-1.0
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3157.798,2940.362
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,296.7,20000,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.48,-175.2,125,1992,528,447,0.0,0.0,0,96,0.00,0.00,-77.38,0.000,16386,0.000,0.000,126,1992,2640,2630,2650,0,0,0,0,0,0,26.16,28.83,26.17
$GC,99,-0.48,-175.2,126,1992,2630,2650,3.0,-2.0,10,125,9.62,2.20,-11.23,0.000,18948,0.209,0.037,2642,566,3182,3225,3139,0,0,0,0,0,0,25.29,24.14,25.47
$GC,146,-0.48,-175.2,2641,566,3227,3138,16.4,-28.9,16,155,0.00,2.25,0.00,0.000,1030,0.000,0.033,2633,1983,3183,3228,3138,0,0,0,0,0,0,25.89,25.85,25.91
$GC,205,-0.48,-175.2,2633,1983,3227,3138,28.0,-21.2,25,213,0.00,2.20,0.00,0.000,260,0.000,0.037,2622,3407,3182,3227,3138,0,0,0,0,0,0,26.29,25.84,26.30
$GC,315,-0.48,-175.2,2622,3407,3227,3139,48.0,-16.0,44,323,0.08,2.17,0.00,0.000,3078,0.172,0.026,2646,1978,3183,3228,3138,0,0,0,0,0,0,25.66,25.98,25.72
$GC,639,-0.48,-175.2,2646,1974,3228,3138,106.7,-19.0,102,648,0.00,2.15,0.00,0.000,260,0.000,0.031,2637,3421,3183,3228,3138,0,0,0,0,0,0,26.49,26.04,26.50
$GC,722,-0.48,-175.2,2637,3421,3229,3138,119.6,-15.8,110,730,0.00,2.15,0.00,0.000,1030,0.000,0.023,2637,1989,3183,3229,3138,0,0,0,0,0,0,26.16,26.13,26.18
$GC,1030,-0.48,-175.2,2636,1985,3232,3138,174.5,-17.4,141,1039,0.00,2.12,0.00,0.000,260,0.000,0.034,2627,3414,3185,3232,3138,0,0,0,0,0,0,26.58,26.10,26.59
$GC,1091,-0.48,-175.2,2626,3414,3232,3138,183.7,-14.5,147,1099,0.00,2.10,0.00,0.000,1030,0.000,0.023,2627,1983,3185,3233,3138,0,0,0,0,0,0,26.26,26.18,26.29
$GC,1403,-0.48,-175.2,2626,1979,3233,3138,232.4,-15.3,168,1408,0.00,2.12,0.00,0.000,260,0.000,0.034,2617,3418,3185,3233,3138,0,0,0,0,0,0,26.59,26.15,26.60
$GC,1506,-0.48,-175.2,2616,3418,3233,3138,246.4,-13.2,173,1510,0.10,2.10,0.00,0.000,3078,0.174,0.024,2649,1989,3185,3233,3138,0,0,0,0,0,0,25.88,26.23,26.03
$GC,2324,-0.48,-175.2,2648,1985,3233,3135,356.0,-13.7,214,2329,0.00,2.10,0.00,0.000,260,0.000,0.035,2640,3410,3183,3232,3135,0,0,0,0,0,0,26.68,26.19,26.70
$GC,2403,-0.48,-175.2,2639,3411,3232,3133,366.1,-12.4,218,2408,0.00,2.10,0.00,0.000,1030,0.000,0.024,2640,1984,3183,3233,3133,0,0,0,0,0,0,26.33,26.25,26.36
$GC,3224,-0.48,-175.2,2639,1980,3233,3129,477.3,-11.7,259,3230,0.00,2.08,0.00,0.000,516,0.000,0.031,2640,587,3180,3232,3129,0,0,0,0,0,0,26.70,26.19,26.71
$GC,3265,-0.48,-175.2,2639,587,3231,3129,481.7,-11.4,261,3269,0.00,2.20,0.00,0.000,1030,0.000,0.031,2630,2030,3180,3231,3129,0,0,0,0,0,0,26.29,26.20,26.33
$GC,4083,-0.48,-175.2,2629,2030,3226,3125,587.6,-13.7,302,4089,0.00,2.05,0.00,0.000,260,0.000,0.037,2619,3401,3175,3226,3125,0,0,0,0,0,0,26.70,26.15,26.72
$GC,4223,-0.48,-175.2,2619,3401,3225,3124,603.1,-10.6,309,4230,0.10,2.10,0.00,0.000,3078,0.190,0.025,2651,1985,3175,3225,3125,0,0,0,0,0,0,25.82,26.22,25.98
$GC,5045,-0.48,-175.2,2650,1981,3221,3119,691.3,-11.2,350,5050,0.00,2.08,0.00,0.000,516,0.000,0.032,2652,594,3170,3221,3119,0,0,0,0,0,0,26.68,26.15,26.70
