version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 452
start: 7 24 117 13 18 8
data:
$ID,574
$MISSION,23
$DIVE,452
$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,37
$R_STBD_OVSHOOT,41
$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
$GPS1,240717,131021,-3216.0188,2945.4146,39,0.9,39,-27.0,2.2,202.4,9,7.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-73.2
$GPS2,240717,131722,-3216.3860,2945.2053,4,0.9,4,-27.1,1.0,180.7,9,13.9
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3216.386,2932.433
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,297.1,20000,-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,-175.2,125,1997,537,445,0.0,0.0,0,96,0.00,0.00,-77.82,0.000,16386,0.000,0.000,125,1997,2651,2642,2661,0,0,0,0,0,0,26.11,28.83,26.13
$GC,99,-0.48,-175.2,125,1998,2644,2661,3.2,-2.3,10,125,9.88,2.17,-10.93,0.000,18692,0.216,0.044,2636,3401,3182,3228,3137,0,0,0,0,0,0,25.22,24.09,25.41
$GC,289,-0.48,-175.2,2635,3401,3232,3137,38.1,-14.8,40,298,0.00,2.17,0.00,0.000,1030,0.000,0.026,2636,1980,3184,3232,3137,0,0,0,0,0,0,25.94,25.91,25.98
$GC,427,-0.48,-175.2,2635,1977,3232,3136,66.4,-21.5,65,434,0.00,2.12,0.00,0.000,260,0.000,0.031,2625,3401,3184,3232,3136,0,0,0,0,0,0,26.37,25.93,26.39
$GC,467,-0.48,-175.2,2625,3401,3232,3136,74.2,-17.6,72,476,0.00,2.15,0.00,0.000,1030,0.000,0.023,2626,1981,3184,3232,3136,0,0,0,0,0,0,26.03,25.98,26.06
$GC,784,-0.48,-175.2,2625,1977,3233,3136,138.2,-19.4,114,792,0.00,2.12,0.00,0.000,260,0.000,0.031,2616,3411,3184,3233,3136,0,0,0,0,0,0,26.49,26.04,26.51
$GC,945,-0.48,-175.2,2615,3411,3234,3136,163.8,-14.7,130,954,0.12,2.10,0.00,0.000,3078,0.151,0.025,2655,1991,3185,3234,3136,0,0,0,0,0,0,25.79,26.10,25.92
$GC,1255,-0.48,-175.2,2654,1988,3237,3136,206.2,-13.5,159,1260,0.00,2.08,0.00,0.000,516,0.000,0.028,2655,587,3186,3236,3136,0,0,0,0,0,0,26.58,26.12,26.59
$GC,1276,-0.48,-175.2,2655,587,3236,3136,209.0,-13.6,160,1282,0.00,2.10,0.00,0.000,1030,0.000,0.026,2646,2000,3186,3236,3136,0,0,0,0,0,0,26.19,26.15,26.22
$GC,2096,-0.48,-175.2,2645,2000,3235,3136,319.7,-12.4,201,2099,0.00,2.12,0.00,0.000,516,0.000,0.027,2646,583,3186,3236,3136,0,0,0,0,0,0,26.65,26.18,26.67
$GC,2145,-0.48,-175.2,2645,580,3236,3136,324.8,-12.4,203,2149,0.00,2.12,0.00,0.000,1030,0.000,0.028,2636,1992,3186,3236,3136,0,0,0,0,0,0,26.28,26.20,26.31
$GC,2953,-0.48,-175.2,2636,1992,3235,3131,433.3,-13.5,243,2954,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,1992,3183,3235,3131,0,0,0,0,0,0,26.68,26.70,26.69
$GC,3752,-0.48,-175.2,2636,1992,3231,3127,545.5,-13.3,283,3758,0.00,2.10,0.00,0.000,260,0.000,0.035,2625,3398,3178,3230,3127,0,0,0,0,0,0,26.70,26.15,26.71
$GC,3780,-0.48,-175.2,2625,3398,3229,3127,548.3,-13.4,284,3784,0.00,2.08,0.00,0.000,1030,0.000,0.024,2625,1992,3177,3228,3127,0,0,0,0,0,0,26.30,26.22,26.33
$GC,4589,-0.48,-175.2,2625,1988,3225,3122,662.2,-14.0,324,4594,0.00,2.08,0.00,0.000,260,0.000,0.034,2616,3392,3173,3225,3122,0,0,0,0,0,0,26.67,26.15,26.69
