version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 450
start: 7 24 117 4 33 29
data:
$ID,574
$MISSION,23
$DIVE,450
$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,32
$R_STBD_OVSHOOT,38
$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
$GPS1,240717,042533,-3202.6028,2951.4624,30,0.7,30,-26.8,2.3,184.0,10,7.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-78.0
$GPS2,240717,043242,-3202.9663,2951.3755,5,0.7,5,-26.8,1.4,200.3,12,-1.0
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3202.966,2938.635
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,296.8,20000,-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,-175.2,126,1992,526,450,0.0,0.0,0,96,0.00,0.00,-77.53,0.000,16386,0.000,0.000,126,1992,2652,2646,2659,0,0,0,0,0,0,26.10,28.83,26.12
$GC,99,-0.48,-175.2,126,1992,2647,2659,3.1,-2.9,10,125,9.80,2.20,-11.15,0.000,18948,0.215,0.038,2640,575,3182,3225,3140,0,0,0,0,0,0,25.27,24.11,25.44
$GC,164,-0.48,-175.2,2639,573,3227,3140,19.4,-21.5,19,173,0.00,2.22,0.00,0.000,1030,0.000,0.030,2631,1987,3183,3227,3140,0,0,0,0,0,0,25.86,25.82,25.89
$GC,223,-0.48,-175.2,2630,1987,3227,3140,31.9,-22.5,28,232,0.00,2.17,0.00,0.000,260,0.000,0.034,2620,3404,3183,3227,3140,0,0,0,0,0,0,26.26,25.84,26.27
$GC,289,-0.48,-175.2,2620,3404,3228,3140,45.2,-17.4,39,296,0.10,2.15,0.00,0.000,3078,0.179,0.024,2649,1970,3184,3228,3140,0,0,0,0,0,0,25.60,25.92,25.75
$GC,615,-0.48,-175.2,2649,1966,3228,3140,106.3,-19.4,97,623,0.00,2.15,0.00,0.000,260,0.000,0.031,2641,3416,3184,3228,3140,0,0,0,0,0,0,26.45,26.02,26.46
$GC,726,-0.48,-175.2,2639,3416,3229,3139,123.0,-14.0,108,734,0.00,2.12,0.00,0.000,1030,0.000,0.026,2640,1991,3184,3229,3139,0,0,0,0,0,0,26.15,26.07,26.17
$GC,1036,-0.48,-175.2,2640,1987,3232,3139,175.8,-15.7,139,1044,0.00,2.10,0.00,0.000,260,0.000,0.030,2630,3415,3185,3232,3139,0,0,0,0,0,0,26.55,26.12,26.56
$GC,1098,-0.48,-175.2,2629,3415,3232,3139,184.5,-13.6,145,1107,0.00,2.10,0.00,0.000,1030,0.000,0.024,2630,1980,3186,3233,3139,0,0,0,0,0,0,26.18,26.16,26.22
$GC,1410,-0.48,-175.2,2629,1976,3233,3139,232.1,-16.1,166,1415,0.00,2.10,0.00,0.000,260,0.000,0.032,2620,3408,3186,3233,3139,0,0,0,0,0,0,26.58,26.15,26.60
$GC,1496,-0.48,-175.2,2619,3409,3233,3139,243.7,-14.4,170,1501,0.10,2.10,0.00,0.000,3078,0.162,0.024,2651,1980,3186,3233,3139,0,0,0,0,0,0,25.89,26.20,26.03
$GC,2304,-0.48,-175.2,2651,1975,3233,3136,348.4,-10.8,210,2309,0.00,2.05,0.00,0.000,516,0.000,0.028,2652,585,3184,3233,3136,0,0,0,0,0,0,26.67,26.20,26.68
$GC,2343,-0.48,-175.2,2651,584,3233,3136,352.5,-10.5,212,2349,0.00,2.12,0.00,0.000,1030,0.000,0.028,2644,1998,3184,3233,3136,0,0,0,0,0,0,26.32,26.22,26.34
$GC,3163,-0.48,-175.2,2643,1998,3232,3130,459.1,-15.7,253,3169,0.00,2.10,0.00,0.000,516,0.000,0.028,2644,591,3181,3232,3130,0,0,0,0,0,0,26.69,26.20,26.70
$GC,3207,-0.48,-175.2,2643,590,3232,3130,465.4,-15.3,255,3211,0.00,2.15,0.00,0.000,1030,0.000,0.028,2634,1984,3181,3232,3130,0,0,0,0,0,0,26.26,26.22,26.29
$GC,4026,-0.48,-175.2,2633,1984,3227,3127,575.1,-12.6,296,4031,0.00,2.10,0.00,0.000,260,0.000,0.035,2623,3400,3176,3226,3127,0,0,0,0,0,0,26.70,26.16,26.71
$GC,4053,-0.48,-175.2,2622,3400,3226,3127,577.6,-12.5,297,4058,0.10,2.10,0.00,0.000,3078,0.194,0.025,2655,1985,3176,3227,3126,0,0,0,0,0,0,25.82,26.22,25.98
