version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 405
start: 7 18 117 0 12 29
data:
$ID,574
$MISSION,23
$DIVE,405
$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,335
$T_MISSION,350
$T_ABORT,400
$T_TURN,500
$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,10
$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,320
$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,2020
$C_ROLL_CLIMB,1810
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,50
$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
$GPS1,170717,235826,-3047.9321,3054.7195,37,1.0,37,-25.7,0.0,0.0,8,8.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-80.0
$GPS2,180717,001141,-3047.9128,3054.5149,5,0.9,5,-25.7,0.5,7.4,10,13.7
$SPEED_LIMITS,0.325,0.335
$TGT_NAME,HEADING
$TGT_LATLONG,-3037.278,3056.694
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,35.7,20000,-13.3,-9.950,-16.52,4010
$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,-175.2,125,2037,1218,1074,0.0,0.0,0,80,0.00,0.00,-62.70,0.000,16386,0.000,0.000,125,2037,2908,2918,2899,0,0,0,0,0,0,26.03,28.83,26.03
$GC,83,-0.48,-175.2,125,2037,2919,2899,3.8,-3.8,8,109,9.98,2.12,-5.22,0.000,18692,0.220,0.044,2635,3414,3183,3217,3149,0,0,0,0,0,0,25.20,24.16,25.39
$GC,148,-0.48,-175.2,2635,3414,3224,3143,23.2,-21.1,17,156,0.00,2.17,0.00,0.000,1030,0.000,0.027,2635,2010,3184,3227,3141,0,0,0,0,0,0,25.80,25.76,25.83
$GC,291,-0.48,-175.2,2635,2007,3228,3140,52.3,-17.7,42,299,0.00,2.17,0.00,0.000,260,0.000,0.033,2624,3417,3184,3228,3140,0,0,0,0,0,0,26.23,25.82,26.25
$GC,344,-0.48,-175.2,2625,3417,3228,3140,61.2,-16.2,51,350,0.00,2.12,0.00,0.000,1030,0.000,0.024,2624,2005,3183,3228,3139,0,0,0,0,0,0,25.98,25.90,26.00
$GC,669,-0.48,-175.2,2624,2001,3232,3139,117.5,-16.0,103,678,0.08,2.15,0.00,0.000,2308,0.205,0.030,2643,3420,3185,3232,3139,0,0,0,0,0,0,25.84,25.96,25.88
$GC,753,-0.48,-175.2,2642,3420,3232,3139,128.5,-11.8,111,760,0.00,2.08,0.00,0.000,1030,0.000,0.024,2643,2021,3186,3233,3139,0,0,0,0,0,0,26.13,26.06,26.16
$GC,1061,-0.48,-175.2,2642,2019,3234,3138,175.0,-16.3,142,1070,0.00,2.05,0.00,0.000,260,0.000,0.031,2633,3414,3186,3234,3138,0,0,0,0,0,0,26.51,26.08,26.52
$GC,1085,-0.48,-175.2,2633,3415,3234,3139,178.4,-15.8,144,1092,0.00,2.08,0.00,0.000,1030,0.000,0.023,2633,2010,3186,3234,3139,0,0,0,0,0,0,26.20,26.13,26.23
$GC,1403,-0.48,-175.2,2632,2008,3234,3138,228.9,-15.6,167,1404,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2008,3186,3234,3139,0,0,0,0,0,0,26.56,26.58,26.58
$GC,2202,-0.48,-175.2,2632,2008,3234,3135,348.6,-15.9,207,2208,0.00,2.10,0.00,0.000,260,0.000,0.032,2623,3420,3184,3234,3135,0,0,0,0,0,0,26.64,26.19,26.65
$GC,2318,-0.48,-175.2,2622,3420,3234,3134,362.3,-13.0,212,2325,0.10,2.08,0.00,0.000,3078,0.148,0.025,2656,2014,3184,3234,3134,0,0,0,0,0,0,25.98,26.23,26.11
$GC,3126,-0.48,-175.2,2655,2012,3233,3130,471.2,-12.1,253,3129,0.00,2.12,0.00,0.000,260,0.000,0.034,2647,3421,3181,3232,3131,0,0,0,0,0,0,26.65,26.20,26.67
