version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 406
start: 7 18 117 4 17 33
data:
$ID,574
$MISSION,23
$DIVE,406
$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,25
$R_STBD_OVSHOOT,33
$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
$GPS1,180717,041002,-3046.0942,3054.7925,31,1.0,31,-25.7,0.0,0.0,8,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-79.6
$GPS2,180717,041646,-3046.0347,3054.8418,6,0.7,6,-25.7,0.5,92.4,11,43.0
$SPEED_LIMITS,0.325,0.335
$TGT_NAME,HEADING
$TGT_LATLONG,-3035.400,3057.020
$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,16,-0.48,-175.2,125,2031,1216,1072,0.0,0.0,0,80,0.00,0.00,-62.25,0.000,16386,0.000,0.000,125,2031,2880,2884,2876,0,0,0,0,0,0,26.13,28.83,26.15
$GC,83,-0.48,-175.2,125,2031,2886,2875,3.7,-4.2,8,109,9.88,2.20,-5.82,0.000,18692,0.219,0.044,2633,3440,3181,3215,3147,0,0,0,0,0,0,25.26,25.24,25.46
$GC,152,-0.48,-175.2,2632,3440,3224,3142,23.9,-18.1,18,161,0.00,2.22,0.00,0.000,1030,0.000,0.026,2633,2004,3183,3226,3140,0,0,0,0,0,0,25.85,25.82,25.88
$GC,300,-0.48,-175.2,2633,2001,3227,3139,49.7,-18.5,43,306,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2001,3183,3228,3138,0,0,0,0,0,0,26.29,26.30,26.29
$GC,621,-0.48,-175.2,2629,2002,3233,3135,107.7,-18.6,100,629,0.00,2.12,0.00,0.000,260,0.000,0.028,2619,3437,3184,3234,3135,0,0,0,0,0,0,26.42,25.99,26.43
$GC,711,-0.48,-175.2,2618,3437,3233,3136,121.5,-13.8,109,721,0.10,2.12,0.00,0.000,3078,0.158,0.025,2652,2015,3184,3234,3135,0,0,0,0,0,0,25.78,26.03,25.91
$GC,1021,-0.48,-175.2,2651,2015,3236,3135,164.5,-13.5,140,1025,0.00,2.12,0.00,0.000,516,0.000,0.030,2657,604,3185,3236,3135,0,0,0,0,0,0,26.52,26.06,26.53
$GC,1082,-0.48,-175.2,2656,603,3236,3136,172.0,-11.3,146,1087,0.00,2.17,0.00,0.000,1030,0.000,0.028,2647,2035,3185,3234,3136,0,0,0,0,0,0,26.18,26.10,26.21
$GC,1388,-0.48,-175.2,2647,2035,3236,3136,216.9,-15.8,171,1393,0.00,2.08,0.00,0.000,260,0.000,0.034,2637,3431,3186,3236,3136,0,0,0,0,0,0,26.57,26.10,26.58
$GC,1496,-0.48,-175.2,2636,3431,3236,3136,229.6,-12.0,176,1500,0.00,2.12,0.00,0.000,1030,0.000,0.025,2637,2009,3186,3236,3136,0,0,0,0,0,0,26.25,26.16,26.27
$GC,2308,-0.48,-175.2,2636,2007,3236,3135,346.6,-15.9,217,2309,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2008,3185,3236,3135,0,0,0,0,0,0,26.65,26.66,26.66
$GC,3108,-0.48,-175.2,2636,2008,3235,3132,465.8,-14.3,257,3114,0.00,2.12,0.00,0.000,260,0.000,0.033,2627,3430,3183,3235,3132,0,0,0,0,0,0,26.68,26.20,26.69
$GC,3149,-0.48,-175.2,2626,3430,3234,3131,471.4,-14.4,259,3153,0.00,2.12,0.00,0.000,1030,0.000,0.026,2627,2017,3183,3235,3132,0,0,0,0,0,0,26.32,26.22,26.34
$GC,3971,-0.48,-175.2,2626,2016,3232,3130,595.9,-14.4,300,3972,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2016,3180,3232,3129,0,0,0,0,0,0,26.70,26.71,26.71
