version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 412
start: 7 19 117 4 30 8
data:
$ID,574
$MISSION,23
$DIVE,412
$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,34
$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
$GPS1,190717,042156,-3049.0381,3101.6023,63,0.8,63,-25.8,2.1,194.5,10,7.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-78.8
$GPS2,190717,042922,-3049.3159,3101.5847,3,0.7,3,-25.8,0.6,152.0,11,70.9
$SPEED_LIMITS,0.325,0.335
$TGT_NAME,HEADING
$TGT_LATLONG,-3038.517,3101.585
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,25.8,20000,-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,-175.2,126,2006,1223,1082,0.0,0.0,0,73,0.00,0.00,-54.78,0.000,16386,0.000,0.000,126,2006,2687,2674,2701,0,0,0,0,0,0,26.08,28.83,26.09
$GC,76,-0.48,-175.2,126,2006,2674,2701,3.2,-2.5,7,102,9.62,2.22,-10.30,0.000,18948,0.208,0.037,2644,571,3182,3223,3142,0,0,0,0,0,0,25.26,24.18,25.46
$GC,180,-0.48,-175.2,2643,572,3226,3142,27.5,-17.8,23,189,0.00,2.20,0.00,0.000,1030,0.000,0.029,2634,1970,3184,3227,3142,0,0,0,0,0,0,25.86,25.83,25.89
$GC,321,-0.48,-175.2,2634,1970,3228,3141,61.0,-25.1,48,330,0.00,2.20,0.00,0.000,260,0.000,0.033,2624,3409,3184,3228,3141,0,0,0,0,0,0,26.30,25.91,26.31
$GC,400,-0.48,-175.2,2623,3408,3229,3139,76.5,-17.1,62,408,0.10,2.12,0.00,0.000,3078,0.177,0.023,2653,1977,3184,3229,3139,0,0,0,0,0,0,25.67,25.98,25.83
$GC,715,-0.48,-175.2,2653,1972,3233,3138,134.1,-16.8,104,716,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,1973,3185,3233,3138,0,0,0,0,0,0,26.46,26.47,26.47
$GC,1017,-0.48,-175.2,2653,1973,3236,3138,181.7,-16.3,134,1026,0.00,2.10,0.00,0.000,260,0.000,0.031,2644,3404,3187,3236,3138,0,0,0,0,0,0,26.53,26.13,26.54
$GC,1128,-0.48,-175.2,2644,3404,3236,3138,197.9,-14.2,145,1137,0.00,2.08,0.00,0.000,1030,0.000,0.023,2644,1989,3187,3236,3138,0,0,0,0,0,0,26.26,26.19,26.28
$GC,1449,-0.48,-175.2,2644,1987,3237,3138,246.1,-13.3,162,1454,0.00,2.08,0.00,0.000,260,0.000,0.031,2634,3403,3187,3237,3137,0,0,0,0,0,0,26.60,26.18,26.61
$GC,1481,-0.48,-175.2,2633,3403,3237,3138,248.8,-13.0,163,1489,0.00,2.08,0.00,0.000,1030,0.000,0.024,2634,1992,3187,3237,3138,0,0,0,0,0,0,26.29,26.22,26.32
$GC,2289,-0.48,-175.2,2633,1988,3237,3135,379.5,-14.6,204,2290,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,1988,3186,3237,3135,0,0,0,0,0,0,26.66,26.68,26.67
$GC,3088,-0.48,-175.2,2633,1988,3237,3130,495.0,-15.0,244,3094,0.00,2.10,0.00,0.000,260,0.000,0.032,2624,3405,3183,3237,3130,0,0,0,0,0,0,26.69,26.25,26.70
$GC,3116,-0.48,-175.2,2623,3405,3237,3130,498.0,-15.1,245,3121,0.10,2.10,0.00,0.000,3078,0.158,0.025,2657,1984,3183,3237,3130,0,0,0,0,0,0,26.00,26.28,26.14
$GC,3924,-0.48,-175.2,2657,1983,3235,3124,605.2,-12.7,285,3930,0.00,2.08,0.00,0.000,516,0.000,0.032,2657,590,3179,3235,3124,0,0,0,0,0,0,26.71,26.23,26.72