$GC,4728,-0.48,-175.2,2615,3392,3224,3121,679.2,-11.8,331,4735,0.10,2.05,0.00,0.000,3078,0.155,0.026,2648,1998,3172,3224,3121,0,0,0,0,0,0,25.81,26.20,25.89
$GC,5549,-0.48,-175.2,2648,1995,3219,3117,782.0,-12.3,372,5555,0.00,2.08,0.00,0.000,260,0.000,0.034,2639,3390,3167,3219,3116,0,0,0,0,0,0,26.67,26.12,26.69
$GC,5620,-0.48,-175.2,2638,3390,3219,3116,788.8,-11.7,375,5628,0.00,2.10,0.00,0.000,1030,0.000,0.025,2639,1981,3167,3219,3116,0,0,0,0,0,0,26.27,26.18,26.29
$GC,6428,-0.48,-175.2,2639,1981,3213,3114,892.2,-11.9,416,6434,0.00,2.12,0.00,0.000,260,0.000,0.034,2629,3400,3163,3213,3114,0,0,0,0,0,0,26.66,26.08,26.68
$GC,6475,-0.48,-175.2,2628,3400,3213,3113,896.6,-11.6,418,6479,0.00,2.10,0.00,0.000,1030,0.000,0.027,2629,1994,3163,3213,3113,0,0,0,0,0,0,26.24,26.14,26.27
$GC,7282,-0.48,-175.2,2628,1994,3210,3109,996.7,-12.6,458,7288,0.00,2.15,0.00,0.000,516,0.000,0.034,2629,579,3160,3210,3110,0,0,0,0,0,0,26.70,26.04,26.71
$STATE,7323,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7323,begin apogee
$GC,7329,0.00,0.0,2620,1789,3210,3110,1001.7,-12.7,460,7476,0.62,0.00,142.62,1.279,10246,0.148,0.000,2805,1789,2464,2518,2411,0,0,0,0,0,0,25.32,24.43,23.61
$STATE,7476,end apogee,CONTROL_FINISHED_OK
$STATE,7477,begin climb
$GC,7479,0.48,175.2,2805,1789,2518,2411,1008.5,0.0,467,7644,0.43,2.45,152.95,1.265,10756,0.057,0.037,2980,394,1748,1819,1678,0,0,0,0,0,0,24.64,23.73,22.94
$GC,7720,0.48,175.2,2979,394,1807,1677,985.3,15.7,479,7727,0.00,2.28,0.00,0.000,1030,0.000,0.029,2980,1788,1742,1807,1677,0,0,0,0,0,0,24.82,24.74,24.85
$GC,8528,0.48,175.2,2979,1793,1803,1671,849.4,16.0,520,8534,0.00,2.17,0.00,0.000,516,0.000,0.037,2989,387,1737,1803,1671,0,0,0,0,0,0,26.36,25.86,26.38
$GC,8540,0.48,175.2,2989,387,1801,1671,849.4,16.0,520,8547,0.00,2.17,0.00,0.000,1030,0.000,0.025,2990,1803,1736,1801,1671,0,0,0,0,0,0,26.06,25.97,26.08
$GC,9347,0.48,175.2,2989,1807,1800,1669,706.1,17.2,561,9352,0.00,2.10,0.00,0.000,260,0.000,0.032,2990,3199,1734,1800,1669,0,0,0,0,0,0,26.53,26.04,26.55
$GC,9400,0.48,175.2,2989,3199,1799,1668,699.1,17.6,563,9407,0.12,2.15,0.00,0.000,5126,0.215,0.031,2968,1783,1734,1799,1669,0,0,0,0,0,0,25.56,26.05,25.81
$GC,10207,0.48,175.2,2967,1783,1798,1668,576.2,15.2,604,10212,0.00,2.17,0.00,0.000,516,0.000,0.037,2977,376,1732,1797,1668,0,0,0,0,0,0,26.61,25.99,26.63
$GC,10327,0.48,175.2,2976,376,1791,1668,559.6,12.7,610,10331,0.00,2.17,0.00,0.000,1030,0.000,0.028,2977,1788,1729,1791,1668,0,0,0,0,0,0,26.20,26.11,26.25
$GC,11148,0.48,175.2,2976,1791,1794,1667,439.1,14.6,651,11154,0.00,2.12,0.00,0.000,260,0.000,0.030,2977,3210,1731,1795,1667,0,0,0,0,0,0,26.65,26.09,26.66
$GC,11170,0.48,175.2,2976,3210,1794,1668,436.1,14.6,652,11175,0.00,2.17,0.00,0.000,1030,0.000,0.030,2987,1764,1731,1794,1668,0,0,0,0,0,0,26.19,26.09,26.24