$GC,4772,-0.48,-175.2,2626,2017,3228,3125,711.8,-13.6,340,4777,0.00,2.10,0.00,0.000,516,0.000,0.034,2627,618,3176,3228,3125,0,0,0,0,0,0,26.68,26.16,26.70
$GC,4823,-0.48,-175.2,2626,617,3227,3126,717.2,-13.5,342,4830,0.12,2.12,0.00,0.000,3078,0.176,0.028,2654,2022,3177,3228,3126,0,0,0,0,0,0,25.81,26.22,25.97
$GC,5631,-0.48,-175.2,2654,2022,3226,3121,800.4,-10.4,383,5637,0.00,2.12,0.00,0.000,260,0.000,0.037,2645,3433,3173,3226,3120,0,0,0,0,0,0,26.67,26.13,26.69
$GC,5752,-0.48,-175.2,2645,3433,3225,3119,810.5,-8.2,389,5757,0.00,2.10,0.00,0.000,1030,0.000,0.029,2645,2027,3172,3224,3120,0,0,0,0,0,0,26.22,26.19,26.27
$GC,6572,-0.48,-175.2,2645,2026,3223,3116,912.3,-12.7,430,6578,0.00,2.12,0.00,0.000,516,0.000,0.036,2645,616,3170,3223,3117,0,0,0,0,0,0,26.69,26.10,26.70
$GC,6660,-0.48,-175.2,2644,615,3223,3116,922.0,-12.1,434,6664,0.00,2.15,0.00,0.000,1030,0.000,0.029,2635,2025,3169,3223,3115,0,0,0,0,0,0,26.28,26.18,26.31
$STATE,7246,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7246,begin apogee
$GC,7251,0.00,0.0,2635,1767,3219,3114,1000.5,-13.0,463,7398,0.57,0.00,143.50,1.307,10246,0.135,0.000,2809,1766,2464,2530,2399,0,0,0,0,0,0,25.54,24.33,23.53
$STATE,7399,end apogee,CONTROL_FINISHED_OK
$STATE,7399,begin climb
$GC,7401,0.48,175.2,2809,1766,2528,2399,1006.2,0.0,470,7569,0.40,2.47,153.70,1.284,10500,0.056,0.032,2965,3206,1748,1843,1654,0,0,0,0,0,0,24.53,23.54,22.76
$GC,7594,0.48,175.2,2965,3206,1838,1654,987.9,15.9,480,7598,0.00,2.22,0.00,0.000,1030,0.000,0.031,2974,1855,1746,1838,1654,0,0,0,0,0,0,24.27,24.19,24.29
$GC,8406,0.48,175.2,2974,1855,1830,1649,840.6,17.3,521,8412,0.00,2.08,0.00,0.000,260,0.000,0.029,2974,3229,1740,1831,1649,0,0,0,0,0,0,26.24,25.86,26.25
$GC,8519,0.48,175.2,2974,3229,1827,1649,825.5,14.5,526,8526,0.00,2.17,0.00,0.000,1030,0.000,0.032,2984,1806,1738,1827,1649,0,0,0,0,0,0,25.98,25.89,26.03
$GC,9326,0.48,175.2,2984,1806,1825,1647,683.4,17.4,567,9332,0.00,2.20,0.00,0.000,516,0.000,0.041,2995,398,1736,1825,1647,0,0,0,0,0,0,26.48,25.98,26.50
$GC,9386,0.48,175.2,2994,398,1818,1647,672.7,17.9,570,9392,0.00,2.17,0.00,0.000,1030,0.000,0.028,2995,1811,1733,1819,1647,0,0,0,0,0,0,26.17,26.08,26.21
$GC,10206,0.48,175.2,2995,1815,1820,1647,523.8,16.5,611,10212,0.00,2.12,0.00,0.000,260,0.000,0.031,2995,3231,1733,1820,1646,0,0,0,0,0,0,26.58,26.12,26.59
$GC,10266,0.48,175.2,2995,3231,1819,1647,514.9,15.4,614,10273,0.12,2.17,0.00,0.000,5126,0.220,0.033,2972,1802,1733,1820,1647,0,0,0,0,0,0,25.65,26.11,25.89
$GC,11086,0.48,175.2,2971,1802,1820,1646,382.8,16.6,655,11092,0.00,2.17,0.00,0.000,516,0.000,0.038,2981,398,1732,1819,1646,0,0,0,0,0,0,26.63,26.06,26.64
