version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 409
start: 7 18 117 16 22 27
data:
$ID,574
$MISSION,23
$DIVE,409
$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,0
$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,1990
$C_ROLL_CLIMB,1810
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,54
$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
$GPS1,180717,161426,-3044.4087,3056.9502,41,0.8,41,-25.7,1.3,166.5,10,7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-80.0
$GPS2,180717,162141,-3044.5588,3057.0852,5,0.7,5,-25.7,2.1,130.2,11,48.1
$SPEED_LIMITS,0.325,0.335
$TGT_NAME,HEADING
$TGT_LATLONG,-3033.760,3057.085
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,25.7,20000,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.48,-175.2,125,2021,1223,1076,0.0,0.0,0,73,0.00,0.00,-54.67,0.000,16386,0.000,0.000,125,2021,2658,2641,2676,0,0,0,0,0,0,26.04,28.83,26.06
$GC,76,-0.48,-175.2,124,2021,2642,2676,3.3,-2.4,7,102,9.82,2.15,-11.02,0.000,18692,0.216,0.051,2633,3382,3182,3222,3142,0,0,0,0,0,0,25.20,24.13,25.41
$GC,223,-0.48,-175.2,2632,3382,3229,3139,31.4,-14.1,30,231,0.00,2.17,0.00,0.000,1030,0.000,0.028,2633,1976,3184,3232,3137,0,0,0,0,0,0,25.88,25.82,25.88
$GC,365,-0.48,-175.2,2632,1974,3233,3136,60.4,-18.9,55,371,0.00,2.10,0.00,0.000,516,0.000,0.031,2633,584,3184,3233,3136,0,0,0,0,0,0,26.28,25.87,26.29
$GC,393,-0.48,-175.2,2632,583,3232,3136,66.4,-19.9,60,403,0.08,2.20,0.00,0.000,3078,0.183,0.033,2645,1975,3184,3233,3136,0,0,0,0,0,0,25.60,25.89,25.68
$GC,718,-0.48,-175.2,2644,1975,3236,3136,123.9,-14.5,107,727,0.00,2.15,0.00,0.000,260,0.000,0.037,2636,3403,3186,3236,3136,0,0,0,0,0,0,26.42,25.97,26.44
$GC,860,-0.48,-175.2,2635,3403,3237,3136,140.9,-11.7,121,869,0.00,2.12,0.00,0.000,1030,0.000,0.026,2635,1986,3186,3237,3136,0,0,0,0,0,0,26.15,26.06,26.17
$GC,1169,-0.48,-175.2,2635,1983,3239,3136,189.7,-15.9,152,1170,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,1982,3187,3239,3136,0,0,0,0,0,0,26.53,26.53,26.53
$GC,1479,-0.48,-175.2,2635,1983,3239,3136,239.4,-15.3,171,1485,0.00,2.12,0.00,0.000,260,0.000,0.035,2625,3404,3187,3239,3136,0,0,0,0,0,0,26.57,26.12,26.58
$GC,1539,-0.48,-175.2,2624,3404,3240,3136,247.3,-13.5,174,1543,0.00,2.10,0.00,0.000,1030,0.000,0.026,2625,1989,3188,3240,3137,0,0,0,0,0,0,26.25,26.17,26.29
$GC,2356,-0.48,-175.2,2624,1988,3240,3135,375.8,-17.0,215,2362,0.00,2.12,0.00,0.000,260,0.000,0.037,2615,3400,3187,3240,3135,0,0,0,0,0,0,26.64,26.17,26.65
$GC,2409,-0.48,-175.2,2614,3400,3240,3135,381.9,-16.2,217,2416,0.12,2.10,0.00,0.000,3078,0.144,0.026,2656,1983,3187,3240,3135,0,0,0,0,0,0,25.94,26.22,26.08
