version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 453
start: 7 24 117 17 36 23
data:
$ID,574
$MISSION,23
$DIVE,453
$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,46
$R_STBD_OVSHOOT,49
$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
$GPS1,240717,172802,-3222.7617,2940.8586,26,0.9,26,-27.2,1.7,219.1,9,8.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-69.4
$GPS2,240717,173537,-3223.1606,2940.6060,4,0.9,4,-27.2,0.9,207.8,9,98.8
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3223.161,2927.818
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,297.2,20000,-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,-175.2,126,2005,537,441,0.0,0.0,0,96,0.00,0.00,-77.55,0.000,16386,0.000,0.000,126,2006,2657,2659,2656,0,0,0,0,0,0,26.09,28.83,26.10
$GC,99,-0.48,-175.2,126,2006,2659,2657,3.4,-2.9,10,125,9.82,2.17,-10.75,0.000,19204,0.215,0.046,2634,3399,3182,3227,3137,0,0,0,0,0,0,25.22,24.12,25.44
$GC,274,-0.48,-175.2,2633,3399,3230,3138,40.0,-15.3,38,281,0.00,2.10,0.00,0.000,1030,0.000,0.024,2634,1988,3183,3230,3137,0,0,0,0,0,0,26.00,25.92,26.01
$GC,597,-0.48,-175.2,2633,1982,3231,3137,105.8,-17.2,96,605,0.00,2.08,0.00,0.000,260,0.000,0.029,2624,3393,3184,3231,3137,0,0,0,0,0,0,26.44,26.02,26.45
$GC,667,-0.48,-175.2,2623,3393,3232,3137,116.3,-13.5,103,671,0.00,2.08,0.00,0.000,1030,0.000,0.025,2623,1991,3184,3232,3137,0,0,0,0,0,0,26.15,26.06,26.17
$GC,972,-0.48,-175.2,2624,1987,3233,3137,170.2,-16.8,133,982,0.08,2.12,0.00,0.000,2308,0.216,0.030,2642,3403,3185,3233,3137,0,0,0,0,0,0,25.94,26.05,25.98
$GC,1115,-0.48,-175.2,2641,3403,3234,3137,188.8,-12.3,147,1123,0.00,2.08,0.00,0.000,1030,0.000,0.024,2642,1990,3185,3234,3137,0,0,0,0,0,0,26.24,26.16,26.26
$GC,1436,-0.48,-175.2,2641,1986,3234,3136,234.9,-13.7,167,1441,0.00,2.08,0.00,0.000,260,0.000,0.031,2632,3398,3185,3234,3136,0,0,0,0,0,0,26.60,26.15,26.61
$GC,1497,-0.48,-175.2,2631,3399,3234,3137,242.4,-13.0,170,1502,0.00,2.10,0.00,0.000,1030,0.000,0.023,2632,1994,3186,3234,3138,0,0,0,0,0,0,26.25,26.21,26.27
$GC,2316,-0.48,-175.2,2631,1990,3234,3136,364.4,-13.9,211,2321,0.00,2.08,0.00,0.000,260,0.000,0.032,2621,3390,3185,3235,3135,0,0,0,0,0,0,26.67,26.20,26.67
$GC,2480,-0.48,-175.2,2621,3390,3234,3134,383.1,-11.0,219,2485,0.10,2.10,0.00,0.000,3078,0.162,0.024,2654,1960,3184,3234,3134,0,0,0,0,0,0,25.94,26.24,26.07
$GC,3298,-0.48,-175.2,2654,1956,3232,3130,477.5,-11.9,260,3303,0.00,2.05,0.00,0.000,516,0.000,0.030,2654,584,3181,3232,3130,0,0,0,0,0,0,26.69,26.19,26.70
$GC,3371,-0.48,-175.2,2654,583,3232,3130,484.4,-11.6,263,3378,0.00,2.12,0.00,0.000,1030,0.000,0.028,2646,1990,3180,3231,3129,0,0,0,0,0,0,26.31,26.22,26.34
$GC,4178,-0.48,-175.2,2645,1990,3226,3125,584.6,-12.5,304,4184,0.00,2.12,0.00,0.000,260,0.000,0.035,2635,3398,3175,3225,3125,0,0,0,0,0,0,26.70,26.16,26.71
