version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 407
start: 7 18 117 8 19 56
data:
$ID,574
$MISSION,23
$DIVE,407
$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,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,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,51
$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
$GPS1,180717,081201,-3044.0435,3056.2305,29,0.8,29,-25.7,0.6,114.3,10,24.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-78.2
$GPS2,180717,081907,-3044.0508,3056.3479,6,0.9,6,-25.7,0.0,0.0,9,63.9
$SPEED_LIMITS,0.325,0.335
$TGT_NAME,HEADING
$TGT_LATLONG,-3040.357,3044.549
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,315.7,20000,-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,-175.2,125,2003,1222,1066,0.0,0.0,0,73,0.00,0.00,-55.08,0.000,16386,0.000,0.000,125,2003,2652,2636,2668,0,0,0,0,0,0,26.08,28.83,26.10
$GC,76,-0.48,-175.2,125,2003,2636,2668,3.1,-2.4,7,109,9.77,2.22,-11.48,0.000,18692,0.213,0.045,2635,3432,3183,3225,3141,0,0,0,0,0,0,25.25,24.12,25.41
$GC,211,-0.48,-175.2,2634,3431,3228,3139,29.0,-14.6,28,220,0.00,2.15,0.00,0.000,1030,0.000,0.026,2635,2035,3183,3229,3138,0,0,0,0,0,0,25.89,25.84,25.90
$GC,356,-0.48,-175.2,2634,2030,3232,3136,57.4,-18.6,53,362,0.00,2.15,0.00,0.000,516,0.000,0.029,2635,605,3184,3232,3136,0,0,0,0,0,0,26.29,25.88,26.31
$GC,371,-0.48,-175.2,2634,604,3232,3136,60.4,-18.5,55,378,0.00,2.17,0.00,0.000,1030,0.000,0.024,2625,2035,3184,3232,3136,0,0,0,0,0,0,26.00,25.92,26.03
$GC,694,-0.48,-175.2,2624,2036,3234,3136,121.6,-17.8,105,704,0.08,2.10,0.00,0.000,2308,0.205,0.032,2642,3431,3185,3235,3136,0,0,0,0,0,0,25.84,25.96,25.89
$GC,799,-0.48,-175.2,2642,3431,3235,3137,135.8,-12.8,115,806,0.00,2.10,0.00,0.000,1030,0.000,0.025,2642,2016,3186,3236,3137,0,0,0,0,0,0,26.13,26.06,26.16
$GC,1106,-0.48,-175.2,2642,2016,3237,3136,183.6,-14.0,146,1115,0.00,2.10,0.00,0.000,260,0.000,0.031,2632,3430,3186,3237,3136,0,0,0,0,0,0,26.52,26.09,26.53
$GC,1129,-0.48,-175.2,2631,3430,3237,3136,186.7,-14.9,148,1137,0.00,2.12,0.00,0.000,1030,0.000,0.024,2632,2023,3186,3237,3136,0,0,0,0,0,0,26.16,26.13,26.19
$GC,1447,-0.48,-175.2,2631,2022,3237,3136,234.7,-15.8,169,1448,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2022,3187,3238,3136,0,0,0,0,0,0,26.57,26.58,26.58
$GC,2247,-0.48,-175.2,2631,2021,3238,3135,357.6,-15.7,209,2252,0.00,2.12,0.00,0.000,260,0.000,0.031,2622,3434,3186,3238,3135,0,0,0,0,0,0,26.64,26.18,26.65
$GC,2322,-0.48,-175.2,2622,3434,3238,3135,366.3,-14.4,212,2329,0.10,2.10,0.00,0.000,3078,0.165,0.025,2654,2019,3186,3238,3135,0,0,0,0,0,0,25.91,26.22,26.06
$GC,3130,-0.48,-175.2,2654,2016,3236,3131,471.6,-11.3,253,3136,0.00,2.08,0.00,0.000,260,0.000,0.032,2646,3421,3183,3236,3131,0,0,0,0,0,0,26.65,26.20,26.67