$GC,3216,-0.48,-175.2,2655,1982,3239,3131,481.4,-11.6,258,3222,0.00,2.15,0.00,0.000,260,0.000,0.038,2647,3401,3185,3239,3131,0,0,0,0,0,0,26.65,26.17,26.65
$GC,3295,-0.48,-175.2,2646,3402,3238,3131,489.8,-10.3,262,3301,0.00,2.10,0.00,0.000,1030,0.000,0.026,2647,1988,3184,3238,3130,0,0,0,0,0,0,26.33,26.24,26.36
$GC,4118,-0.48,-175.2,2646,1988,3236,3128,600.3,-12.4,303,4123,0.00,2.12,0.00,0.000,260,0.000,0.038,2638,3407,3181,3236,3127,0,0,0,0,0,0,26.67,26.18,26.68
$GC,4179,-0.48,-175.2,2637,3407,3235,3126,606.7,-11.1,306,4183,0.00,2.12,0.00,0.000,1030,0.000,0.028,2637,1983,3181,3235,3127,0,0,0,0,0,0,26.32,26.23,26.36
$GC,4991,-0.48,-175.2,2636,1983,3232,3122,710.2,-14.8,347,4997,0.00,2.15,0.00,0.000,260,0.000,0.038,2627,3404,3177,3232,3122,0,0,0,0,0,0,26.67,26.17,26.68
$GC,5024,-0.48,-175.2,2626,3404,3232,3122,713.3,-15.0,348,5030,0.00,2.12,0.00,0.000,1030,0.000,0.028,2627,1982,3177,3232,3123,0,0,0,0,0,0,26.31,26.21,26.34
$GC,5833,-0.48,-175.2,2626,1982,3228,3118,848.4,-15.5,389,5834,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,1982,3173,3228,3118,0,0,0,0,0,0,26.70,26.72,26.72
$GC,6631,-0.48,-175.2,2626,1982,3227,3115,961.1,-12.9,429,6633,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,1982,3171,3227,3115,0,0,0,0,0,0,26.67,26.69,26.69
$STATE,6930,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6930,begin apogee
$GC,6935,0.00,0.0,2627,1779,3225,3113,1001.3,-12.8,444,7083,0.60,0.00,143.77,1.323,10246,0.141,0.000,2808,1777,2465,2537,2393,0,0,0,0,0,0,25.57,24.35,23.55
$STATE,7084,end apogee,CONTROL_FINISHED_OK
$STATE,7084,begin climb
$GC,7086,0.48,175.2,2807,1777,2535,2393,1006.2,0.0,451,7245,0.43,0.00,155.25,1.339,10502,0.054,0.000,2969,1777,1749,1848,1650,0,0,0,0,0,0,24.54,23.51,22.76
$GC,8033,0.48,175.2,2969,1777,1837,1646,866.7,14.6,499,8038,0.00,2.25,0.00,0.000,260,0.000,0.038,2969,3226,1742,1838,1646,0,0,0,0,0,0,26.25,25.84,26.25
$GC,8095,0.48,175.2,2969,3225,1836,1646,857.9,14.7,502,8100,0.00,2.12,0.00,0.000,1030,0.000,0.033,2979,1841,1740,1835,1646,0,0,0,0,0,0,25.98,25.89,26.02
$GC,8907,0.48,175.2,2979,1840,1835,1646,714.3,17.3,543,8915,0.00,2.10,0.00,0.000,260,0.000,0.034,2979,3227,1740,1835,1646,0,0,0,0,0,0,26.49,26.06,26.51
$GC,9016,0.48,175.2,2978,3227,1833,1646,698.7,15.1,548,9020,0.00,2.17,0.00,0.000,1030,0.000,0.033,2989,1803,1739,1833,1646,0,0,0,0,0,0,26.17,26.07,26.22
$GC,9828,0.48,175.2,2988,1802,1833,1646,558.1,19.5,589,9833,0.00,2.17,0.00,0.000,516,0.000,0.040,3000,400,1739,1833,1646,0,0,0,0,0,0,26.59,26.06,26.60
$GC,9901,0.48,175.2,2999,400,1827,1646,546.2,19.9,592,9908,0.12,2.20,0.00,0.000,5126,0.198,0.034,2966,1819,1737,1828,1646,0,0,0,0,0,0,25.71,26.13,25.95