$GC,4261,-0.48,-175.2,2635,3398,3224,3125,593.7,-11.2,308,4265,0.00,2.08,0.00,0.000,1030,0.000,0.024,2635,1992,3175,3225,3125,0,0,0,0,0,0,26.32,26.23,26.34
$GC,5077,-0.48,-175.2,2635,1988,3219,3120,701.6,-12.8,349,5082,0.00,2.08,0.00,0.000,260,0.000,0.033,2625,3393,3169,3218,3120,0,0,0,0,0,0,26.68,26.15,26.70
$GC,5180,-0.48,-175.2,2624,3393,3218,3120,712.2,-9.9,354,5184,0.00,2.08,0.00,0.000,1030,0.000,0.025,2625,1993,3169,3218,3120,0,0,0,0,0,0,26.29,26.20,26.32
$GC,5991,-0.48,-175.2,2623,1992,3213,3116,814.8,-13.2,395,5997,0.00,2.12,0.00,0.000,260,0.000,0.034,2615,3407,3165,3213,3117,0,0,0,0,0,0,26.70,26.12,26.72
$GC,6031,-0.48,-175.2,2614,3407,3213,3116,819.8,-12.7,397,6038,0.12,2.12,0.00,0.000,3078,0.168,0.027,2655,1989,3164,3213,3116,0,0,0,0,0,0,25.77,26.17,25.92
$GC,6854,-0.48,-175.2,2654,1988,3211,3112,902.1,-10.1,438,6859,0.00,2.10,0.00,0.000,260,0.000,0.034,2646,3393,3161,3210,3112,0,0,0,0,0,0,26.70,26.09,26.72
$GC,6925,-0.48,-175.2,2645,3393,3210,3111,907.8,-9.4,441,6932,0.00,2.10,0.00,0.000,1030,0.000,0.026,2646,1981,3160,3209,3111,0,0,0,0,0,0,26.25,26.16,26.28
$GC,7732,-0.48,-175.2,2645,1979,3207,3108,998.1,-11.2,482,7737,0.00,2.12,0.00,0.000,516,0.000,0.034,2646,582,3157,3207,3108,0,0,0,0,0,0,26.70,26.05,26.71
$STATE,7751,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7751,begin apogee
$GC,7757,0.00,0.0,2637,1795,3207,3108,1000.4,-11.3,483,7904,0.55,0.00,143.12,1.306,10246,0.141,0.000,2802,1796,2465,2518,2412,0,0,0,0,0,0,25.41,24.39,23.56
$STATE,7905,end apogee,CONTROL_FINISHED_OK
$STATE,7905,begin climb
$GC,7907,0.48,175.2,2802,1796,2517,2412,1007.5,0.0,490,8074,0.43,2.38,154.52,1.291,10500,0.058,0.032,2968,3192,1749,1820,1678,0,0,0,0,0,0,24.61,23.68,22.87
$GC,8089,0.48,175.2,2967,3192,1817,1677,995.0,13.3,499,8096,0.00,2.30,0.00,0.000,1030,0.000,0.031,2977,1801,1747,1817,1677,0,0,0,0,0,0,24.28,24.20,24.30
$GC,8898,0.48,175.2,2977,1801,1809,1667,853.3,17.4,540,8903,0.00,2.22,0.00,0.000,516,0.000,0.041,2988,378,1738,1809,1667,0,0,0,0,0,0,26.33,25.83,26.34
$GC,9037,0.48,175.2,2988,378,1800,1667,831.2,14.8,547,9043,0.00,2.17,0.00,0.000,1030,0.000,0.029,2988,1791,1734,1801,1667,0,0,0,0,0,0,26.01,25.96,26.04
$GC,9856,0.48,175.2,2988,1795,1802,1667,686.8,17.7,588,9862,0.00,2.20,0.00,0.000,516,0.000,0.038,2998,378,1734,1801,1667,0,0,0,0,0,0,26.54,25.98,26.55
$GC,9936,0.48,175.2,2998,378,1794,1667,673.1,17.0,592,9943,0.10,2.17,0.00,0.000,5126,0.216,0.029,2972,1796,1731,1796,1667,0,0,0,0,0,0,25.65,26.08,25.86
$GC,10756,0.48,175.2,2972,1800,1798,1666,549.3,15.1,633,10762,0.00,2.12,0.00,0.000,260,0.000,0.031,2972,3207,1732,1798,1667,0,0,0,0,0,0,26.62,26.08,26.63
$GC,10869,0.48,175.2,2972,3208,1798,1666,534.9,14.1,638,10876,0.00,2.15,0.00,0.000,1030,0.000,0.030,2981,1783,1732,1799,1666,0,0,0,0,0,0,26.19,26.09,26.24
$GC,11678,0.48,175.2,2980,1783,1799,1665,411.6,13.2,679,11683,0.00,2.15,0.00,0.000,516,0.000,0.037,2992,378,1731,1798,1665,0,0,0,0,0,0,26.65,26.01,26.66