$GC,4865,-0.48,-175.2,2655,1984,3223,3121,665.9,-11.1,338,4871,0.00,2.10,0.00,0.000,516,0.000,0.031,2656,585,3171,3222,3121,0,0,0,0,0,0,26.70,26.15,26.71
$GC,4945,-0.48,-175.2,2655,584,3222,3121,674.8,-11.0,342,4951,0.00,2.15,0.00,0.000,1030,0.000,0.030,2647,2000,3171,3221,3121,0,0,0,0,0,0,26.28,26.18,26.31
$GC,5765,-0.48,-175.2,2646,2000,3217,3117,775.5,-11.9,383,5771,0.00,2.12,0.00,0.000,516,0.000,0.028,2647,586,3167,3217,3117,0,0,0,0,0,0,26.71,26.15,26.72
$GC,5835,-0.48,-175.2,2646,586,3216,3117,781.9,-10.9,386,5839,0.00,2.12,0.00,0.000,1030,0.000,0.028,2637,1991,3166,3216,3116,0,0,0,0,0,0,26.27,26.17,26.30
$GC,6643,-0.48,-175.2,2636,1991,3211,3114,882.5,-12.6,426,6648,0.00,2.12,0.00,0.000,516,0.000,0.029,2636,582,3163,3212,3114,0,0,0,0,0,0,26.67,26.11,26.67
$GC,6735,-0.48,-175.2,2636,581,3212,3114,891.8,-11.6,430,6742,0.00,2.15,0.00,0.000,1030,0.000,0.030,2627,1990,3163,3212,3114,0,0,0,0,0,0,26.24,26.15,26.27
$GC,7542,-0.48,-175.2,2625,1990,3208,3110,998.7,-13.2,471,7546,0.00,2.15,0.00,0.000,516,0.000,0.031,2627,588,3159,3208,3110,0,0,0,0,0,0,26.70,26.08,26.71
$STATE,7562,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7562,begin apogee
$GC,7569,0.00,0.0,2618,1797,3208,3110,1001.8,-13.6,472,7716,0.62,0.00,143.15,1.291,10246,0.151,0.000,2802,1797,2464,2518,2411,0,0,0,0,0,0,25.34,24.41,23.59
$STATE,7716,end apogee,CONTROL_FINISHED_OK
$STATE,7717,begin climb
$GC,7719,0.48,175.2,2802,1797,2518,2411,1009.0,0.0,479,7885,0.43,2.35,152.75,1.246,10500,0.057,0.033,2968,3185,1749,1821,1677,0,0,0,0,0,0,24.63,23.74,22.95
$GC,7968,0.48,175.2,2967,3185,1814,1673,984.8,14.5,492,7973,0.00,2.22,0.00,0.000,1030,0.000,0.031,2978,1803,1744,1815,1673,0,0,0,0,0,0,24.87,24.77,24.89
$GC,8788,0.48,175.2,2977,1803,1810,1665,844.3,16.9,533,8793,0.00,2.22,0.00,0.000,516,0.000,0.041,2989,380,1736,1809,1664,0,0,0,0,0,0,26.36,25.85,26.38
$GC,8891,0.48,175.2,2988,380,1801,1665,828.4,15.4,538,8895,0.00,2.22,0.00,0.000,1030,0.000,0.031,2988,1801,1733,1801,1665,0,0,0,0,0,0,26.06,25.96,26.10
$GC,9708,0.48,175.2,2988,1804,1803,1664,683.8,16.7,579,9713,0.00,2.12,0.00,0.000,260,0.000,0.033,2989,3211,1733,1803,1664,0,0,0,0,0,0,26.55,26.04,26.56
$GC,9776,0.48,175.2,2988,3211,1803,1664,674.5,16.0,582,9781,0.10,2.17,0.00,0.000,5126,0.233,0.031,2973,1775,1733,1803,1664,0,0,0,0,0,0,25.58,26.06,25.82
$GC,10583,0.48,175.2,2972,1775,1803,1663,556.1,14.2,622,10589,0.00,2.15,0.00,0.000,516,0.000,0.037,2982,382,1732,1802,1662,0,0,0,0,0,0,26.62,25.99,26.63
$GC,10651,0.48,175.2,2981,381,1795,1662,547.7,14.1,625,10655,0.00,2.17,0.00,0.000,1030,0.000,0.028,2982,1802,1728,1795,1662,0,0,0,0,0,0,26.21,26.11,26.25
$GC,11459,0.48,175.2,2981,1806,1800,1662,430.5,14.4,665,11465,0.00,2.08,0.00,0.000,260,0.000,0.031,2982,3196,1731,1800,1662,0,0,0,0,0,0,26.65,26.09,26.66
$GC,11561,0.48,175.2,2981,3196,1800,1662,416.5,13.8,670,11565,0.00,2.12,0.00,0.000,1030,0.000,0.031,2992,1787,1731,1801,1662,0,0,0,0,0,0,26.20,26.10,26.25
$GC,12373,0.48,175.2,2992,1788,1801,1662,292.5,14.3,711,12378,0.00,2.12,0.00,0.000,260,0.000,0.030,2992,3210,1731,1801,1662,0,0,0,0,0,0,26.67,26.11,26.68
