version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 413
start: 7 19 117 8 32 27
data:
$ID,574
$MISSION,23
$DIVE,413
$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,260
$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,1790
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$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
$GPS1,190717,082352,-3052.1855,3102.4731,25,0.9,25,-25.9,1.6,189.1,9,96.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-74.8
$GPS2,190717,083140,-3052.5581,3102.4272,16,1.7,16,-25.9,1.4,184.9,4,16.6
$SPEED_LIMITS,0.325,0.335
$TGT_NAME,HEADING
$TGT_LATLONG,-3054.433,3050.032
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,285.9,20000,-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,-175.2,125,2023,1130,971,0.0,0.0,0,73,0.00,0.00,-55.53,0.000,16386,0.000,0.000,125,2024,2599,2591,2608,0,0,0,0,0,0,26.10,28.83,26.11
$GC,76,-0.48,-175.2,125,2024,2591,2609,3.2,-2.0,7,109,9.65,2.25,-12.62,0.000,19204,0.208,0.041,2649,581,3184,3227,3141,0,0,0,0,0,0,25.25,24.20,25.46
$GC,148,-0.48,-175.2,2648,581,3228,3141,21.3,-21.9,17,157,0.00,2.20,0.00,0.000,1030,0.000,0.029,2640,1978,3184,3228,3140,0,0,0,0,0,0,25.86,25.83,25.89
$GC,292,-0.48,-175.2,2639,1977,3229,3140,55.1,-23.4,42,301,0.00,2.17,0.00,0.000,260,0.000,0.033,2629,3400,3184,3229,3140,0,0,0,0,0,0,26.29,25.91,26.31
$GC,431,-0.48,-175.2,2628,3400,3232,3138,81.3,-18.7,67,438,0.00,2.12,0.00,0.000,1030,0.000,0.025,2629,1974,3185,3233,3137,0,0,0,0,0,0,26.08,26.00,26.10
$GC,743,-0.48,-175.2,2628,1971,3235,3136,146.3,-16.6,105,751,0.00,2.12,0.00,0.000,260,0.000,0.031,2619,3406,3186,3236,3136,0,0,0,0,0,0,26.48,26.08,26.48
$GC,854,-0.48,-175.2,2618,3406,3236,3136,161.1,-12.6,116,863,0.10,2.10,0.00,0.000,3078,0.164,0.024,2650,1984,3186,3237,3136,0,0,0,0,0,0,25.86,26.13,26.01
$GC,1174,-0.48,-175.2,2649,1984,3238,3137,207.1,-14.8,146,1178,0.00,2.08,0.00,0.000,516,0.000,0.028,2649,587,3187,3238,3136,0,0,0,0,0,0,26.57,26.16,26.58
$GC,1208,-0.48,-175.2,2649,587,3238,3136,210.2,-14.7,147,1215,0.00,2.12,0.00,0.000,1030,0.000,0.027,2641,2004,3187,3238,3136,0,0,0,0,0,0,26.27,26.19,26.29
$GC,2016,-0.48,-175.2,2640,2005,3238,3136,332.0,-13.9,188,2021,0.00,2.05,0.00,0.000,260,0.000,0.033,2630,3398,3186,3238,3135,0,0,0,0,0,0,26.62,26.22,26.63
$GC,2224,-0.48,-175.2,2629,3398,3238,3133,356.4,-12.2,198,2228,0.00,2.08,0.00,0.000,1030,0.000,0.024,2630,1989,3185,3238,3133,0,0,0,0,0,0,26.35,26.27,26.38
$GC,3033,-0.48,-175.2,2629,1984,3237,3129,488.7,-17.0,238,3039,0.00,2.08,0.00,0.000,260,0.000,0.032,2620,3401,3183,3238,3129,0,0,0,0,0,0,26.69,26.25,26.70
$GC,3172,-0.48,-175.2,2619,3401,3237,3129,509.6,-14.1,245,3179,0.10,2.08,0.00,0.000,3078,0.161,0.025,2652,1994,3183,3237,3129,0,0,0,0,0,0,26.00,26.28,26.14
$GC,3994,-0.48,-175.2,2651,1993,3236,3122,622.2,-12.8,286,3999,0.00,2.12,0.00,0.000,516,0.000,0.031,2652,577,3179,3236,3122,0,0,0,0,0,0,26.67,26.22,26.69
