version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 416
start: 7 19 117 21 0 51
data:
$ID,574
$MISSION,23
$DIVE,416
$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,37
$R_STBD_OVSHOOT,47
$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
$GPS1,190717,205232,-3108.9739,3059.0320,36,0.9,36,-26.2,0.9,208.0,9,47.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-75.0
$GPS2,190717,210004,-3109.3152,3058.9187,4,1.0,4,-26.2,0.8,216.4,8,104.4
$SPEED_LIMITS,0.325,0.335
$TGT_NAME,HEADING
$TGT_LATLONG,-3111.190,3046.487
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,286.2,20000,-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,14,begin dive
$GC,16,-0.48,-175.2,127,2009,1216,1070,0.0,0.0,0,73,0.00,0.00,-54.65,0.000,16386,0.000,0.000,127,2009,2660,2647,2674,0,0,0,0,0,0,26.12,28.83,26.14
$GC,76,-0.48,-175.2,127,2009,2647,2675,3.1,-2.7,7,102,9.62,2.15,-10.77,0.000,18692,0.212,0.043,2637,3403,3182,3221,3143,0,0,0,0,0,0,25.30,24.19,25.49
$GC,239,-0.48,-175.2,2636,3403,3228,3139,40.2,-18.2,33,246,0.00,2.12,0.00,0.000,1030,0.000,0.024,2636,1982,3183,3228,3138,0,0,0,0,0,0,26.01,25.94,26.03
$GC,560,-0.48,-175.2,2636,1977,3233,3136,114.7,-21.1,87,569,0.00,2.10,0.00,0.000,260,0.000,0.030,2626,3395,3184,3233,3136,0,0,0,0,0,0,26.45,26.04,26.46
$GC,681,-0.48,-175.2,2626,3394,3233,3136,135.9,-14.9,99,685,0.00,2.08,0.00,0.000,1030,0.000,0.024,2626,1988,3184,3233,3136,0,0,0,0,0,0,26.19,26.11,26.21
$GC,986,-0.48,-175.2,2625,1984,3235,3135,193.7,-18.3,129,995,0.00,2.08,0.00,0.000,260,0.000,0.030,2616,3396,3185,3236,3135,0,0,0,0,0,0,26.55,26.15,26.57
$GC,1020,-0.48,-175.2,2616,3396,3235,3135,199.0,-17.5,132,1031,0.12,2.08,0.00,0.000,3078,0.145,0.024,2657,1983,3185,3236,3135,0,0,0,0,0,0,25.89,26.18,26.03
$GC,1327,-0.48,-175.2,2656,1980,3237,3134,243.2,-14.4,148,1333,0.00,2.08,0.00,0.000,260,0.000,0.030,2648,3396,3186,3237,3135,0,0,0,0,0,0,26.60,26.19,26.62
$GC,1360,-0.48,-175.2,2647,3395,3237,3135,245.9,-14.4,149,1367,0.00,2.05,0.00,0.000,1030,0.000,0.023,2648,1989,3186,3237,3135,0,0,0,0,0,0,26.31,26.23,26.33
$GC,2167,-0.48,-175.2,2647,1986,3237,3132,357.3,-15.0,190,2173,0.00,2.08,0.00,0.000,260,0.000,0.031,2638,3394,3184,3237,3132,0,0,0,0,0,0,26.67,26.25,26.69
$GC,2247,-0.48,-175.2,2638,3394,3237,3132,367.9,-13.2,194,2253,0.00,2.08,0.00,0.000,1030,0.000,0.024,2638,1983,3184,3237,3132,0,0,0,0,0,0,26.36,26.29,26.39
$GC,3068,-0.48,-175.2,2638,1979,3236,3129,485.6,-12.9,235,3074,0.00,2.08,0.00,0.000,260,0.000,0.032,2628,3392,3182,3236,3129,0,0,0,0,0,0,26.70,26.25,26.71
$GC,3189,-0.48,-175.2,2627,3393,3234,3129,498.3,-9.9,241,3194,0.00,2.05,0.00,0.000,1030,0.000,0.024,2628,1989,3181,3234,3129,0,0,0,0,0,0,26.33,26.29,26.35
$GC,4011,-0.48,-175.2,2627,1989,3232,3123,612.0,-15.6,282,4016,0.00,2.08,0.00,0.000,260,0.000,0.032,2618,3393,3177,3231,3124,0,0,0,0,0,0,26.70,26.25,26.71