$GC,12401,0.48,175.2,2992,3210,1801,1662,289.7,14.3,712,12406,0.12,2.15,0.00,0.000,5126,0.200,0.030,2969,1778,1731,1801,1662,0,0,0,0,0,0,25.60,26.11,25.81
$GC,13208,0.48,175.2,2968,1777,1803,1662,197.9,10.1,753,13216,0.00,2.12,0.00,0.000,260,0.000,0.030,2969,3204,1732,1803,1662,0,0,0,0,0,0,26.67,26.10,26.69
$GC,13282,0.48,175.2,2968,3204,1804,1662,190.6,10.1,760,13289,0.00,2.12,0.00,0.000,1030,0.000,0.028,2977,1783,1734,1805,1663,0,0,0,0,0,0,26.21,26.11,26.25
$GC,13589,0.48,175.2,2976,1783,1804,1662,156.6,11.6,791,13597,0.00,2.12,0.00,0.000,260,0.000,0.029,2977,3211,1734,1806,1663,0,0,0,0,0,0,26.67,26.11,26.69
$GC,13633,0.48,175.2,2976,3211,1806,1662,151.9,11.4,795,13640,0.00,2.12,0.00,0.000,1030,0.000,0.029,2987,1788,1735,1808,1662,0,0,0,0,0,0,26.20,26.10,26.25
$GC,13940,0.52,204.4,2986,1788,1808,1662,119.7,9.3,826,13970,0.00,2.17,22.75,0.653,8708,0.000,0.034,2998,376,1628,1705,1552,0,0,0,0,0,0,26.68,25.65,25.20
$GC,13986,0.54,223.5,2997,376,1698,1552,115.6,9.5,830,14012,0.00,2.15,16.30,0.627,9222,0.000,0.027,2998,1793,1552,1631,1474,0,0,0,0,0,0,26.10,26.02,25.06
$GC,14323,0.55,227.7,2998,1795,1630,1470,78.9,9.9,882,14332,0.00,2.17,4.50,0.462,8452,0.000,0.031,2998,3204,1536,1617,1455,0,0,0,0,0,0,26.39,25.79,25.01
$GC,14423,0.55,227.7,2998,3204,1616,1455,68.8,10.1,900,14432,0.00,2.17,0.00,0.000,1030,0.000,0.027,3009,1784,1535,1616,1455,0,0,0,0,0,0,26.01,26.00,26.03
$GC,14757,0.58,251.8,3008,1784,1616,1455,36.6,9.4,961,14789,0.00,2.17,21.20,0.573,8452,0.000,0.028,3008,3207,1437,1523,1351,0,0,0,0,0,0,26.48,25.82,25.21
$GC,14806,0.58,251.8,3007,3207,1523,1351,31.7,10.6,967,14814,0.00,2.17,0.00,0.000,1030,0.000,0.028,3018,1797,1437,1523,1351,0,0,0,0,0,0,25.96,25.91,25.98
$GC,14960,0.58,251.8,3017,1797,1521,1351,14.5,10.5,992,14968,0.00,2.20,0.00,0.000,516,0.000,0.036,3029,391,1435,1520,1350,0,0,0,0,0,0,26.34,25.85,26.36
$GC,15001,0.58,251.8,3028,391,1513,1349,9.5,11.6,998,15010,0.10,2.17,0.00,0.000,5126,0.155,0.027,2998,1790,1431,1514,1349,0,0,0,0,0,0,25.63,25.96,25.72
$GC,15061,0.58,251.8,2998,1794,1519,1348,3.2,10.3,1007,15069,0.00,2.12,0.00,0.000,260,0.000,0.030,2998,3194,1434,1519,1349,0,0,0,0,0,0,26.39,25.95,26.40
$STATE,15077,end climb,SURFACE_DEPTH_REACHED
$STATE,15077,begin surface coast
$FINISH,1.0,1.015030
$STATE,15108,end surface coast,CONTROL_FINISHED_OK
$STATE,15108,begin surface
$SM_CCo,15126,101.25,0.045,0,0,498,482.01
$SM_GC,1.94,7.43,1.83,101.25,0.023,0.017,0.045,126,1953,498,-8.33,0.90,482.01,0,0,0,0,0,0,26.03,26.07,25.87
$IRIDIUM_FIX,-3150.62,2951.95,240717,042706
$TT8_MAMPS,0.025466,0.26964
$HUMID,53.58
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,22.95,42.326
$10V_AH,10.14,21.431
$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,18.900,107.000,360.650,101.250,0.000,33.332,22.190,257.840,20.250,0.000,11.814,2490.800,9970.380,557.600,2481.763,178.410,0.000,1584.026,0.000,2066.612,0.000,139.476,0.000
$DEVICE_MAMPS,233.325,65.790,1290.555,45.135,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,702.261,102.939,444.501,449.291,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343408
$DATA_FILE_SIZE,67006,1014
$CAP_FILE_SIZE,130961,0
$CFSIZE,2097086464,2046197760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,240717,084832,-3208.940,2948.785,38,1.0,38,-26.9,1.2,146.7,9,17.9