$GC,5143,-0.48,-175.2,2651,593,3220,3119,702.3,-10.6,355,5149,0.00,2.15,0.00,0.000,1030,0.000,0.032,2644,1998,3169,3220,3119,0,0,0,0,0,0,26.27,26.17,26.30
$GC,5964,-0.48,-175.2,2643,1998,3216,3115,810.8,-13.4,396,5970,0.00,2.10,0.00,0.000,260,0.000,0.038,2633,3398,3165,3215,3115,0,0,0,0,0,0,26.67,26.09,26.68
$GC,6126,-0.48,-175.2,2632,3399,3213,3115,829.3,-11.0,404,6130,0.00,2.15,0.00,0.000,1030,0.000,0.027,2633,1986,3164,3213,3115,0,0,0,0,0,0,26.31,26.18,26.34
$GC,6944,-0.48,-175.2,2632,1986,3212,3112,934.7,-12.2,445,6949,0.00,2.12,0.00,0.000,516,0.000,0.034,2632,582,3161,3211,3112,0,0,0,0,0,0,26.70,26.08,26.72
$GC,7006,-0.48,-175.2,2632,581,3211,3112,941.6,-11.7,448,7011,0.00,2.15,0.00,0.000,1030,0.000,0.031,2623,1992,3161,3211,3112,0,0,0,0,0,0,26.16,26.12,26.20
$STATE,7464,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7464,begin apogee
$GC,7470,0.00,0.0,2622,1739,3208,3110,1001.5,-12.5,471,7617,0.62,0.08,142.70,1.281,10246,0.145,0.085,2808,1822,2465,2518,2412,0,0,0,0,0,0,25.37,24.45,23.61
$STATE,7618,end apogee,CONTROL_FINISHED_OK
$STATE,7618,begin climb
$GC,7620,0.48,175.2,2808,1822,2517,2411,1006.7,0.0,478,7786,0.43,2.50,153.05,1.281,10756,0.059,0.038,2982,396,1747,1817,1677,0,0,0,0,0,0,24.68,23.77,22.96
$GC,7801,0.48,175.2,2982,395,1809,1677,992.7,14.1,487,7808,0.00,2.28,0.00,0.000,1030,0.000,0.034,2982,1750,1742,1808,1677,0,0,0,0,0,0,24.34,24.27,24.37
$GC,8609,0.48,175.2,2982,1754,1803,1671,851.3,18.3,528,8614,0.00,2.25,0.00,0.000,260,0.000,0.037,2982,3214,1737,1804,1671,0,0,0,0,0,0,26.34,25.89,26.36
$GC,8661,0.48,175.2,2982,3214,1802,1670,844.1,18.3,530,8668,0.00,2.17,0.00,0.000,1030,0.000,0.031,2993,1795,1736,1803,1670,0,0,0,0,0,0,26.03,25.94,26.08
$GC,9470,0.48,175.2,2992,1795,1800,1668,680.1,19.0,571,9475,0.00,2.17,0.00,0.000,516,0.000,0.041,3004,384,1734,1800,1669,0,0,0,0,0,0,26.54,25.98,26.55
$GC,9491,0.48,175.2,3003,384,1794,1669,676.3,18.9,572,9496,0.12,2.17,0.00,0.000,5126,0.219,0.030,2971,1805,1731,1794,1668,0,0,0,0,0,0,25.54,26.08,25.80
$GC,10304,0.48,175.2,2971,1809,1795,1668,544.6,16.0,613,10309,0.00,2.20,0.00,0.000,516,0.000,0.036,2980,381,1731,1795,1668,0,0,0,0,0,0,26.61,26.01,26.63
$GC,10352,0.48,175.2,2980,382,1791,1668,538.6,15.3,615,10356,0.00,2.17,0.00,0.000,1030,0.000,0.032,2980,1794,1729,1791,1668,0,0,0,0,0,0,26.20,26.09,26.24
$GC,11159,0.48,175.2,2980,1799,1794,1667,413.8,15.0,655,11164,0.00,2.12,0.00,0.000,260,0.000,0.034,2980,3206,1730,1794,1667,0,0,0,0,0,0,26.65,26.08,26.66
$GC,11239,0.48,175.2,2980,3206,1794,1667,402.9,13.6,659,11244,0.00,2.15,0.00,0.000,1030,0.000,0.031,2990,1782,1731,1795,1668,0,0,0,0,0,0,26.21,26.11,26.25
$GC,12060,0.48,175.2,2990,1782,1795,1667,282.6,14.8,700,12066,0.00,2.12,0.00,0.000,516,0.000,0.037,3002,387,1730,1794,1667,0,0,0,0,0,0,26.66,26.01,26.68
$GC,12079,0.48,175.2,3001,387,1791,1667,279.4,15.3,701,12085,0.12,2.15,0.00,0.000,5126,0.193,0.028,2968,1796,1729,1792,1667,0,0,0,0,0,0,25.63,26.13,25.84