$GC,4021,-0.48,-175.2,2651,577,3236,3122,624.8,-12.7,287,4025,0.00,2.12,0.00,0.000,1030,0.000,0.028,2643,1991,3179,3236,3122,0,0,0,0,0,0,26.36,26.27,26.39
$GC,4828,-0.48,-175.2,2643,1991,3232,3116,727.5,-13.7,327,4833,0.00,2.12,0.00,0.000,516,0.000,0.030,2643,581,3174,3232,3116,0,0,0,0,0,0,26.71,26.22,26.72
$GC,4892,-0.48,-175.2,2642,580,3232,3116,735.6,-13.4,330,4896,0.00,2.15,0.00,0.000,1030,0.000,0.028,2633,1989,3174,3232,3116,0,0,0,0,0,0,26.35,26.26,26.37
$GC,5710,-0.48,-175.2,2633,1989,3227,3111,858.7,-14.4,371,5716,0.00,2.10,0.00,0.000,516,0.000,0.031,2633,591,3169,3228,3111,0,0,0,0,0,0,26.71,26.22,26.72
$GC,5797,-0.48,-175.2,2633,591,3227,3111,869.0,-12.8,375,5802,0.10,2.12,0.00,0.000,3078,0.187,0.029,2653,1990,3169,3227,3112,0,0,0,0,0,0,25.89,26.24,26.05
$GC,6604,-0.48,-175.2,2652,1991,3225,3106,955.7,-10.6,415,6610,0.00,2.12,0.00,0.000,260,0.000,0.037,2643,3403,3165,3225,3106,0,0,0,0,0,0,26.72,26.15,26.72
$GC,6755,-0.48,-175.2,2643,3403,3223,3107,967.9,-8.3,422,6759,0.00,2.10,0.00,0.000,1030,0.000,0.028,2643,1993,3165,3223,3107,0,0,0,0,0,0,26.31,26.21,26.34
$STATE,7027,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7027,begin apogee
$GC,7034,0.00,0.0,2643,1754,3223,3104,1000.4,-12.0,436,7178,0.55,0.00,141.35,1.297,10246,0.141,0.000,2809,1752,2464,2534,2395,0,0,0,0,0,0,25.63,24.46,23.68
$STATE,7179,end apogee,CONTROL_FINISHED_OK
$STATE,7179,begin climb
$GC,7181,0.48,175.2,2809,1752,2532,2395,1006.4,0.0,443,7342,0.40,2.30,151.15,1.274,10756,0.061,0.037,2975,414,1748,1848,1649,0,0,0,0,0,0,24.65,23.58,23.01
$GC,7372,0.48,175.2,2974,414,1837,1649,990.5,13.7,452,7376,0.00,2.28,0.00,0.000,1030,0.000,0.030,2975,1781,1742,1836,1649,0,0,0,0,0,0,24.45,24.38,24.46
$GC,8179,0.48,175.2,2974,1786,1831,1645,860.2,15.3,492,8185,0.00,2.15,0.00,0.000,516,0.000,0.038,2984,411,1738,1831,1645,0,0,0,0,0,0,26.32,25.89,26.34
$GC,8342,0.48,175.2,2984,410,1824,1645,836.5,14.1,500,8346,0.00,2.15,0.00,0.000,1030,0.000,0.030,2984,1800,1734,1823,1645,0,0,0,0,0,0,26.09,26.01,26.13
$GC,9154,0.48,175.2,2984,1804,1825,1643,701.2,16.5,541,9160,0.00,2.12,0.00,0.000,260,0.000,0.033,2984,3213,1734,1825,1644,0,0,0,0,0,0,26.54,26.11,26.56
$GC,9217,0.48,175.2,2984,3213,1824,1644,692.0,15.6,544,9221,0.00,2.10,0.00,0.000,1030,0.000,0.030,2994,1819,1734,1824,1644,0,0,0,0,0,0,26.22,26.13,26.26
$GC,10029,0.48,175.2,2994,1819,1823,1643,554.3,16.1,585,10035,0.00,2.22,0.00,0.000,516,0.000,0.039,3005,379,1732,1822,1643,0,0,0,0,0,0,26.62,26.09,26.63
$GC,10158,0.48,175.2,3005,379,1815,1643,535.8,15.0,591,10163,0.12,2.17,0.00,0.000,5126,0.190,0.030,2971,1797,1729,1815,1643,0,0,0,0,0,0,25.75,26.18,25.98
$GC,10964,0.48,175.2,2971,1800,1820,1643,418.3,14.1,631,10970,0.00,2.17,0.00,0.000,516,0.000,0.037,2981,384,1732,1820,1644,0,0,0,0,0,0,26.66,26.11,26.67
$GC,11112,0.48,175.2,2980,383,1815,1643,399.9,12.6,638,11116,0.00,2.15,0.00,0.000,1030,0.000,0.029,2980,1792,1729,1815,1643,0,0,0,0,0,0,26.29,26.20,26.34
