version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 451
start: 7 24 117 8 58 52
data:
$ID,574
$MISSION,23
$DIVE,451
$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,65
$R_STBD_OVSHOOT,40
$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
$GPS1,240717,084832,-3208.9404,2948.7854,38,1.0,38,-26.9,1.2,146.7,9,17.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-79.4
$GPS2,240717,085804,-3209.4485,2948.6663,5,1.1,5,-26.9,0.9,222.0,9,-1.0
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3209.448,2935.910
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,296.9,20000,-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,15,-0.48,-175.2,126,1944,526,449,0.0,0.0,0,96,0.00,0.00,-77.90,0.000,16386,0.000,0.000,126,1944,2670,2658,2682,0,0,0,0,0,0,26.10,28.83,26.11
$GC,99,-0.48,-175.2,126,1944,2657,2681,3.3,-2.5,10,125,9.68,2.28,-10.60,0.000,18692,0.209,0.044,2635,3402,3181,3225,3138,0,0,0,0,0,0,25.22,24.08,25.41
$GC,223,-0.48,-175.2,2634,3401,3228,3137,28.3,-15.0,29,231,0.00,2.12,0.00,0.000,1030,0.000,0.026,2635,2017,3183,3228,3138,0,0,0,0,0,0,25.92,25.87,25.93
$GC,365,-0.48,-175.2,2634,2016,3228,3137,58.9,-22.2,54,373,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2015,3183,3228,3138,0,0,0,0,0,0,26.34,26.36,26.36
$GC,684,-0.48,-175.2,2634,2012,3229,3137,119.0,-16.6,104,692,0.00,2.08,0.00,0.000,260,0.000,0.031,2625,3409,3183,3229,3137,0,0,0,0,0,0,26.47,26.01,26.48
$GC,819,-0.48,-175.2,2624,3408,3230,3138,137.8,-13.3,117,826,0.00,2.12,0.00,0.000,1030,0.000,0.025,2624,1976,3184,3231,3138,0,0,0,0,0,0,26.17,26.09,26.20
$GC,1125,-0.48,-175.2,2624,1973,3232,3137,189.4,-16.9,148,1133,0.00,2.12,0.00,0.000,260,0.000,0.031,2614,3409,3185,3233,3138,0,0,0,0,0,0,26.56,26.11,26.58
$GC,1189,-0.48,-175.2,2614,3410,3232,3137,198.8,-14.3,154,1199,0.12,2.10,0.00,0.000,3078,0.158,0.023,2653,1978,3185,3233,3137,0,0,0,0,0,0,25.81,26.17,25.95
$GC,1497,-0.48,-175.2,2652,1974,3232,3137,239.2,-12.4,170,1502,0.00,2.08,0.00,0.000,260,0.000,0.031,2644,3397,3185,3233,3137,0,0,0,0,0,0,26.61,26.14,26.63
$GC,1564,-0.48,-175.2,2644,3397,3232,3137,246.0,-11.5,173,1568,0.00,2.08,0.00,0.000,1030,0.000,0.024,2644,1982,3184,3232,3137,0,0,0,0,0,0,26.27,26.20,26.29
$GC,2376,-0.48,-175.2,2644,1978,3232,3134,356.4,-11.8,214,2381,0.00,2.10,0.00,0.000,260,0.000,0.031,2634,3399,3183,3233,3134,0,0,0,0,0,0,26.67,26.17,26.68
$GC,2501,-0.48,-175.2,2633,3400,3233,3132,369.4,-10.5,220,2507,0.00,2.08,0.00,0.000,1030,0.000,0.024,2634,1982,3183,3233,3133,0,0,0,0,0,0,26.32,26.24,26.34
$GC,3318,-0.48,-175.2,2633,1981,3231,3128,481.0,-13.5,261,3322,0.00,2.12,0.00,0.000,260,0.000,0.033,2624,3406,3180,3231,3129,0,0,0,0,0,0,26.67,26.17,26.68
$GC,3359,-0.48,-175.2,2623,3407,3230,3128,486.3,-13.1,263,3363,0.00,2.10,0.00,0.000,1030,0.000,0.025,2624,1992,3179,3230,3128,0,0,0,0,0,0,26.32,26.22,26.34
$GC,4182,-0.48,-175.2,2623,1991,3226,3123,609.4,-13.9,304,4187,0.00,2.10,0.00,0.000,516,0.000,0.031,2624,587,3174,3226,3123,0,0,0,0,0,0,26.70,26.16,26.72