$GC,11689,0.48,175.2,2991,377,1795,1665,411.6,13.2,679,11696,0.00,2.15,0.00,0.000,1030,0.000,0.024,2992,1801,1730,1795,1665,0,0,0,0,0,0,26.24,26.15,26.28
$GC,12496,0.48,175.2,2991,1804,1797,1665,295.5,16.1,720,12502,0.00,2.10,0.00,0.000,260,0.000,0.032,2992,3203,1731,1797,1665,0,0,0,0,0,0,26.66,26.09,26.67
$GC,12596,0.48,175.2,2991,3203,1799,1665,280.7,14.3,725,12602,0.12,2.15,0.00,0.000,5126,0.210,0.031,2968,1779,1732,1800,1665,0,0,0,0,0,0,25.58,26.10,25.80
$GC,13406,0.48,175.2,2968,1779,1802,1665,187.5,11.5,770,13407,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,1779,1733,1802,1665,0,0,0,0,0,0,26.67,26.69,26.68
$GC,13709,0.48,175.2,2968,1779,1803,1665,153.7,10.6,800,13717,0.00,2.10,0.00,0.000,260,0.000,0.028,2968,3206,1734,1804,1665,0,0,0,0,0,0,26.67,26.13,26.70
$GC,13800,0.51,201.9,2968,3206,1806,1665,144.4,9.3,809,13830,0.00,2.12,20.70,0.684,9222,0.000,0.028,2976,1784,1640,1715,1565,0,0,0,0,0,0,26.22,26.13,25.18
$GC,14130,0.58,253.1,2976,1784,1716,1562,119.2,8.7,842,14180,0.00,2.15,41.85,0.670,8452,0.000,0.028,2976,3206,1432,1518,1347,0,0,0,0,0,0,26.48,25.54,24.91
$GC,14206,0.59,265.3,2976,3206,1517,1347,112.1,9.7,849,14223,0.00,2.15,11.68,0.610,9222,0.000,0.028,2986,1792,1382,1470,1294,0,0,0,0,0,0,25.75,25.66,24.79
$GC,14537,0.65,315.0,2986,1792,1467,1290,77.9,8.7,901,14588,0.08,2.17,41.30,0.630,11012,0.119,0.028,3051,3199,1180,1282,1078,0,0,0,0,0,0,25.94,25.20,24.81
$GC,14670,0.65,315.0,3050,3199,1276,1078,60.6,14.4,924,14679,0.12,2.20,0.00,0.000,5126,0.164,0.028,3024,1794,1177,1276,1078,0,0,0,0,0,0,25.30,25.63,25.39
$GC,15019,0.65,315.0,3024,1794,1270,1078,15.1,11.0,985,15028,0.00,2.22,0.00,0.000,516,0.000,0.037,3034,381,1172,1267,1078,0,0,0,0,0,0,26.31,25.81,26.32
$STATE,15112,end climb,SURFACE_DEPTH_REACHED
$STATE,15112,begin surface coast
$FINISH,1.1,1.024899
$STATE,15126,end surface coast,CONTROL_FINISHED_OK
$STATE,15126,begin surface
$SM_CCo,15145,73.75,0.049,0,0,499,482.01
$SM_GC,1.95,7.65,2.53,73.75,0.031,0.025,0.049,126,2000,499,-8.35,-1.05,482.01,0,0,0,0,0,0,25.93,25.94,25.83
$IRIDIUM_FIX,-3210.97,2943.43,240717,172932
$TT8_MAMPS,0.025466,0.261401
$HUMID,54.13
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,21.70
$XPDR_PINGS,1
$24V_AH,22.87,42.782
$10V_AH,10.16,21.670
$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,19.175,89.875,413.175,73.750,0.000,29.710,40.346,270.419,20.500,0.000,11.554,2444.271,10022.280,558.607,2495.724,174.511,0.000,1558.874,0.000,2047.894,0.000,137.230,0.000
$DEVICE_MAMPS,216.495,45.900,1305.855,48.960,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,689.498,93.669,404.628,408.501,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343436
$DATA_FILE_SIZE,63809,1002
$CAP_FILE_SIZE,123972,0
$CFSIZE,2097086464,2045837312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,240717,215122,-3229.102,2935.229,43,0.9,43,-27.2,0.6,239.5,10,77.3