version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 410
start: 7 18 117 20 23 20
data:
$ID,574
$MISSION,23
$DIVE,410
$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,39
$R_STBD_OVSHOOT,37
$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
$GPS1,180717,201455,-3044.6130,3058.7129,25,0.7,25,-25.7,0.7,222.6,12,117.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-75.7
$GPS2,180717,202233,-3044.8081,3058.7559,6,0.7,6,-25.7,1.0,136.6,12,56.8
$SPEED_LIMITS,0.325,0.335
$TGT_NAME,HEADING
$TGT_LATLONG,-3034.009,3058.756
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.48,-175.2,126,1971,535,431,0.0,0.0,0,96,0.00,0.00,-77.45,0.000,16386,0.000,0.000,126,1971,2621,2615,2627,0,0,0,0,0,0,25.99,28.83,26.00
$GC,99,-0.48,-175.2,126,1971,2615,2628,3.0,-2.0,10,132,9.70,2.15,-12.43,0.000,19204,0.211,0.041,2642,583,3182,3227,3138,0,0,0,0,0,0,25.24,24.18,25.43
$GC,230,-0.48,-175.2,2641,583,3228,3138,30.4,-18.7,30,239,0.00,2.22,0.00,0.000,1030,0.000,0.033,2633,1982,3183,3228,3138,0,0,0,0,0,0,25.85,25.81,25.89
$GC,372,-0.48,-175.2,2632,1982,3229,3138,64.8,-23.9,55,378,0.00,2.15,0.00,0.000,260,0.000,0.036,2622,3406,3183,3228,3138,0,0,0,0,0,0,26.27,25.87,26.28
$GC,463,-0.48,-175.2,2621,3406,3230,3137,80.5,-11.3,72,473,0.08,2.17,0.00,0.000,3078,0.176,0.025,2646,1977,3184,3231,3137,0,0,0,0,0,0,25.70,25.97,25.79
$GC,781,-0.48,-175.2,2645,1972,3233,3136,134.0,-12.3,116,790,0.00,2.15,0.00,0.000,260,0.000,0.034,2636,3411,3184,3233,3136,0,0,0,0,0,0,26.43,26.03,26.44
$GC,822,-0.48,-175.2,2636,3411,3233,3136,137.7,-9.3,120,831,0.00,2.12,0.00,0.000,1030,0.000,0.024,2636,1979,3184,3233,3136,0,0,0,0,0,0,26.16,26.08,26.18
$GC,1132,-0.48,-175.2,2636,1979,3236,3136,187.4,-18.6,151,1133,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,1979,3185,3235,3136,0,0,0,0,0,0,26.51,26.53,26.52
$GC,1433,-0.48,-175.2,2636,1977,3236,3136,230.6,-12.1,170,1438,0.00,2.15,0.00,0.000,260,0.000,0.035,2626,3414,3186,3236,3136,0,0,0,0,0,0,26.53,26.14,26.54
$GC,1496,-0.48,-175.2,2625,3414,3236,3136,237.6,-11.8,173,1500,0.00,2.10,0.00,0.000,1030,0.000,0.024,2626,1987,3186,3236,3136,0,0,0,0,0,0,26.27,26.19,26.29
$GC,2308,-0.48,-175.2,2625,1983,3236,3133,373.4,-14.0,214,2314,0.00,2.15,0.00,0.000,260,0.000,0.035,2616,3415,3184,3236,3133,0,0,0,0,0,0,26.64,26.21,26.65
$GC,2360,-0.48,-175.2,2615,3415,3236,3132,378.5,-13.3,216,2368,0.12,2.12,0.00,0.000,3078,0.147,0.026,2657,1982,3184,3236,3132,0,0,0,0,0,0,25.96,26.25,26.11
$GC,3167,-0.48,-175.2,2656,1980,3236,3129,475.9,-12.8,257,3173,0.00,2.15,0.00,0.000,260,0.000,0.035,2647,3415,3182,3236,3128,0,0,0,0,0,0,26.67,26.22,26.69