$GC,3151,-0.48,-175.2,2645,3421,3236,3131,474.0,-11.5,254,3155,0.00,2.08,0.00,0.000,1030,0.000,0.025,2646,2019,3183,3236,3131,0,0,0,0,0,0,26.32,26.23,26.34
$GC,3965,-0.48,-175.2,2645,2019,3234,3129,581.7,-14.0,295,3971,0.00,2.10,0.00,0.000,516,0.000,0.033,2646,615,3181,3233,3129,0,0,0,0,0,0,26.67,26.18,26.68
$GC,3996,-0.48,-175.2,2645,615,3233,3128,584.6,-14.1,296,4003,0.00,2.12,0.00,0.000,1030,0.000,0.027,2635,2026,3181,3233,3129,0,0,0,0,0,0,26.32,26.24,26.35
$GC,4804,-0.48,-175.2,2635,2026,3230,3124,703.5,-14.5,337,4809,0.00,2.10,0.00,0.000,260,0.000,0.034,2625,3435,3176,3229,3124,0,0,0,0,0,0,26.70,26.18,26.72
$GC,4985,-0.48,-175.2,2624,3435,3228,3123,725.4,-11.7,346,4990,0.00,2.12,0.00,0.000,1030,0.000,0.027,2625,2014,3175,3228,3123,0,0,0,0,0,0,26.31,26.21,26.34
$GC,5806,-0.48,-175.2,2624,2014,3226,3119,849.1,-14.7,387,5812,0.08,2.10,0.00,0.000,2564,0.215,0.033,2655,620,3173,3227,3119,0,0,0,0,0,0,26.07,26.13,26.10
$GC,5886,-0.48,-175.2,2655,619,3226,3119,858.7,-11.6,391,5892,0.00,2.12,0.00,0.000,1030,0.000,0.028,2647,2018,3172,3226,3119,0,0,0,0,0,0,26.29,26.20,26.32
$GC,6708,-0.48,-175.2,2646,2018,3224,3114,960.5,-12.4,432,6712,0.00,2.15,0.00,0.000,260,0.000,0.036,2636,3433,3169,3224,3115,0,0,0,0,0,0,26.68,26.12,26.70
$GC,6802,-0.48,-175.2,2635,3435,3223,3115,969.0,-10.1,436,6810,0.00,2.12,0.00,0.000,1030,0.000,0.028,2636,2018,3168,3223,3114,0,0,0,0,0,0,26.27,26.17,26.30
$STATE,7070,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7070,begin apogee
$GC,7075,0.00,0.0,2635,1777,3223,3113,1001.0,-11.6,450,7223,0.55,0.00,143.75,1.302,10246,0.145,0.000,2803,1776,2465,2534,2396,0,0,0,0,0,0,25.58,24.35,23.56
$STATE,7224,end apogee,CONTROL_FINISHED_OK
$STATE,7224,begin climb
$GC,7226,0.48,175.2,2802,1776,2534,2395,1005.2,0.0,457,7392,0.43,2.42,153.30,1.278,10500,0.054,0.030,2968,3218,1749,1847,1651,0,0,0,0,0,0,24.56,23.57,22.80
$GC,7414,0.48,175.2,2967,3218,1841,1651,983.7,17.6,467,7420,0.00,2.28,0.00,0.000,1030,0.000,0.030,2977,1844,1746,1841,1651,0,0,0,0,0,0,24.25,24.17,24.26
$GC,8234,0.48,175.2,2977,1844,1833,1646,823.0,19.1,508,8240,0.00,2.08,0.00,0.000,260,0.000,0.028,2977,3222,1739,1832,1646,0,0,0,0,0,0,26.25,25.89,26.27
$GC,8307,0.48,175.2,2976,3222,1830,1646,812.0,18.7,511,8314,0.00,2.17,0.00,0.000,1030,0.000,0.032,2987,1798,1738,1831,1646,0,0,0,0,0,0,25.99,25.89,26.03
$GC,9114,0.48,175.2,2986,1799,1829,1645,658.8,18.1,552,9120,0.00,2.17,0.00,0.000,516,0.000,0.041,2998,403,1736,1828,1644,0,0,0,0,0,0,26.49,25.99,26.51
$GC,9214,0.48,175.2,2998,402,1820,1644,641.8,16.4,557,9221,0.10,2.15,0.00,0.000,5126,0.216,0.028,2973,1810,1732,1821,1644,0,0,0,0,0,0,25.68,26.10,25.91
$GC,10034,0.48,175.2,2971,1813,1823,1644,510.4,16.7,598,10040,0.00,2.17,0.00,0.000,516,0.000,0.037,2980,403,1733,1822,1644,0,0,0,0,0,0,26.58,26.06,26.60