$GC,4201,-0.48,-175.2,2623,586,3225,3123,612.3,-13.9,305,4208,0.10,2.10,0.00,0.000,3078,0.185,0.027,2645,1988,3174,3226,3122,0,0,0,0,0,0,25.72,26.21,25.82
$GC,5022,-0.48,-175.2,2644,1989,3221,3117,709.0,-12.4,346,5027,0.00,2.10,0.00,0.000,516,0.000,0.030,2645,582,3169,3221,3117,0,0,0,0,0,0,26.70,26.14,26.72
$GC,5074,-0.48,-175.2,2644,582,3220,3117,713.9,-12.5,348,5081,0.00,2.15,0.00,0.000,1030,0.000,0.030,2636,1998,3168,3220,3117,0,0,0,0,0,0,26.26,26.16,26.29
$GC,5881,-0.48,-175.2,2635,1998,3216,3113,820.6,-12.4,389,5887,0.00,2.10,0.00,0.000,516,0.000,0.029,2636,593,3164,3216,3113,0,0,0,0,0,0,26.67,26.11,26.68
$GC,5964,-0.48,-175.2,2635,593,3216,3113,829.7,-11.3,393,5968,0.00,2.12,0.00,0.000,1030,0.000,0.029,2625,1994,3164,3215,3113,0,0,0,0,0,0,26.25,26.15,26.28
$GC,6776,-0.48,-175.2,2625,1994,3212,3108,935.0,-12.9,434,6781,0.00,2.12,0.00,0.000,516,0.000,0.030,2626,590,3160,3212,3108,0,0,0,0,0,0,26.70,26.08,26.72
$GC,6884,-0.48,-175.2,2625,590,3211,3108,946.4,-10.8,439,6889,0.12,2.15,0.00,0.000,3078,0.214,0.030,2651,1997,3160,3212,3108,0,0,0,0,0,0,25.53,26.13,25.72
$STATE,7409,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7410,begin apogee
$GC,7415,0.00,0.0,2651,1749,3209,3107,1000.3,-10.3,465,7561,0.50,0.00,142.12,1.260,10246,0.135,0.000,2804,1748,2465,2521,2409,0,0,0,0,0,0,25.49,24.45,23.63
$STATE,7562,end apogee,CONTROL_FINISHED_OK
$STATE,7562,begin climb
$GC,7564,0.48,175.2,2804,1748,2520,2409,1005.5,0.0,472,7725,0.43,2.22,152.02,1.230,10756,0.058,0.037,2978,437,1750,1823,1677,0,0,0,0,0,0,24.66,23.78,22.99
$GC,7771,0.48,175.2,2977,435,1809,1675,984.3,16.0,482,7775,0.00,2.22,0.00,0.000,1030,0.000,0.028,2978,1785,1742,1809,1675,0,0,0,0,0,0,24.60,24.52,24.63
$GC,8583,0.48,175.2,2977,1789,1807,1669,846.8,15.7,523,8588,0.00,2.15,0.00,0.000,260,0.000,0.033,2978,3202,1738,1807,1669,0,0,0,0,0,0,26.36,25.91,26.36
$GC,8676,0.48,175.2,2977,3201,1805,1669,834.7,15.0,527,8682,0.00,2.08,0.00,0.000,1030,0.000,0.030,2987,1836,1736,1805,1668,0,0,0,0,0,0,26.04,25.94,26.08
$GC,9483,0.48,175.2,2986,1836,1802,1668,696.0,16.9,568,9488,0.00,2.05,0.00,0.000,260,0.000,0.029,2987,3209,1735,1802,1668,0,0,0,0,0,0,26.54,26.07,26.55
$GC,9536,0.48,175.2,2986,3209,1801,1667,689.6,16.3,570,9543,0.10,2.15,0.00,0.000,5126,0.238,0.031,2972,1788,1735,1802,1668,0,0,0,0,0,0,25.57,26.06,25.81
$GC,10343,0.48,175.2,2972,1788,1801,1667,574.1,13.3,611,10348,0.00,2.20,0.00,0.000,516,0.000,0.039,2981,382,1733,1800,1667,0,0,0,0,0,0,26.61,25.98,26.63
$GC,10383,0.48,175.2,2981,382,1795,1666,568.7,13.3,613,10388,0.00,2.17,0.00,0.000,1030,0.000,0.028,2981,1802,1731,1796,1666,0,0,0,0,0,0,26.21,26.11,26.25
$GC,11203,0.48,175.2,2980,1805,1798,1666,441.4,15.1,654,11208,0.00,2.20,0.00,0.000,516,0.000,0.035,2991,379,1731,1797,1666,0,0,0,0,0,0,26.65,26.01,26.66
$GC,11351,0.48,175.2,2991,379,1793,1666,422.1,13.5,661,11355,0.00,2.17,0.00,0.000,1030,0.000,0.030,2992,1793,1729,1793,1666,0,0,0,0,0,0,26.20,26.10,26.25
$GC,12159,0.48,175.2,2992,1796,1797,1666,298.8,16.2,701,12165,0.00,2.10,0.00,0.000,260,0.000,0.032,2992,3207,1731,1797,1665,0,0,0,0,0,0,26.66,26.08,26.68
