version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 455
start: 7 25 117 2 34 15
data:
$ID,574
$MISSION,23
$DIVE,455
$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,290
$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,39
$R_STBD_OVSHOOT,51
$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
$GPS1,250717,022202,-3235.7417,2928.8242,41,1.0,41,-27.3,1.0,207.0,8,8.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-74.6
$GPS2,250717,023327,-3236.3066,2928.4155,4,0.9,5,-27.3,1.0,219.7,9,18.2
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3232.613,2916.377
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,317.3,20000,-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,-175.2,126,2012,534,444,0.0,0.0,0,96,0.00,0.00,-77.90,0.000,16386,0.000,0.000,126,2012,2632,2623,2642,0,0,0,0,0,0,26.09,28.83,26.10
$GC,99,-0.48,-175.2,126,2012,2624,2642,3.1,-2.0,10,132,9.68,2.12,-11.82,0.000,19204,0.208,0.045,2633,3390,3183,3231,3136,0,0,0,0,0,0,25.24,24.09,25.43
$GC,234,-0.48,-175.2,2632,3390,3233,3136,32.6,-17.4,31,243,0.00,2.15,0.00,0.000,1030,0.000,0.027,2633,1992,3184,3233,3136,0,0,0,0,0,0,25.91,25.87,25.94
$GC,374,-0.48,-175.2,2632,1990,3233,3136,63.1,-23.5,56,381,0.00,2.17,0.00,0.000,516,0.000,0.029,2633,584,3184,3233,3136,0,0,0,0,0,0,26.35,25.93,26.36
$GC,393,-0.48,-175.2,2632,584,3233,3136,67.7,-23.8,59,401,0.10,2.12,0.00,0.000,3078,0.181,0.027,2651,1985,3184,3233,3136,0,0,0,0,0,0,25.63,25.96,25.79
$GC,717,-0.48,-175.2,2651,1985,3233,3136,123.0,-15.4,107,726,0.00,2.10,0.00,0.000,260,0.000,0.031,2642,3411,3185,3234,3136,0,0,0,0,0,0,26.48,26.04,26.49
$GC,831,-0.48,-175.2,2641,3411,3234,3136,136.7,-11.3,118,838,0.00,2.12,0.00,0.000,1030,0.000,0.024,2642,1970,3185,3235,3136,0,0,0,0,0,0,26.18,26.10,26.21
$GC,1138,-0.48,-175.2,2641,1967,3235,3136,181.7,-15.1,149,1147,0.00,2.12,0.00,0.000,260,0.000,0.030,2632,3408,3186,3236,3136,0,0,0,0,0,0,26.57,26.13,26.58
$GC,1212,-0.48,-175.2,2631,3408,3235,3136,191.7,-13.4,156,1219,0.00,2.10,0.00,0.000,1030,0.000,0.024,2631,1979,3186,3236,3136,0,0,0,0,0,0,26.25,26.17,26.27
$GC,1530,-0.48,-175.2,2630,1976,3235,3135,243.9,-15.7,175,1531,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,1975,3186,3236,3136,0,0,0,0,0,0,26.62,26.63,26.63
$GC,2330,-0.48,-175.2,2631,1975,3236,3133,352.4,-12.6,215,2335,0.00,2.05,0.00,0.000,516,0.000,0.028,2632,587,3184,3235,3133,0,0,0,0,0,0,26.63,26.20,26.65
$GC,2412,-0.48,-175.2,2631,587,3235,3133,361.4,-11.2,219,2416,0.08,2.15,0.00,0.000,3078,0.169,0.028,2655,1987,3184,3235,3133,0,0,0,0,0,0,25.84,26.22,26.00
$GC,3230,-0.48,-175.2,2654,1986,3233,3129,450.5,-12.5,260,3236,0.00,2.08,0.00,0.000,516,0.000,0.029,2655,590,3180,3232,3129,0,0,0,0,0,0,26.66,26.19,26.67
$GC,3269,-0.48,-175.2,2655,589,3232,3129,455.2,-11.9,262,3275,0.00,2.12,0.00,0.000,1030,0.000,0.030,2646,1992,3180,3232,3129,0,0,0,0,0,0,26.29,26.20,26.33
$GC,4091,-0.48,-175.2,2646,1992,3226,3124,549.3,-11.0,303,4096,0.00,2.08,0.00,0.000,260,0.000,0.035,2636,3395,3175,3226,3124,0,0,0,0,0,0,26.70,26.15,26.71