$GC,4117,-0.48,-175.2,2617,3393,3230,3124,626.1,-13.4,287,4121,0.10,2.08,0.00,0.000,3078,0.159,0.025,2650,1990,3176,3230,3123,0,0,0,0,0,0,25.99,26.28,26.13
$GC,4925,-0.48,-175.2,2649,1986,3228,3117,737.9,-12.7,327,4928,0.00,2.10,0.00,0.000,260,0.000,0.033,2641,3391,3172,3228,3117,0,0,0,0,0,0,26.72,26.22,26.73
$GC,5006,-0.48,-175.2,2640,3393,3227,3117,747.1,-11.1,331,5012,0.00,2.08,0.00,0.000,1030,0.000,0.026,2641,1993,3172,3227,3117,0,0,0,0,0,0,26.35,26.26,26.38
$GC,5828,-0.48,-175.2,2640,1993,3225,3111,851.9,-12.1,372,5833,0.00,2.10,0.00,0.000,516,0.000,0.032,2641,590,3168,3225,3111,0,0,0,0,0,0,26.70,26.19,26.71
$GC,5879,-0.48,-175.2,2640,590,3225,3111,856.6,-12.0,374,5886,0.00,2.10,0.00,0.000,1030,0.000,0.027,2631,1984,3168,3225,3111,0,0,0,0,0,0,26.34,26.25,26.37
$GC,6687,-0.48,-175.2,2631,1984,3221,3107,966.6,-14.9,415,6693,0.00,2.10,0.00,0.000,516,0.000,0.031,2631,585,3164,3222,3107,0,0,0,0,0,0,26.72,26.17,26.73
$GC,6746,-0.48,-175.2,2630,584,3221,3107,974.7,-13.9,418,6752,0.10,2.12,0.00,0.000,3078,0.186,0.028,2650,1989,3164,3221,3107,0,0,0,0,0,0,25.86,26.22,26.01
$STATE,6965,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6965,begin apogee
$GC,6972,0.00,0.0,2650,1741,3220,3105,1002.2,-12.4,429,7118,0.50,0.08,142.25,1.320,10246,0.134,0.085,2804,1824,2464,2538,2391,0,0,0,0,0,0,25.65,24.46,23.65
$STATE,7119,end apogee,CONTROL_FINISHED_OK
$STATE,7119,begin climb
$GC,7121,0.48,175.2,2804,1824,2538,2391,1009.2,0.0,436,7288,0.40,2.45,152.15,1.315,10756,0.054,0.037,2970,433,1748,1847,1649,0,0,0,0,0,0,24.69,23.81,23.03
$GC,7330,0.48,175.2,2970,433,1837,1649,989.4,15.4,447,7336,0.00,2.17,0.00,0.000,1030,0.000,0.028,2971,1758,1743,1837,1649,0,0,0,0,0,0,24.65,24.58,24.68
$GC,8150,0.48,175.2,2970,1761,1833,1644,846.7,17.3,488,8156,0.00,2.20,0.00,0.000,260,0.000,0.032,2971,3203,1738,1833,1644,0,0,0,0,0,0,26.36,25.97,26.38
$GC,8210,0.48,175.2,2970,3203,1830,1644,836.7,16.8,491,8214,0.00,2.10,0.00,0.000,1030,0.000,0.031,2980,1830,1737,1830,1644,0,0,0,0,0,0,26.09,25.99,26.13
$GC,9031,0.48,175.2,2980,1830,1827,1643,697.9,15.8,532,9037,0.00,2.25,0.00,0.000,516,0.000,0.040,2992,380,1734,1826,1643,0,0,0,0,0,0,26.55,26.06,26.57
$GC,9182,0.48,175.2,2991,380,1819,1643,677.2,14.3,539,9191,0.00,2.15,0.00,0.000,1030,0.000,0.028,2992,1796,1732,1821,1643,0,0,0,0,0,0,26.25,26.16,26.29
$GC,9991,0.48,175.2,2992,1799,1821,1643,546.9,16.5,580,9997,0.00,2.10,0.00,0.000,260,0.000,0.031,2992,3203,1732,1822,1643,0,0,0,0,0,0,26.63,26.17,26.65
$GC,10055,0.48,175.2,2991,3203,1822,1643,537.5,16.1,583,10060,0.12,2.12,0.00,0.000,5126,0.194,0.031,2968,1787,1732,1821,1643,0,0,0,0,0,0,25.75,26.17,25.98
$GC,10867,0.48,175.2,2967,1787,1822,1643,425.2,13.6,624,10873,0.00,2.17,0.00,0.000,516,0.000,0.037,2977,372,1732,1821,1644,0,0,0,0,0,0,26.67,26.11,26.67