$GC,12218,0.48,175.2,2991,3206,1797,1666,289.6,15.6,704,12224,0.12,2.15,0.00,0.000,5126,0.200,0.030,2968,1781,1732,1798,1666,0,0,0,0,0,0,25.59,26.10,25.80
$GC,13038,0.48,175.2,2968,1781,1800,1665,201.0,10.4,745,13043,0.00,2.15,0.00,0.000,260,0.000,0.031,2968,3217,1732,1800,1665,0,0,0,0,0,0,26.67,26.10,26.69
$GC,13118,0.48,175.2,2967,3217,1801,1666,192.5,10.2,752,13126,0.00,2.15,0.00,0.000,1030,0.000,0.030,2977,1788,1733,1802,1665,0,0,0,0,0,0,26.20,26.10,26.25
$GC,13428,0.48,175.2,2976,1787,1802,1666,156.0,12.2,783,13431,0.00,2.17,0.00,0.000,516,0.000,0.036,2988,376,1733,1802,1665,0,0,0,0,0,0,26.67,25.99,26.69
$GC,13461,0.48,175.2,2987,375,1798,1666,152.3,11.7,786,13469,0.00,2.15,0.00,0.000,1030,0.000,0.028,2988,1794,1733,1801,1666,0,0,0,0,0,0,26.22,26.13,26.26
$GC,13769,0.54,219.9,2987,1794,1803,1666,122.8,8.9,817,13810,0.00,2.17,34.60,0.669,8452,0.000,0.032,2987,3200,1567,1648,1487,0,0,0,0,0,0,26.67,25.77,25.08
$GC,13842,0.54,219.9,2987,3199,1645,1486,115.5,10.7,824,13851,0.00,2.15,0.00,0.000,1030,0.000,0.028,2998,1784,1565,1645,1486,0,0,0,0,0,0,25.93,25.84,25.96
$GC,14160,0.67,329.7,2997,1784,1644,1482,86.9,7.2,870,14259,0.00,2.28,89.60,0.646,8708,0.000,0.035,3008,384,1118,1229,1007,0,0,0,0,0,0,26.41,25.11,24.53
$GC,14322,0.67,329.7,3008,384,1215,1006,69.9,10.7,897,14328,0.00,2.20,0.00,0.000,1030,0.000,0.024,3009,1792,1110,1215,1005,0,0,0,0,0,0,25.53,25.46,25.56
$GC,14657,0.67,329.7,3008,1796,1215,1003,31.8,10.5,958,14665,0.00,2.15,0.00,0.000,260,0.000,0.029,3008,3197,1109,1215,1004,0,0,0,0,0,0,26.24,25.81,26.25
$GC,14686,0.67,329.7,3008,3197,1214,1003,28.5,11.1,962,14695,0.00,2.17,0.00,0.000,1030,0.000,0.029,3011,1791,1109,1214,1004,0,0,0,0,0,0,25.86,25.83,25.90
$GC,14839,0.67,329.7,3010,1791,1214,1003,11.2,11.6,987,14847,0.00,2.22,0.00,0.000,516,0.000,0.037,3022,383,1108,1213,1003,0,0,0,0,0,0,26.34,25.84,26.35
$STATE,14908,end climb,SURFACE_DEPTH_REACHED
$STATE,14908,begin surface coast
$FINISH,1.1,1.024861
$STATE,14927,end surface coast,CONTROL_FINISHED_OK
$STATE,14927,begin surface
$SM_CCo,14946,66.70,0.046,0,0,500,482.01
$SM_GC,1.92,7.60,2.47,66.70,0.032,0.018,0.046,125,1992,500,-8.35,-1.24,482.01,0,0,0,0,0,0,25.94,25.96,25.84
$IRIDIUM_FIX,-3155.70,2947.53,240717,085146
$TT8_MAMPS,0.025466,0.289863
$HUMID,54.05
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,22.10
$XPDR_PINGS,1
$24V_AH,22.99,42.476
$10V_AH,10.13,21.513
$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,18.775,94.950,418.350,66.700,0.000,65.762,48.000,279.519,20.500,0.000,11.781,2429.433,9896.178,551.235,2546.988,183.480,0.000,1565.097,0.000,2050.463,0.000,139.818,0.000
$DEVICE_MAMPS,237.915,44.370,1259.955,45.900,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,697.371,100.011,442.150,446.627,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343412
$DATA_FILE_SIZE,63705,1001
$CAP_FILE_SIZE,125671,0
$CFSIZE,2097086464,2046099456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,240717,131021,-3216.019,2945.415,39,0.9,39,-27.0,2.2,202.4,9,7.6