$GC,11114,0.48,175.2,2980,398,1815,1646,379.4,16.8,656,11118,0.00,2.17,0.00,0.000,1030,0.000,0.027,2981,1820,1730,1815,1646,0,0,0,0,0,0,26.26,26.17,26.30
$GC,11923,0.48,175.2,2980,1822,1819,1646,249.7,15.8,696,11928,0.00,2.08,0.00,0.000,260,0.000,0.031,2981,3223,1732,1819,1646,0,0,0,0,0,0,26.65,26.15,26.66
$GC,12010,0.48,175.2,2980,3223,1820,1646,238.3,14.2,700,12014,0.00,2.12,0.00,0.000,1030,0.000,0.031,2990,1807,1733,1820,1647,0,0,0,0,0,0,26.25,26.15,26.30
$GC,12816,0.48,175.2,2990,1806,1821,1646,118.2,13.6,767,12825,0.00,2.15,0.00,0.000,516,0.000,0.037,3002,404,1733,1820,1646,0,0,0,0,0,0,26.67,26.08,26.68
$GC,12941,0.48,175.2,3001,404,1815,1647,102.1,12.9,779,12949,0.12,2.15,0.00,0.000,5126,0.179,0.029,2967,1819,1732,1817,1647,0,0,0,0,0,0,25.77,26.19,25.97
$GC,13262,0.48,175.2,2966,1819,1823,1647,64.5,12.2,839,13269,0.00,2.10,0.00,0.000,260,0.000,0.031,2967,3231,1735,1824,1647,0,0,0,0,0,0,26.67,26.17,26.68
$GC,13324,0.49,180.9,2966,3230,1825,1647,58.1,9.8,850,13331,0.00,2.12,0.00,0.000,1030,0.000,0.029,2975,1808,1736,1825,1647,0,0,0,0,0,0,26.27,26.17,26.30
$GC,13662,0.53,216.0,2974,1809,1826,1647,30.3,9.1,911,13688,0.00,2.22,19.30,0.620,8708,0.000,0.036,2986,395,1581,1678,1485,0,0,0,0,0,0,26.67,26.01,25.38
$GC,13738,0.53,216.0,2985,395,1667,1484,22.1,11.9,922,13747,0.00,2.20,0.00,0.000,1030,0.000,0.028,2986,1805,1576,1668,1485,0,0,0,0,0,0,26.12,26.08,26.15
$GC,13892,0.53,216.0,2985,1808,1669,1484,5.0,12.0,947,13901,0.00,2.15,0.00,0.000,260,0.000,0.028,2986,3226,1577,1670,1485,0,0,0,0,0,0,26.48,26.07,26.50
$STATE,13908,end climb,SURFACE_DEPTH_REACHED
$STATE,13908,begin surface coast
$FINISH,0.9,1.008250
$STATE,13940,end surface coast,CONTROL_FINISHED_OK
$STATE,13940,begin surface
$SM_CCo,13957,45.42,0.049,0,0,1159,320.11
$SM_GC,1.94,7.38,1.83,45.42,0.022,0.020,0.049,125,2004,1159,-8.34,1.13,320.11,0,0,0,0,0,0,26.12,26.13,25.98
$IRIDIUM_FIX,-3032.46,3050.94,180717,041128
$TT8_MAMPS,0.024717,0.26215
$HUMID,55.74
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,18.70
$XPDR_PINGS,0
$24V_AH,22.76,36.533
$10V_AH,10.12,18.493
$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,18.700,77.675,316.500,45.425,0.000,30.507,17.083,240.843,20.250,0.000,12.785,2343.317,9175.795,427.126,2327.402,157.189,0.000,1337.945,0.000,1936.158,0.000,137.166,0.000
$DEVICE_MAMPS,219.555,91.035,1306.620,48.960,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,665.286,107.165,451.565,452.780,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343336
$DATA_FILE_SIZE,63605,954
$CAP_FILE_SIZE,114638,0
$CFSIZE,2097086464,2051571712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,180717,081201,-3044.043,3056.230,29,0.8,29,-25.7,0.6,114.3,10,24.6