$GC,10895,0.48,175.2,2977,372,1817,1643,422.6,13.4,625,10899,0.00,2.15,0.00,0.000,1030,0.000,0.027,2977,1790,1730,1817,1643,0,0,0,0,0,0,26.31,26.22,26.34
$GC,11702,0.48,175.2,2977,1793,1821,1643,309.7,14.8,665,11708,0.00,2.10,0.00,0.000,260,0.000,0.030,2977,3209,1732,1821,1643,0,0,0,0,0,0,26.68,26.20,26.70
$GC,11755,0.48,175.2,2977,3209,1822,1644,303.7,15.1,667,11762,0.00,2.12,0.00,0.000,1030,0.000,0.029,2987,1788,1733,1822,1644,0,0,0,0,0,0,26.29,26.20,26.34
$GC,12562,0.48,175.2,2987,1788,1825,1643,186.8,13.2,712,12570,0.00,2.15,0.00,0.000,516,0.000,0.036,2998,379,1733,1823,1643,0,0,0,0,0,0,26.69,26.11,26.70
$GC,12595,0.48,175.2,2998,378,1820,1643,182.9,12.5,715,12603,0.08,2.17,0.00,0.000,5126,0.174,0.028,2968,1795,1732,1821,1643,0,0,0,0,0,0,25.82,26.23,26.01
$GC,12903,0.48,175.2,2968,1796,1826,1644,150.7,10.1,746,12911,0.00,2.17,0.00,0.000,516,0.000,0.034,2977,378,1734,1824,1644,0,0,0,0,0,0,26.70,26.13,26.70
$GC,13045,0.54,221.3,2976,377,1821,1644,138.0,8.8,760,13086,0.00,2.10,35.47,0.707,9222,0.000,0.025,2977,1785,1563,1669,1457,0,0,0,0,0,0,26.29,26.25,25.13
$GC,13394,0.58,255.8,2976,1785,1664,1456,102.2,9.1,795,13431,0.00,2.17,29.00,0.666,8452,0.000,0.028,2977,3193,1422,1537,1307,0,0,0,0,0,0,26.39,25.44,25.03
$GC,13530,0.72,372.4,2976,3193,1534,1307,91.7,7.0,817,13633,0.17,2.12,96.78,0.661,11270,0.062,0.027,3075,1786,946,1081,811,0,0,0,0,0,0,25.80,25.80,24.44
$GC,13970,0.72,372.4,3074,1787,1066,810,9.1,20.8,894,13979,0.08,2.22,0.00,0.000,4612,0.183,0.035,3058,385,937,1065,810,0,0,0,0,0,0,25.63,25.75,25.70
$STATE,14005,end climb,SURFACE_DEPTH_REACHED
$STATE,14005,begin surface coast
$FINISH,1.0,1.016022
$STATE,14024,end surface coast,CONTROL_FINISHED_OK
$STATE,14024,begin surface
$SM_CCo,14103,0.00,0.000,0,0,931,376.28
$SM_GC,2.11,7.57,2.50,0.00,0.020,0.018,0.000,125,2023,931,-8.33,-0.99,376.28,0,0,0,0,0,0,25.89,25.91,25.95
$IRIDIUM_FIX,-3055.04,3059.99,190717,205406
$TT8_MAMPS,0.024717,0.26215
$HUMID,55.39
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,21.10
$XPDR_PINGS,2
$24V_AH,23.03,38.052
$10V_AH,10.21,19.237
$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,18.875,85.850,455.650,0.000,0.000,36.223,44.357,257.706,20.750,0.000,11.771,2192.473,9466.963,486.851,2271.072,158.017,0.000,1420.873,0.000,1829.530,0.000,137.189,0.000
$DEVICE_MAMPS,211.905,84.915,1319.625,0.000,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,620.132,70.840,313.701,320.445,0.000,0.000,0.000,0.000,0.000,0.000
$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,57094,902
$CAP_FILE_SIZE,115896,0
$CFSIZE,2097086464,2050293760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$WARN,PPS timeout
$GPS,200717,005702,-3115.378,3056.254,34,0.8,34,-26.3,2.1,200.6,11,20.9