$GC,3200,-0.48,-175.2,2647,3423,3232,3130,478.3,-11.6,256,3210,0.00,2.08,0.00,0.000,1030,0.000,0.025,2647,2021,3181,3232,3130,0,0,0,0,0,0,26.33,26.25,26.36
$GC,4007,-0.48,-175.2,2647,2019,3227,3126,588.2,-13.9,297,4012,0.00,2.12,0.00,0.000,260,0.000,0.034,2638,3420,3177,3228,3126,0,0,0,0,0,0,26.70,26.20,26.71
$GC,4040,-0.48,-175.2,2637,3420,3228,3126,590.9,-13.8,298,4047,0.00,2.08,0.00,0.000,1030,0.000,0.025,2637,2022,3177,3228,3126,0,0,0,0,0,0,26.33,26.25,26.36
$GC,4847,-0.48,-175.2,2637,2022,3225,3121,699.1,-12.6,339,4852,0.00,2.10,0.00,0.000,260,0.000,0.034,2627,3420,3173,3225,3121,0,0,0,0,0,0,26.71,26.19,26.72
$GC,4888,-0.48,-175.2,2627,3420,3225,3121,704.0,-12.3,341,4892,0.00,2.10,0.00,0.000,1030,0.000,0.026,2627,2013,3173,3225,3121,0,0,0,0,0,0,26.32,26.23,26.35
$GC,5705,-0.48,-175.2,2627,2013,3223,3117,817.3,-13.9,382,5708,0.00,2.12,0.00,0.000,516,0.000,0.034,2627,606,3169,3222,3117,0,0,0,0,0,0,26.71,26.16,26.72
$GC,5718,-0.48,-175.2,2627,605,3222,3117,817.3,-13.9,382,5726,0.12,2.12,0.00,0.000,3078,0.174,0.026,2654,2015,3169,3222,3117,0,0,0,0,0,0,25.82,26.23,25.98
$GC,6526,-0.48,-175.2,2653,2014,3220,3113,906.4,-10.6,423,6531,0.00,2.12,0.00,0.000,260,0.000,0.038,2645,3420,3166,3220,3113,0,0,0,0,0,0,26.71,26.11,26.72
$GC,6669,-0.48,-175.2,2644,3420,3219,3113,918.6,-8.4,430,6673,0.00,2.10,0.00,0.000,1030,0.000,0.028,2644,2017,3166,3219,3113,0,0,0,0,0,0,26.29,26.19,26.32
$STATE,7305,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7305,begin apogee
$GC,7311,0.00,0.0,2644,1775,3219,3109,1000.3,-13.1,462,7457,0.52,0.00,142.90,1.316,10246,0.138,0.000,2802,1774,2465,2534,2396,0,0,0,0,0,0,25.58,24.34,23.55
$STATE,7458,end apogee,CONTROL_FINISHED_OK
$STATE,7458,begin climb
$GC,7460,0.48,175.2,2802,1774,2534,2395,1008.2,0.0,469,7627,0.43,2.38,153.57,1.294,10756,0.052,0.037,2975,437,1748,1844,1652,0,0,0,0,0,0,24.55,23.56,22.80
$GC,7690,0.48,175.2,2975,437,1830,1652,986.8,15.4,481,7696,0.00,2.25,0.00,0.000,1030,0.000,0.030,2975,1799,1741,1830,1652,0,0,0,0,0,0,24.59,24.51,24.61
$GC,8510,0.48,175.2,2975,1802,1827,1648,847.0,17.0,522,8516,0.00,2.17,0.00,0.000,260,0.000,0.031,2975,3229,1738,1827,1649,0,0,0,0,0,0,26.27,25.89,26.28
$GC,8590,0.48,175.2,2975,3229,1825,1649,834.1,16.0,526,8595,0.00,2.15,0.00,0.000,1030,0.000,0.031,2985,1833,1737,1825,1649,0,0,0,0,0,0,26.01,25.91,26.05
$GC,9410,0.48,175.2,2984,1832,1823,1646,670.8,18.0,567,9415,0.00,2.22,0.00,0.000,516,0.000,0.040,2996,404,1735,1824,1647,0,0,0,0,0,0,26.49,25.99,26.51
$GC,9539,0.48,175.2,2996,403,1815,1647,650.5,16.3,573,9544,0.10,2.17,0.00,0.000,5126,0.200,0.029,2970,1823,1731,1815,1647,0,0,0,0,0,0,25.75,26.10,25.96
$GC,10346,0.48,175.2,2969,1825,1819,1646,519.8,14.5,613,10352,0.00,2.08,0.00,0.000,260,0.000,0.031,2970,3219,1732,1819,1646,0,0,0,0,0,0,26.59,26.13,26.60
$GC,10458,0.48,175.2,2969,3219,1819,1646,506.0,13.3,618,10465,0.00,2.15,0.00,0.000,1030,0.000,0.031,2978,1799,1732,1819,1646,0,0,0,0,0,0,26.24,26.13,26.27