$GC,10158,0.48,175.2,2980,402,1817,1644,491.9,14.7,604,10162,0.00,2.15,0.00,0.000,1030,0.000,0.028,2981,1813,1731,1817,1645,0,0,0,0,0,0,26.25,26.16,26.29
$GC,10971,0.48,175.2,2980,1816,1821,1644,356.6,16.2,645,10976,0.00,2.10,0.00,0.000,260,0.000,0.032,2981,3226,1732,1820,1644,0,0,0,0,0,0,26.63,26.15,26.65
$GC,11058,0.48,175.2,2980,3226,1821,1645,344.1,15.6,649,11062,0.00,2.15,0.00,0.000,1030,0.000,0.031,2991,1805,1733,1821,1645,0,0,0,0,0,0,26.25,26.15,26.29
$GC,11864,0.48,175.2,2990,1805,1821,1645,210.3,14.7,689,11870,0.00,2.15,0.00,0.000,516,0.000,0.037,3002,401,1732,1821,1644,0,0,0,0,0,0,26.65,26.08,26.67
$GC,12027,0.48,175.2,3002,400,1815,1645,186.7,14.4,701,12035,0.12,2.15,0.00,0.000,5126,0.183,0.028,2967,1814,1731,1817,1645,0,0,0,0,0,0,25.77,26.20,25.97
$GC,12334,0.48,175.2,2967,1817,1821,1644,147.0,12.5,732,12343,0.00,2.10,0.00,0.000,260,0.000,0.031,2967,3221,1733,1822,1645,0,0,0,0,0,0,26.66,26.17,26.67
$GC,12418,0.48,175.2,2967,3222,1823,1645,138.0,10.6,740,12425,0.00,2.12,0.00,0.000,1030,0.000,0.030,2976,1804,1734,1824,1645,0,0,0,0,0,0,26.27,26.17,26.32
$GC,12725,0.48,175.2,2975,1804,1824,1644,105.7,10.5,771,12726,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,1804,1734,1824,1645,0,0,0,0,0,0,26.67,26.69,26.68
$GC,13039,0.65,308.9,2975,1805,1826,1645,78.7,6.5,825,13154,0.10,2.22,106.18,0.682,10500,0.094,0.026,3043,3229,1204,1327,1082,0,0,0,0,0,0,26.36,24.89,24.51
$GC,13175,0.65,308.9,3043,3229,1321,1082,57.8,19.4,847,13182,0.12,2.22,0.00,0.000,5126,0.177,0.031,3019,1812,1201,1320,1082,0,0,0,0,0,0,25.10,25.29,25.27
$GC,13529,0.65,308.9,3018,1812,1311,1082,3.7,14.6,908,13538,0.00,2.17,0.00,0.000,260,0.000,0.027,3019,3229,1196,1311,1082,0,0,0,0,0,0,26.16,25.81,26.17
$STATE,13545,end climb,SURFACE_DEPTH_REACHED
$STATE,13545,begin surface coast
$FINISH,0.9,1.024364
$STATE,13570,end surface coast,CONTROL_FINISHED_OK
$STATE,13570,begin surface
$SM_CCo,13588,3.83,0.052,0,0,1159,320.11
$SM_GC,2.96,7.65,1.88,3.83,0.031,0.020,0.052,126,2002,1159,-8.32,0.74,320.11,0,0,0,0,0,0,25.82,25.86,25.75
$IRIDIUM_FIX,-3029.96,3056.54,180717,081328
$TT8_MAMPS,0.025466,0.260652
$HUMID,57.40
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,19.10
$XPDR_PINGS,0
$24V_AH,22.80,36.681
$10V_AH,10.13,18.566
$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,19.100,81.625,403.225,3.825,0.000,31.625,23.431,252.650,20.250,0.000,13.133,2217.154,8909.207,464.046,2297.890,155.033,0.000,1383.595,0.000,1877.828,0.000,137.075,0.000
$DEVICE_MAMPS,216.495,45.135,1302.030,52.020,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,632.582,90.257,390.464,398.317,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343312
$DATA_FILE_SIZE,60392,914
$CAP_FILE_SIZE,114667,0
$CFSIZE,2097086464,2051440640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,180717,120721,-3043.946,3056.736,17,0.8,17,-25.7,0.8,123.8,10,43.1