$GC,3247,-0.48,-175.2,2648,3415,3236,3127,485.4,-11.7,261,3253,0.00,2.12,0.00,0.000,1030,0.000,0.025,2648,1981,3181,3236,3127,0,0,0,0,0,0,26.35,26.27,26.38
$GC,4068,-0.48,-175.2,2647,1978,3236,3120,599.5,-13.5,302,4074,0.00,2.12,0.00,0.000,260,0.000,0.035,2638,3406,3178,3236,3120,0,0,0,0,0,0,26.69,26.22,26.71
$GC,4182,-0.48,-175.2,2637,3406,3233,3120,611.2,-11.2,307,4188,0.00,2.10,0.00,0.000,1030,0.000,0.026,2638,1988,3177,3234,3120,0,0,0,0,0,0,26.35,26.27,26.38
$GC,4987,-0.48,-175.2,2637,1986,3232,3115,717.7,-12.6,348,4991,0.00,2.15,0.00,0.000,260,0.000,0.035,2628,3413,3173,3232,3115,0,0,0,0,0,0,26.70,26.21,26.72
$GC,5077,-0.48,-175.2,2627,3416,3228,3115,726.2,-10.4,352,5081,0.00,2.12,0.00,0.000,1030,0.000,0.028,2627,1988,3171,3228,3115,0,0,0,0,0,0,26.34,26.25,26.36
$GC,5884,-0.48,-175.2,2626,1988,3227,3110,839.5,-14.7,392,5889,0.00,2.12,0.00,0.000,516,0.000,0.034,2627,586,3168,3227,3110,0,0,0,0,0,0,26.71,26.18,26.72
$GC,5904,-0.48,-175.2,2627,586,3227,3110,842.7,-15.0,393,5911,0.10,2.15,0.00,0.000,3078,0.207,0.029,2653,2000,3168,3227,3110,0,0,0,0,0,0,25.80,26.22,25.90
$GC,6726,-0.48,-175.2,2652,2000,3226,3106,941.3,-12.5,434,6729,0.00,2.12,0.00,0.000,260,0.000,0.041,2644,3396,3166,3226,3106,0,0,0,0,0,0,26.69,26.13,26.70
$GC,6815,-0.48,-175.2,2643,3396,3224,3107,950.3,-10.8,438,6819,0.00,2.10,0.00,0.000,1030,0.000,0.029,2643,1991,3166,3225,3107,0,0,0,0,0,0,26.30,26.20,26.34
$STATE,7204,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7204,begin apogee
$GC,7209,0.00,0.0,2643,1782,3225,3104,1002.3,-13.2,457,7354,0.55,0.00,141.77,1.308,10246,0.142,0.000,2809,1781,2465,2530,2400,0,0,0,0,0,0,25.63,24.40,23.63
$STATE,7355,end apogee,CONTROL_FINISHED_OK
$STATE,7355,begin climb
$GC,7357,0.48,175.2,2810,1781,2528,2399,1009.7,0.0,464,7523,0.47,2.38,151.65,1.276,11012,0.054,0.037,2996,435,1747,1835,1660,0,0,0,0,0,0,24.60,23.65,22.91
$GC,7669,0.48,175.2,2995,435,1819,1660,970.5,16.7,480,7675,0.10,2.25,0.00,0.000,5126,0.220,0.032,2971,1808,1739,1818,1660,0,0,0,0,0,0,24.72,25.01,24.96
$GC,8482,0.48,175.2,2970,1810,1818,1655,829.6,17.4,521,8487,0.00,2.15,0.00,0.000,516,0.000,0.036,2979,430,1736,1817,1655,0,0,0,0,0,0,26.34,25.91,26.35
$GC,8611,0.48,175.2,2979,430,1812,1655,809.1,16.6,527,8615,0.00,2.15,0.00,0.000,1030,0.000,0.032,2979,1816,1733,1812,1655,0,0,0,0,0,0,26.09,25.99,26.12
$GC,9417,0.48,175.2,2979,1820,1813,1653,653.6,17.9,567,9420,0.00,2.15,0.00,0.000,260,0.000,0.035,2979,3227,1733,1814,1653,0,0,0,0,0,0,26.53,26.09,26.55
$GC,9480,0.48,175.2,2979,3228,1812,1653,643.7,16.7,570,9484,0.00,2.12,0.00,0.000,1030,0.000,0.031,2989,1852,1732,1812,1653,0,0,0,0,0,0,26.17,26.12,26.20