$GC,11265,0.48,175.2,2978,1800,1819,1646,376.4,15.7,659,11270,0.00,2.17,0.00,0.000,516,0.000,0.037,2989,391,1732,1818,1647,0,0,0,0,0,0,26.64,26.08,26.65
$GC,11287,0.48,175.2,2988,391,1815,1646,373.2,15.8,660,11292,0.00,2.20,0.00,0.000,1030,0.000,0.027,2989,1806,1731,1815,1647,0,0,0,0,0,0,26.23,26.20,26.26
$GC,12105,0.48,175.2,2988,1810,1818,1647,244.4,16.0,701,12110,0.00,2.12,0.00,0.000,260,0.000,0.032,2989,3225,1732,1818,1647,0,0,0,0,0,0,26.66,26.16,26.67
$GC,12213,0.48,175.2,2989,3224,1819,1647,229.9,14.0,706,12218,0.12,2.15,0.00,0.000,5126,0.192,0.031,2966,1804,1733,1819,1647,0,0,0,0,0,0,25.73,26.16,25.95
$GC,13025,0.48,175.2,2965,1804,1820,1646,130.7,11.9,776,13029,0.00,2.17,0.00,0.000,516,0.000,0.037,2975,397,1734,1821,1647,0,0,0,0,0,0,26.67,26.09,26.69
$GC,13088,0.48,175.2,2974,396,1815,1647,123.0,12.4,782,13096,0.00,2.17,0.00,0.000,1030,0.000,0.027,2974,1809,1731,1817,1646,0,0,0,0,0,0,26.26,26.22,26.29
$GC,13403,0.48,175.2,2974,1810,1821,1647,80.6,12.0,827,13410,0.00,2.10,0.00,0.000,260,0.000,0.031,2975,3221,1734,1821,1647,0,0,0,0,0,0,26.67,26.17,26.69
$GC,13443,0.48,175.2,2974,3221,1822,1646,75.6,11.9,834,13451,0.00,2.15,0.00,0.000,1030,0.000,0.030,2985,1814,1735,1823,1647,0,0,0,0,0,0,26.22,26.18,26.26
$GC,13774,0.48,175.2,2984,1814,1824,1647,35.6,12.1,895,13783,0.00,2.20,0.00,0.000,516,0.000,0.036,2996,405,1734,1822,1647,0,0,0,0,0,0,26.67,26.10,26.69
$GC,13851,0.51,195.9,2995,405,1818,1648,27.7,9.4,907,13869,0.00,2.17,8.75,0.573,9222,0.000,0.029,2996,1805,1666,1759,1573,0,0,0,0,0,0,26.27,26.21,25.39
$GC,14012,0.51,195.9,2995,1806,1756,1573,10.6,10.0,933,14019,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,1807,1664,1756,1573,0,0,0,0,0,0,26.59,26.60,26.60
$GC,14069,0.51,195.9,2995,1807,1757,1573,3.8,12.0,942,14078,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,1809,1665,1757,1573,0,0,0,0,0,0,26.60,26.61,26.61
$STATE,14084,end climb,SURFACE_DEPTH_REACHED
$STATE,14084,begin surface coast
$FINISH,1.1,1.025973
$STATE,14115,end surface coast,CONTROL_FINISHED_OK
$STATE,14115,begin surface
$SM_CCo,14131,54.30,0.050,0,0,1159,320.11
$SM_GC,2.42,7.47,0.32,54.30,0.029,0.031,0.050,125,2092,1159,-8.34,-0.79,320.11,0,0,0,0,0,0,26.23,26.37,26.05
$IRIDIUM_FIX,-3034.97,3057.83,180717,000612
$TT8_MAMPS,0.025466,0.290612
$HUMID,57.24
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,17.80
$XPDR_PINGS,0
$24V_AH,22.80,36.402
$10V_AH,10.11,18.417
$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,18.925,82.025,305.225,54.300,0.000,139.483,106.893,250.946,20.250,0.000,12.748,2324.658,9543.695,451.675,2527.878,157.822,0.000,1374.014,0.000,1924.932,0.000,137.105,0.000
$DEVICE_MAMPS,220.320,43.605,1315.800,49.725,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,662.659,97.876,423.733,425.438,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343288
$DATA_FILE_SIZE,60386,949
$CAP_FILE_SIZE,119144,0
$CFSIZE,2097086464,2051702784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,180717,041002,-3046.094,3054.792,31,1.0,31,-25.7,0.0,0.0,8,9.6