$GC,10708,0.48,175.2,2966,1822,1832,1646,415.2,14.4,633,10714,0.00,2.12,0.00,0.000,260,0.000,0.036,2966,3223,1739,1832,1647,0,0,0,0,0,0,26.63,26.13,26.65
$GC,10788,0.48,175.2,2965,3223,1832,1646,404.3,13.5,637,10794,0.00,2.15,0.00,0.000,1030,0.000,0.031,2974,1800,1740,1833,1647,0,0,0,0,0,0,26.26,26.17,26.31
$GC,11608,0.48,175.2,2974,1800,1835,1646,295.7,16.3,678,11614,0.00,2.15,0.00,0.000,260,0.000,0.034,2974,3223,1741,1835,1647,0,0,0,0,0,0,26.66,26.15,26.67
$GC,11728,0.48,175.2,2974,3222,1835,1648,275.4,16.8,684,11733,0.00,2.15,0.00,0.000,1030,0.000,0.032,2984,1802,1742,1836,1648,0,0,0,0,0,0,26.27,26.17,26.32
$GC,12538,0.48,175.2,2984,1801,1837,1648,161.0,13.9,743,12546,0.00,2.15,0.00,0.000,516,0.000,0.038,2995,401,1742,1836,1648,0,0,0,0,0,0,26.67,26.10,26.69
$GC,12672,0.48,175.2,2995,401,1830,1650,143.3,13.0,756,12680,0.10,2.17,0.00,0.000,5126,0.173,0.033,2967,1815,1740,1831,1650,0,0,0,0,0,0,25.86,26.17,26.04
$GC,12979,0.48,175.2,2967,1819,1836,1650,109.8,15.6,787,12988,0.00,2.17,0.00,0.000,516,0.000,0.035,2976,395,1743,1836,1650,0,0,0,0,0,0,26.67,26.11,26.69
$GC,13088,0.50,193.8,2975,395,1832,1650,95.5,9.5,801,13113,0.00,2.17,15.65,0.692,9222,0.000,0.031,2976,1812,1675,1771,1579,0,0,0,0,0,0,26.29,26.20,25.33
$GC,13434,0.86,485.0,2975,1817,1771,1578,88.3,2.5,865,13683,0.30,2.25,235.07,0.700,10500,0.048,0.028,3117,3223,497,559,436,0,0,0,0,0,0,26.19,24.68,24.15
$GC,13699,0.86,485.0,3117,3227,554,434,26.2,32.4,907,13708,0.12,2.30,0.00,0.000,5126,0.152,0.035,3090,1815,494,554,434,0,0,0,0,0,0,24.84,24.97,24.96
$STATE,13798,end climb,SURFACE_DEPTH_REACHED
$STATE,13798,begin surface coast
$FINISH,1.1,1.025520
$STATE,13813,end surface coast,CONTROL_FINISHED_OK
$STATE,13813,begin surface
$SM_CCo,13889,0.00,0.000,0,0,487,485.20
$SM_GC,2.00,7.88,0.28,0.00,0.025,0.035,0.000,126,2106,487,-8.29,-0.85,485.20,0,0,0,0,0,0,25.44,25.51,25.48
$IRIDIUM_FIX,-3029.96,3058.69,180717,161552
$TT8_MAMPS,0.025466,0.264397
$HUMID,55.27
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,19.00
$XPDR_PINGS,4
$24V_AH,22.76,37.008
$10V_AH,10.13,18.710
$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,19.575,69.475,549.750,0.000,0.000,36.509,27.025,258.031,21.250,0.000,12.799,2175.901,9252.411,559.329,2209.687,147.569,0.000,1474.558,0.000,1786.534,0.000,137.168,0.000
$DEVICE_MAMPS,215.730,51.255,1338.750,0.000,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,635.838,74.133,318.361,329.700,0.000,0.000,0.000,0.000,0.000,0.000
$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,60177,925
$CAP_FILE_SIZE,109562,0
$CFSIZE,2097086464,2051178496
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,8909.66,0x2338b8,1,24
$WARN,PPS timeout
$GPS,180717,201455,-3044.613,3058.713,25,0.7,25,-25.7,0.7,222.6,12,117.3