$GC,10298,0.48,175.2,2988,1852,1812,1651,514.2,18.0,611,10303,0.00,2.08,0.00,0.000,260,0.000,0.032,2989,3233,1731,1812,1651,0,0,0,0,0,0,26.61,26.15,26.63
$GC,10391,0.48,175.2,2988,3233,1811,1651,500.7,16.8,615,10398,0.12,2.17,0.00,0.000,5126,0.224,0.032,2967,1800,1731,1812,1651,0,0,0,0,0,0,25.63,26.15,25.91
$GC,11198,0.48,175.2,2966,1800,1811,1651,376.0,12.4,656,11204,0.00,2.15,0.00,0.000,516,0.000,0.038,2975,402,1731,1812,1650,0,0,0,0,0,0,26.65,26.10,26.66
$GC,11300,0.48,175.2,2975,401,1808,1651,363.5,12.4,661,11305,0.00,2.17,0.00,0.000,1030,0.000,0.032,2975,1817,1729,1808,1650,0,0,0,0,0,0,26.28,26.18,26.32
$GC,12118,0.48,175.2,2975,1820,1812,1651,239.0,14.2,702,12121,0.00,2.12,0.00,0.000,260,0.000,0.036,2976,3228,1731,1812,1651,0,0,0,0,0,0,26.67,26.16,26.68
$GC,12241,0.48,175.2,2975,3229,1813,1651,222.7,12.9,708,12245,0.00,2.15,0.00,0.000,1030,0.000,0.030,2985,1793,1732,1813,1651,0,0,0,0,0,0,26.29,26.20,26.34
$GC,13049,0.48,175.2,2985,1793,1815,1650,119.8,13.0,781,13057,0.00,2.12,0.00,0.000,516,0.000,0.036,2996,402,1732,1814,1651,0,0,0,0,0,0,26.68,26.13,26.70
$GC,13103,0.48,175.2,2996,402,1811,1651,113.3,12.7,786,13110,0.10,2.15,0.00,0.000,5126,0.188,0.031,2968,1813,1732,1813,1651,0,0,0,0,0,0,25.86,26.20,26.04
$GC,13419,0.70,354.1,2968,1814,1818,1651,89.7,5.4,831,13572,0.20,2.20,142.18,0.682,11012,0.078,0.030,3072,3222,1019,1138,900,0,0,0,0,0,0,26.20,24.93,24.37
$GC,13647,0.70,354.1,3071,3226,1130,900,51.3,14.9,870,13657,0.15,2.25,0.00,0.000,5126,0.150,0.032,3038,1809,1015,1130,900,0,0,0,0,0,0,25.10,25.38,25.22
$STATE,13940,end climb,SURFACE_DEPTH_REACHED
$STATE,13940,begin surface coast
$FINISH,1.0,1.024367
$STATE,13960,end surface coast,CONTROL_FINISHED_OK
$STATE,13960,begin surface
$SM_CCo,14037,0.00,0.000,0,0,1008,357.64
$SM_GC,2.35,7.65,0.28,0.00,0.028,0.032,0.000,125,2112,1008,-8.31,-0.85,357.64,0,0,0,0,0,0,25.84,25.96,25.89
$IRIDIUM_FIX,-3029.96,3058.69,180717,161619
$TT8_MAMPS,0.025466,0.291361
$HUMID,56.18
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,19.80
$XPDR_PINGS,0
$24V_AH,22.91,37.163
$10V_AH,10.11,18.783
$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,19.350,78.275,435.600,0.000,0.000,32.950,58.802,250.115,20.250,0.000,12.791,2225.001,9320.092,473.992,2343.769,155.107,0.000,1422.529,0.000,1891.505,0.000,138.263,0.000
$DEVICE_MAMPS,224.145,60.435,1308.150,0.000,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,637.632,81.594,367.298,371.658,0.000,0.000,0.000,0.000,0.000,0.000
$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,60298,923
$CAP_FILE_SIZE,113779,0
$CFSIZE,2097086464,2051080192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,190717,001809,-3046.222,3100.191,17,0.9,17,-25.7,1.3,184.0,9,86.8