version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 418
start: 7 20 117 5 16 5
data:
$ID,574
$MISSION,23
$DIVE,418
$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,290
$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,27
$R_STBD_OVSHOOT,40
$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
$GPS1,200717,050732,-3121.2842,3052.2285,28,0.9,28,-26.4,1.2,220.9,10,7.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-78.5
$GPS2,200717,051518,-3121.6013,3052.1284,4,0.9,4,-26.4,0.5,178.0,9,102.1
$SPEED_LIMITS,0.325,0.335
$TGT_NAME,HEADING
$TGT_LATLONG,-3117.908,3040.252
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,316.4,20000,-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,-175.2,126,1993,1214,1074,0.0,0.0,0,73,0.00,0.00,-54.53,0.000,16386,0.000,0.000,126,1993,2675,2660,2690,0,0,0,0,0,0,26.11,28.83,26.13
$GC,76,-0.48,-175.2,126,1993,2663,2689,3.4,-3.8,7,102,9.82,2.25,-10.48,0.000,18948,0.215,0.041,2646,566,3182,3222,3143,0,0,0,0,0,0,25.29,24.22,25.48
$GC,141,-0.48,-175.2,2645,565,3225,3143,19.5,-20.8,16,149,0.00,2.22,0.00,0.000,1030,0.000,0.025,2636,1993,3184,3225,3143,0,0,0,0,0,0,25.89,25.85,25.91
$GC,200,-0.48,-175.2,2636,1993,3227,3140,32.1,-23.6,25,208,0.00,2.15,0.00,0.000,260,0.000,0.033,2626,3397,3183,3227,3140,0,0,0,0,0,0,26.25,25.86,26.26
$GC,254,-0.48,-175.2,2625,3397,3227,3138,45.0,-21.9,34,261,0.00,2.12,0.00,0.000,1030,0.000,0.024,2626,1971,3183,3228,3138,0,0,0,0,0,0,26.01,25.93,26.03
$GC,574,-0.48,-175.2,2625,1967,3230,3137,122.9,-21.9,85,583,0.00,2.12,0.00,0.000,260,0.000,0.030,2615,3403,3183,3230,3137,0,0,0,0,0,0,26.45,26.05,26.46
$GC,625,-0.48,-175.2,2615,3403,3231,3137,133.9,-21.4,90,635,0.12,2.10,0.00,0.000,3078,0.147,0.024,2654,1980,3184,3232,3137,0,0,0,0,0,0,25.78,26.09,25.94
$GC,935,-0.48,-175.2,2653,1978,3234,3136,187.4,-16.4,121,944,0.00,2.10,0.00,0.000,260,0.000,0.030,2645,3405,3185,3234,3136,0,0,0,0,0,0,26.54,26.13,26.55
$GC,1038,-0.48,-175.2,2644,3405,3235,3136,200.4,-11.3,131,1044,0.00,2.05,0.00,0.000,1030,0.000,0.024,2645,1993,3186,3235,3137,0,0,0,0,0,0,26.22,26.19,26.25
$GC,1857,-0.48,-175.2,2644,1989,3236,3136,323.9,-14.4,172,1860,0.00,2.10,0.00,0.000,260,0.000,0.031,2634,3407,3185,3235,3136,0,0,0,0,0,0,26.65,26.22,26.67
$GC,1958,-0.48,-175.2,2634,3409,3236,3135,335.6,-11.0,177,1964,0.00,2.08,0.00,0.000,1030,0.000,0.023,2635,1988,3185,3236,3135,0,0,0,0,0,0,26.35,26.28,26.37
$GC,2780,-0.48,-175.2,2634,1985,3236,3131,452.7,-14.6,218,2784,0.00,2.10,0.00,0.000,260,0.000,0.031,2625,3400,3183,3236,3131,0,0,0,0,0,0,26.67,26.25,26.69