$GC,3956,-0.48,-175.2,2656,589,3234,3124,607.9,-12.8,286,3966,0.00,2.12,0.00,0.000,1030,0.000,0.028,2648,2001,3179,3235,3124,0,0,0,0,0,0,26.36,26.27,26.39
$GC,4764,-0.48,-175.2,2648,2001,3230,3119,715.7,-13.0,327,4770,0.00,2.10,0.00,0.000,516,0.000,0.029,2648,591,3173,3229,3118,0,0,0,0,0,0,26.71,26.22,26.72
$GC,4884,-0.48,-175.2,2647,591,3228,3118,729.2,-10.6,333,4888,0.00,2.15,0.00,0.000,1030,0.000,0.029,2638,1997,3173,3229,3118,0,0,0,0,0,0,26.34,26.26,26.37
$GC,5706,-0.48,-175.2,2637,1997,3226,3113,843.5,-13.6,374,5712,0.00,2.10,0.00,0.000,516,0.000,0.030,2638,590,3169,3226,3113,0,0,0,0,0,0,26.72,26.20,26.72
$GC,5809,-0.48,-175.2,2637,590,3226,3113,855.2,-11.0,379,5814,0.00,2.17,0.00,0.000,1030,0.000,0.029,2628,1993,3169,3226,3113,0,0,0,0,0,0,26.28,26.24,26.31
$GC,6627,-0.48,-175.2,2627,1996,3222,3108,967.8,-16.0,420,6632,0.00,2.10,0.00,0.000,260,0.000,0.034,2617,3398,3164,3221,3108,0,0,0,0,0,0,26.72,26.17,26.73
$GC,6772,-0.48,-175.2,2617,3399,3219,3108,984.4,-10.9,427,6776,0.12,2.10,0.00,0.000,3078,0.165,0.028,2657,1995,3164,3220,3108,0,0,0,0,0,0,25.85,26.22,26.01
$STATE,6923,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6923,begin apogee
$GC,6928,0.00,0.0,2657,1777,3219,3107,1001.8,-11.0,435,7074,0.47,0.00,142.27,1.320,10246,0.134,0.000,2803,1776,2465,2534,2396,0,0,0,0,0,0,25.69,24.43,23.64
$STATE,7075,end apogee,CONTROL_FINISHED_OK
$STATE,7075,begin climb
$GC,7077,0.48,175.2,2803,1776,2533,2395,1007.7,0.0,442,7238,0.43,2.28,151.90,1.283,10756,0.055,0.037,2978,446,1749,1848,1650,0,0,0,0,0,0,24.63,23.74,22.99
$GC,7265,0.48,175.2,2977,445,1837,1650,988.9,16.3,452,7271,0.00,2.28,0.00,0.000,1030,0.000,0.030,2978,1802,1743,1837,1650,0,0,0,0,0,0,24.39,24.32,24.41
$GC,8085,0.48,175.2,2977,1808,1831,1646,838.5,17.8,493,8091,0.00,2.17,0.00,0.000,260,0.000,0.034,2978,3231,1738,1830,1646,0,0,0,0,0,0,26.32,25.94,26.34
$GC,8214,0.48,175.2,2977,3232,1828,1646,818.7,15.8,499,8218,0.00,2.10,0.00,0.000,1030,0.000,0.031,2988,1846,1737,1828,1646,0,0,0,0,0,0,26.08,25.98,26.12
$GC,9020,0.48,175.2,2987,1846,1826,1644,677.5,15.8,539,9026,0.00,2.08,0.00,0.000,260,0.000,0.030,2987,3232,1735,1826,1644,0,0,0,0,0,0,26.54,26.13,26.55
$GC,9149,0.48,175.2,2987,3232,1825,1644,660.0,14.2,545,9154,0.10,2.15,0.00,0.000,5126,0.208,0.031,2972,1807,1734,1825,1644,0,0,0,0,0,0,25.77,26.13,25.99
$GC,9955,0.48,175.2,2971,1807,1825,1643,538.2,15.6,585,9961,0.00,2.17,0.00,0.000,516,0.000,0.038,2981,402,1734,1825,1643,0,0,0,0,0,0,26.62,26.09,26.63
$GC,10035,0.48,175.2,2980,402,1818,1643,526.3,14.8,589,10041,0.00,2.17,0.00,0.000,1030,0.000,0.028,2981,1820,1731,1819,1643,0,0,0,0,0,0,26.29,26.19,26.32
$GC,10857,0.48,175.2,2980,1824,1821,1643,403.3,13.5,630,10862,0.00,2.17,0.00,0.000,516,0.000,0.036,2991,403,1732,1821,1643,0,0,0,0,0,0,26.65,26.11,26.67