$GC,4182,-0.48,-175.2,2635,3395,3225,3124,557.6,-10.3,307,4190,0.00,2.08,0.00,0.000,1030,0.000,0.024,2636,1984,3174,3225,3124,0,0,0,0,0,0,26.32,26.22,26.34
$GC,4990,-0.48,-175.2,2635,1981,3220,3119,660.9,-12.8,348,4996,0.00,2.10,0.00,0.000,260,0.000,0.032,2625,3398,3169,3220,3119,0,0,0,0,0,0,26.67,26.17,26.68
$GC,5049,-0.48,-175.2,2625,3397,3220,3118,667.7,-12.0,351,5053,0.00,2.10,0.00,0.000,1030,0.000,0.026,2626,1988,3168,3219,3118,0,0,0,0,0,0,26.29,26.20,26.32
$GC,5873,-0.48,-175.2,2625,1984,3213,3115,772.0,-12.9,392,5878,0.00,2.10,0.00,0.000,260,0.000,0.033,2616,3403,3164,3213,3115,0,0,0,0,0,0,26.67,26.13,26.70
$GC,5971,-0.48,-175.2,2615,3403,3213,3115,783.3,-10.9,397,5977,0.12,2.12,0.00,0.000,3078,0.163,0.028,2656,1991,3164,3213,3115,0,0,0,0,0,0,25.79,26.16,25.94
$GC,6795,-0.48,-175.2,2655,1991,3211,3110,861.7,-9.2,438,6800,0.00,2.10,0.00,0.000,260,0.000,0.034,2647,3396,3160,3211,3110,0,0,0,0,0,0,26.69,26.09,26.70
$GC,6947,-0.48,-175.2,2646,3396,3210,3109,873.1,-8.1,445,6953,0.00,2.10,0.00,0.000,1030,0.000,0.027,2647,1983,3159,3209,3110,0,0,0,0,0,0,26.25,26.15,26.28
$GC,7753,-0.48,-175.2,2646,1979,3207,3108,964.1,-12.0,486,7754,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,1979,3157,3207,3107,0,0,0,0,0,0,26.70,26.72,26.71
$STATE,8052,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8052,begin apogee
$GC,8058,0.00,0.0,2647,1757,3207,3107,1000.9,-12.0,501,8204,0.52,0.00,142.15,1.287,10246,0.135,0.000,2806,1756,2465,2517,2413,0,0,0,0,0,0,25.44,24.41,23.59
$STATE,8204,end apogee,CONTROL_FINISHED_OK
$STATE,8205,begin climb
$GC,8207,0.48,175.2,2806,1756,2516,2413,1008.0,0.0,508,8369,0.43,2.30,153.40,1.274,10756,0.057,0.037,2981,420,1750,1819,1682,0,0,0,0,0,0,24.63,23.49,22.90
$GC,8420,0.48,175.2,2981,420,1807,1682,989.0,15.0,518,8424,0.00,2.25,0.00,0.000,1030,0.000,0.029,2981,1783,1744,1807,1681,0,0,0,0,0,0,24.60,24.53,24.63
$GC,9227,0.48,175.2,2981,1786,1803,1675,843.6,17.7,558,9232,0.00,2.17,0.00,0.000,260,0.000,0.032,2981,3213,1739,1804,1675,0,0,0,0,0,0,26.35,25.91,26.36
$GC,9290,0.48,175.2,2981,3213,1802,1674,833.2,17.4,561,9294,0.00,2.12,0.00,0.000,1030,0.000,0.031,2991,1822,1738,1802,1674,0,0,0,0,0,0,26.03,25.94,26.07
$GC,10107,0.48,175.2,2991,1822,1799,1673,695.6,16.0,602,10113,0.00,2.25,0.00,0.000,516,0.000,0.041,3003,379,1735,1798,1672,0,0,0,0,0,0,26.54,25.96,26.55
$GC,10269,0.48,175.2,3002,379,1791,1672,670.8,15.3,610,10274,0.12,2.17,0.00,0.000,5126,0.209,0.029,2969,1801,1732,1792,1672,0,0,0,0,0,0,25.58,26.08,25.82
$GC,11087,0.48,175.2,2969,1804,1795,1670,547.2,15.3,651,11093,0.00,2.20,0.00,0.000,516,0.000,0.037,2978,383,1732,1795,1670,0,0,0,0,0,0,26.62,25.99,26.63
$GC,11200,0.48,175.2,2978,382,1791,1669,533.4,13.6,656,11207,0.00,2.15,0.00,0.000,1030,0.000,0.028,2978,1795,1731,1793,1669,0,0,0,0,0,0,26.21,26.12,26.25