$GC,12889,0.48,175.2,2967,1799,1796,1667,188.6,11.2,747,12898,0.00,2.17,0.00,0.000,516,0.000,0.034,2976,379,1731,1795,1667,0,0,0,0,0,0,26.67,26.02,26.69
$GC,13061,0.48,175.2,2976,378,1793,1667,169.9,10.5,764,13069,0.00,2.17,0.00,0.000,1030,0.000,0.032,2977,1792,1731,1795,1667,0,0,0,0,0,0,26.20,26.10,26.25
$GC,13371,0.53,217.7,2976,1795,1799,1667,139.2,8.9,795,13411,0.00,2.15,32.92,0.706,8452,0.000,0.032,2977,3207,1575,1652,1499,0,0,0,0,0,0,26.67,25.53,25.08
$GC,13485,0.55,230.5,2976,3207,1648,1499,128.0,9.7,806,13504,0.00,2.15,11.70,0.651,9222,0.000,0.029,2987,1784,1524,1604,1444,0,0,0,0,0,0,25.88,25.84,24.98
$GC,13806,0.57,245.7,2986,1784,1602,1441,96.8,9.6,841,13825,0.00,2.25,13.57,0.639,8708,0.000,0.036,2998,373,1462,1546,1378,0,0,0,0,0,0,26.34,25.76,25.08
$GC,13929,0.58,258.7,2997,372,1533,1378,84.5,9.7,863,13949,0.00,2.20,11.93,0.624,9222,0.000,0.029,2998,1797,1409,1494,1324,0,0,0,0,0,0,25.95,25.86,25.01
$GC,14269,0.58,258.7,3000,1802,1490,1324,43.8,10.5,926,14275,0.00,2.10,0.00,0.000,260,0.000,0.029,3001,3211,1406,1489,1324,0,0,0,0,0,0,26.35,25.94,26.36
$GC,14316,0.58,258.7,3000,3212,1489,1323,39.2,10.3,934,14324,0.00,2.20,0.00,0.000,1030,0.000,0.028,3011,1787,1406,1489,1323,0,0,0,0,0,0,26.00,25.94,26.03
$GC,14471,0.65,308.3,3010,1787,1489,1323,24.9,8.7,959,14503,0.00,2.20,24.90,0.580,8708,0.000,0.035,3022,384,1205,1307,1104,0,0,0,0,0,0,26.43,25.54,25.18
$GC,14547,0.65,308.3,3021,384,1294,1104,17.0,10.0,970,14556,0.00,2.20,0.00,0.000,1030,0.000,0.028,3021,1782,1198,1294,1102,0,0,0,0,0,0,25.87,25.85,25.91
$GC,14606,0.65,308.3,3021,1785,1294,1102,10.1,10.7,979,14615,0.00,2.17,0.00,0.000,260,0.000,0.031,3022,3197,1198,1294,1102,0,0,0,0,0,0,26.24,25.86,26.25
$GC,14635,0.65,308.3,3021,3199,1294,1102,6.6,12.4,983,14644,0.00,2.17,0.00,0.000,1030,0.000,0.031,3031,1797,1198,1294,1102,0,0,0,0,0,0,25.92,25.88,25.94
$STATE,14663,end climb,SURFACE_DEPTH_REACHED
$STATE,14663,begin surface coast
$FINISH,0.9,1.024189
$STATE,14688,end surface coast,CONTROL_FINISHED_OK
$STATE,14688,begin surface
$SM_CCo,14705,77.10,0.046,0,0,499,482.01
$SM_GC,2.13,7.60,0.28,77.10,0.029,0.031,0.046,125,2106,499,-8.31,-1.19,482.01,0,0,0,0,0,0,25.94,26.10,25.83
$IRIDIUM_FIX,-3143.01,2957.29,240717,001124
$TT8_MAMPS,0.025466,0.268891
$HUMID,55.43
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,21.80
$XPDR_PINGS,2
$24V_AH,22.96,42.188
$10V_AH,10.14,21.350
$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,18.800,100.225,390.775,77.100,0.000,34.085,41.137,256.492,20.750,0.000,10.789,2421.183,9618.925,546.844,2481.944,183.343,0.000,1567.711,0.000,2045.478,0.000,136.108,0.000
$DEVICE_MAMPS,218.790,84.915,1281.375,45.900,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,687.056,99.574,443.972,443.237,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343332
$DATA_FILE_SIZE,63735,991
$CAP_FILE_SIZE,127869,0
$CFSIZE,2097086464,2046361600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,240717,042533,-3202.603,2951.462,30,0.7,30,-26.8,2.3,184.0,10,7.4