$GC,11003,0.48,175.2,2990,402,1816,1643,384.1,13.3,637,11007,0.00,2.15,0.00,0.000,1030,0.000,0.029,2991,1811,1729,1816,1643,0,0,0,0,0,0,26.30,26.20,26.34
$GC,11810,0.48,175.2,2990,1814,1821,1643,262.0,15.4,677,11814,0.00,2.20,0.00,0.000,516,0.000,0.034,3001,392,1732,1821,1643,0,0,0,0,0,0,26.67,26.13,26.69
$GC,11940,0.48,175.2,3001,391,1816,1644,244.6,13.9,683,11946,0.12,2.17,0.00,0.000,5126,0.181,0.029,2967,1821,1730,1816,1644,0,0,0,0,0,0,25.78,26.21,25.99
$GC,12746,0.48,175.2,2966,1826,1825,1643,145.3,11.4,746,12755,0.00,2.17,0.00,0.000,516,0.000,0.035,2976,402,1734,1824,1644,0,0,0,0,0,0,26.69,26.12,26.70
$GC,12900,0.58,255.1,2976,401,1821,1644,131.3,7.9,761,12969,0.00,2.15,62.10,0.713,9222,0.000,0.028,2976,1821,1424,1535,1313,0,0,0,0,0,0,26.32,26.24,24.84
$GC,13270,0.69,341.9,2976,1823,1531,1310,94.2,7.7,804,13352,0.12,2.33,72.03,0.671,10756,0.078,0.035,3071,407,1069,1200,938,0,0,0,0,0,0,25.94,24.94,24.56
$GC,13376,0.69,341.9,3070,406,1189,938,76.0,20.3,821,13384,0.12,2.22,0.00,0.000,5126,0.154,0.028,3034,1813,1063,1189,938,0,0,0,0,0,0,25.17,25.36,25.35
$GC,13716,0.69,341.9,3033,1818,1188,935,24.7,14.1,882,13725,0.00,2.17,0.00,0.000,260,0.000,0.030,3034,3228,1062,1189,935,0,0,0,0,0,0,26.20,25.83,26.21
$GC,13775,0.69,341.9,3033,3228,1186,935,16.2,12.9,891,13784,0.00,2.20,0.00,0.000,1030,0.000,0.029,3042,1807,1060,1186,935,0,0,0,0,0,0,25.91,25.85,25.94
$GC,13833,0.69,341.9,3042,1807,1184,935,7.7,16.7,900,13842,0.00,2.22,0.00,0.000,516,0.000,0.035,3054,399,1059,1183,935,0,0,0,0,0,0,26.27,25.84,26.28
$STATE,13867,end climb,SURFACE_DEPTH_REACHED
$STATE,13867,begin surface coast
$FINISH,1.0,1.005055
$STATE,13886,end surface coast,CONTROL_FINISHED_OK
$STATE,13886,begin surface
$SM_CCo,13965,0.00,0.000,0,0,1053,346.11
$SM_GC,2.53,7.57,2.47,0.00,0.022,0.017,0.000,125,2019,1053,-8.33,-0.85,346.11,0,0,0,0,0,0,25.95,25.98,26.01
$IRIDIUM_FIX,-3034.97,3104.71,190717,042330
$TT8_MAMPS,0.025466,0.261401
$HUMID,55.19
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,21.10
$XPDR_PINGS,0
$24V_AH,22.99,37.465
$10V_AH,10.17,18.933
$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,18.900,82.500,428.300,0.000,0.000,37.284,44.015,253.107,20.250,0.000,10.785,2223.903,9271.467,462.666,2313.448,159.524,0.000,1404.051,0.000,1880.587,0.000,138.162,0.000
$DEVICE_MAMPS,208.080,41.310,1319.625,0.000,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,626.077,78.444,357.518,355.503,0.000,0.000,0.000,0.000,0.000,0.000
$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,56951,908
$CAP_FILE_SIZE,115567,0
$CFSIZE,2097086464,2050818048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$WARN,PPS timeout
$GPS,190717,082352,-3052.186,3102.473,25,0.9,25,-25.9,1.6,189.1,9,96.2