$GC,12007,0.48,175.2,2977,1799,1795,1669,411.6,15.1,697,12013,0.00,2.20,0.00,0.000,516,0.000,0.036,2988,373,1731,1794,1669,0,0,0,0,0,0,26.65,25.99,26.66
$GC,12141,0.48,175.2,2988,373,1790,1669,394.5,14.1,703,12148,0.00,2.15,0.00,0.000,1030,0.000,0.028,2988,1788,1730,1792,1669,0,0,0,0,0,0,26.21,26.12,26.26
$GC,12947,0.48,175.2,2988,1791,1795,1669,278.0,14.8,744,12953,0.00,2.17,0.00,0.000,516,0.000,0.035,2999,379,1732,1795,1669,0,0,0,0,0,0,26.67,25.99,26.68
$GC,13015,0.48,175.2,2998,378,1791,1668,269.2,14.6,747,13020,0.10,2.15,0.00,0.000,5126,0.193,0.030,2971,1790,1730,1791,1669,0,0,0,0,0,0,25.69,26.10,25.87
$GC,13822,0.48,175.2,2971,1794,1798,1669,171.0,11.4,799,13831,0.00,2.12,0.00,0.000,260,0.000,0.031,2972,3210,1733,1798,1669,0,0,0,0,0,0,26.67,26.07,26.68
$GC,13905,0.48,175.2,2971,3210,1798,1669,161.8,11.5,807,13913,0.00,2.15,0.00,0.000,1030,0.000,0.028,2980,1773,1734,1800,1669,0,0,0,0,0,0,26.20,26.10,26.24
$GC,14213,0.48,175.2,2979,1774,1801,1669,126.0,11.6,838,14217,0.00,2.12,0.00,0.000,516,0.000,0.036,2991,384,1735,1801,1669,0,0,0,0,0,0,26.67,25.99,26.69
$GC,14294,0.52,203.8,2990,384,1796,1668,118.0,9.3,846,14324,0.00,2.15,21.98,0.665,9222,0.000,0.028,2991,1797,1633,1702,1565,0,0,0,0,0,0,26.21,26.13,25.16
$GC,14631,0.62,285.4,2990,1798,1701,1562,88.3,7.9,892,14705,0.00,2.17,66.12,0.649,8964,0.000,0.029,2991,3202,1300,1393,1208,0,0,0,0,0,0,26.48,25.10,24.68
$GC,14780,0.65,312.5,2991,3202,1391,1208,74.2,9.3,918,14813,0.00,2.20,23.95,0.617,9222,0.000,0.026,3001,1791,1188,1289,1088,0,0,0,0,0,0,25.59,25.56,24.66
$GC,15135,0.70,349.7,3001,1791,1284,1083,38.1,9.1,983,15175,0.00,2.25,31.10,0.592,8708,0.000,0.034,3012,388,1037,1148,927,0,0,0,0,0,0,26.22,25.27,24.90
$GC,15249,0.79,427.5,3011,388,1139,925,28.5,8.0,1000,15298,0.15,2.17,39.90,0.565,11270,0.053,0.020,3116,1796,720,825,615,0,0,0,0,0,0,25.67,25.72,24.72
$STATE,15371,end climb,SURFACE_DEPTH_REACHED
$STATE,15371,begin surface coast
$FINISH,1.0,1.011118
$STATE,15385,end surface coast,CONTROL_FINISHED_OK
$STATE,15385,begin surface
$SM_CCo,15402,24.95,0.047,0,0,499,482.01
$SM_GC,1.71,7.82,0.28,24.95,0.023,0.039,0.047,127,2023,499,-8.31,-1.41,482.01,0,0,0,0,0,0,25.63,25.71,25.58
$IRIDIUM_FIX,-3223.72,2931.36,250717,022728
$TT8_MAMPS,0.026964,0.291361
$HUMID,55.31
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,21.20
$XPDR_PINGS,0
$24V_AH,22.90,43.102
$10V_AH,10.13,21.838
$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,19.125,86.400,478.600,24.950,0.000,68.111,80.427,321.034,20.250,0.000,12.548,2457.209,10275.568,535.232,2680.940,185.907,0.000,1589.614,0.000,2071.712,0.000,137.386,0.000
$DEVICE_MAMPS,208.845,45.135,1286.730,47.430,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,704.377,87.482,379.949,391.654,0.000,0.000,0.000,0.000,0.000,0.000
$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,66903,1020
$CAP_FILE_SIZE,128737,0
$CFSIZE,2097086464,2045542400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,250717,065232,-3241.875,2921.643,33,0.9,33,-27.4,1.6,232.9,9,13.0