$GC,11988,0.48,175.2,2986,1764,1795,1667,313.8,14.2,693,11994,0.00,2.12,0.00,0.000,516,0.000,0.037,2998,382,1731,1794,1668,0,0,0,0,0,0,26.67,25.99,26.68
$GC,12061,0.48,175.2,2997,380,1790,1667,305.5,14.0,696,12069,0.10,2.15,0.00,0.000,5126,0.218,0.029,2971,1792,1729,1792,1667,0,0,0,0,0,0,25.66,26.12,25.85
$GC,12868,0.48,175.2,2971,1796,1796,1667,207.9,11.0,737,12874,0.00,2.10,0.00,0.000,260,0.000,0.031,2971,3201,1731,1796,1667,0,0,0,0,0,0,26.67,26.08,26.69
$GC,12928,0.48,175.2,2971,3202,1796,1667,201.1,11.3,740,12934,0.00,2.15,0.00,0.000,1030,0.000,0.031,2980,1782,1733,1798,1668,0,0,0,0,0,0,26.19,26.09,26.24
$GC,13738,0.58,252.8,2979,1782,1802,1668,121.8,8.0,820,13808,0.00,2.22,60.83,0.692,8964,0.000,0.036,2991,390,1432,1519,1346,0,0,0,0,0,0,26.67,25.46,24.80
$GC,13824,0.60,268.5,2990,390,1511,1346,114.1,9.6,828,13844,0.00,2.17,14.10,0.643,9222,0.000,0.028,2991,1788,1369,1458,1280,0,0,0,0,0,0,25.67,25.59,24.71
$GC,14159,0.65,308.5,2990,1792,1453,1277,78.4,9.0,879,14198,0.00,2.22,33.60,0.648,8452,0.000,0.030,2990,3207,1206,1306,1106,0,0,0,0,0,0,26.23,25.44,24.83
$GC,14243,0.68,334.4,2989,3207,1305,1106,70.2,9.3,893,14275,0.00,2.17,22.60,0.632,9222,0.000,0.028,2998,1788,1102,1207,997,0,0,0,0,0,0,25.69,25.60,24.72
$GC,14598,0.70,356.2,2998,1787,1201,994,38.7,9.5,958,14624,0.10,2.25,19.55,0.601,10756,0.093,0.034,3084,377,1012,1121,903,0,0,0,0,0,0,25.96,25.60,24.98
$GC,14727,0.70,356.2,3083,377,1107,904,17.6,15.1,978,14737,0.15,2.22,0.00,0.000,5126,0.150,0.026,3039,1805,1005,1107,903,0,0,0,0,0,0,25.46,25.79,25.58
$GC,14787,0.70,356.2,3039,1810,1107,903,8.5,17.3,987,14796,0.00,2.10,0.00,0.000,260,0.000,0.025,3039,3201,1005,1107,903,0,0,0,0,0,0,26.20,25.84,26.21
$GC,14816,0.70,356.2,3039,3201,1107,903,3.4,17.2,991,14825,0.00,2.17,0.00,0.000,1030,0.000,0.022,3048,1772,1005,1107,903,0,0,0,0,0,0,25.91,25.88,25.94
$STATE,14832,end climb,SURFACE_DEPTH_REACHED
$STATE,14832,begin surface coast
$FINISH,1.0,1.011802
$STATE,14857,end surface coast,CONTROL_FINISHED_OK
$STATE,14857,begin surface
$SM_CCo,14874,55.83,0.045,0,0,498,482.01
$SM_GC,1.98,7.55,0.32,55.83,0.024,0.040,0.045,126,1999,498,-8.29,-1.24,482.01,0,0,0,0,0,0,25.89,25.96,25.82
$IRIDIUM_FIX,-3203.33,2946.59,240717,131153
$TT8_MAMPS,0.025466,0.26215
$HUMID,53.50
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,22.94,42.630
$10V_AH,10.16,21.591
$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,19.175,90.375,446.250,55.825,0.000,31.944,18.769,255.507,20.250,0.000,11.577,2399.827,9866.648,551.381,2379.601,175.251,0.000,1542.156,0.000,1969.982,0.000,139.812,0.000
$DEVICE_MAMPS,218.025,43.605,1279.080,45.135,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,692.816,94.903,399.635,412.336,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343376
$DATA_FILE_SIZE,63842,997
$CAP_FILE_SIZE,122198,0
$CFSIZE,2097086464,2045968384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,240717,172802,-3222.762,2940.859,26,0.9,26,-27.2,1.7,219.1,9,8.4