$GC,11919,0.48,175.2,2980,1795,1820,1643,289.6,14.8,678,11925,0.00,2.10,0.00,0.000,260,0.000,0.031,2981,3203,1732,1821,1643,0,0,0,0,0,0,26.67,26.17,26.69
$GC,12032,0.48,175.2,2980,3203,1821,1643,275.8,13.4,683,12039,0.00,2.12,0.00,0.000,1030,0.000,0.030,2991,1783,1732,1821,1643,0,0,0,0,0,0,26.29,26.20,26.34
$GC,12839,0.48,175.2,2990,1783,1824,1643,161.9,14.0,738,12843,0.00,2.12,0.00,0.000,260,0.000,0.030,2991,3207,1734,1824,1644,0,0,0,0,0,0,26.69,26.20,26.70
$GC,12920,0.48,175.2,2990,3207,1824,1644,151.2,12.5,746,12930,0.12,2.12,0.00,0.000,5126,0.190,0.029,2967,1784,1734,1824,1644,0,0,0,0,0,0,25.77,26.21,25.98
$GC,13231,0.59,264.9,2966,1784,1825,1644,121.5,7.7,777,13311,0.12,2.20,70.55,0.704,10500,0.084,0.028,3034,3200,1382,1496,1269,0,0,0,0,0,0,26.38,25.38,24.77
$GC,13324,0.59,264.9,3034,3200,1496,1269,109.6,14.0,786,13333,0.15,2.17,0.00,0.000,5126,0.160,0.030,3001,1792,1382,1495,1269,0,0,0,0,0,0,25.32,25.52,25.49
$GC,13645,0.59,264.9,3000,1792,1491,1263,73.7,12.0,839,13652,0.00,2.17,0.00,0.000,516,0.000,0.036,3011,383,1376,1490,1262,0,0,0,0,0,0,26.23,25.78,26.25
$GC,13808,0.59,264.9,3011,383,1479,1262,55.7,10.3,869,13814,0.00,2.15,0.00,0.000,1030,0.000,0.026,3011,1794,1371,1480,1262,0,0,0,0,0,0,26.03,25.94,26.06
$GC,14155,0.59,264.9,3010,1796,1480,1262,17.6,11.1,930,14164,0.00,2.12,0.00,0.000,260,0.000,0.031,3011,3191,1371,1481,1262,0,0,0,0,0,0,26.45,26.02,26.46
$GC,14202,0.59,264.9,3010,3191,1481,1263,12.3,10.8,937,14211,0.00,2.15,0.00,0.000,1030,0.000,0.028,3020,1785,1372,1481,1263,0,0,0,0,0,0,26.10,26.06,26.13
$GC,14261,0.59,264.9,3020,1785,1481,1263,5.8,11.4,946,14270,0.00,2.20,0.00,0.000,516,0.000,0.037,3031,380,1371,1480,1263,0,0,0,0,0,0,26.48,26.01,26.48
$STATE,14283,end climb,SURFACE_DEPTH_REACHED
$STATE,14283,begin surface coast
$FINISH,1.1,1.011375
$STATE,14302,end surface coast,CONTROL_FINISHED_OK
$STATE,14302,begin surface
$SM_CCo,14321,23.38,0.050,0,0,1160,320.11
$SM_GC,2.26,7.47,2.47,23.38,0.024,0.018,0.050,125,1996,1160,-8.33,-1.16,320.11,0,0,0,0,0,0,26.03,26.10,25.98
$IRIDIUM_FIX,-3034.97,3106.86,190717,042348
$TT8_MAMPS,0.025466,0.291361
$HUMID,54.37
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,23.01,37.606
$10V_AH,10.13,19.011
$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,18.900,90.675,363.050,23.375,0.000,32.959,62.298,241.886,20.250,0.000,23.630,2356.519,9373.304,457.148,2487.909,161.773,0.000,1433.446,0.000,2024.307,0.000,137.185,0.000
$DEVICE_MAMPS,208.080,41.310,1297.440,50.490,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,660.727,95.992,408.463,413.293,0.000,0.000,0.000,0.000,0.000,0.000
$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,60390,952
$CAP_FILE_SIZE,122586,0
$CFSIZE,2097086464,2050686976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$WARN,PPS timeout
$GPS,190717,123259,-3056.785,3102.216,51,1.0,51,-26.0,0.6,191.9,8,16.2