$GC,2889,-0.48,-175.2,2624,3403,3236,3130,465.6,-11.9,223,2893,0.00,2.08,0.00,0.000,1030,0.000,0.025,2625,1993,3182,3235,3130,0,0,0,0,0,0,26.36,26.28,26.39
$GC,3698,-0.48,-175.2,2624,1993,3233,3126,587.3,-14.2,263,3703,0.08,2.10,0.00,0.000,2308,0.204,0.031,2644,3404,3179,3232,3126,0,0,0,0,0,0,26.12,26.22,26.16
$GC,3764,-0.48,-175.2,2644,3404,3232,3125,593.5,-11.2,266,3768,0.00,2.10,0.00,0.000,1030,0.000,0.025,2644,1988,3178,3232,3125,0,0,0,0,0,0,26.36,26.28,26.39
$GC,4578,-0.48,-175.2,2644,1986,3228,3119,694.6,-13.1,307,4579,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,1986,3173,3228,3119,0,0,0,0,0,0,26.72,26.73,26.72
$GC,5379,-0.48,-175.2,2643,1986,3226,3114,802.5,-13.3,347,5384,0.00,2.08,0.00,0.000,260,0.000,0.034,2634,3389,3170,3226,3114,0,0,0,0,0,0,26.70,26.20,26.71
$GC,5478,-0.48,-175.2,2634,3390,3225,3114,814.3,-11.0,352,5484,0.00,2.08,0.00,0.000,1030,0.000,0.028,2634,1993,3169,3225,3114,0,0,0,0,0,0,26.33,26.24,26.36
$GC,6300,-0.48,-175.2,2634,1991,3222,3108,921.4,-13.3,393,6305,0.00,2.08,0.00,0.000,260,0.000,0.033,2624,3391,3165,3222,3108,0,0,0,0,0,0,26.70,26.18,26.70
$GC,6366,-0.48,-175.2,2623,3391,3220,3108,928.4,-12.3,396,6371,0.10,2.10,0.00,0.000,3078,0.158,0.027,2657,1982,3164,3221,3108,0,0,0,0,0,0,25.94,26.22,26.06
$STATE,6997,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6997,begin apogee
$GC,7003,0.00,0.0,2657,1753,3220,3106,1000.7,-11.8,428,7147,0.47,0.00,141.43,1.283,10246,0.129,0.000,2804,1751,2465,2538,2392,0,0,0,0,0,0,25.67,24.49,23.69
$STATE,7148,end apogee,CONTROL_FINISHED_OK
$STATE,7148,begin climb
$GC,7150,0.48,175.2,2804,1751,2537,2392,1007.1,0.0,435,7312,0.43,2.45,151.35,1.281,10500,0.048,0.030,2970,3196,1749,1848,1650,0,0,0,0,0,0,24.70,23.86,23.08
$GC,7339,0.48,175.2,2970,3196,1845,1650,990.1,15.0,445,7345,0.00,2.22,0.00,0.000,1030,0.000,0.030,2980,1831,1747,1845,1650,0,0,0,0,0,0,24.51,24.44,24.53
$GC,8159,0.48,175.2,2979,1831,1836,1644,843.3,16.7,486,8165,0.00,2.05,0.00,0.000,260,0.000,0.027,2979,3201,1740,1836,1645,0,0,0,0,0,0,26.36,25.98,26.37
$GC,8252,0.48,175.2,2979,3202,1835,1645,831.0,15.2,490,8259,0.00,2.17,0.00,0.000,1030,0.000,0.032,2990,1778,1740,1835,1645,0,0,0,0,0,0,26.08,25.99,26.12
$GC,9061,0.48,175.2,2989,1778,1832,1643,685.1,17.6,531,9066,0.00,2.15,0.00,0.000,516,0.000,0.040,3001,379,1737,1831,1643,0,0,0,0,0,0,26.55,26.05,26.57
$GC,9079,0.48,175.2,3000,379,1825,1643,681.6,17.5,532,9086,0.12,2.15,0.00,0.000,5126,0.194,0.025,2967,1793,1734,1825,1643,0,0,0,0,0,0,25.72,26.16,25.95
$GC,9900,0.48,175.2,2967,1796,1826,1643,559.4,15.6,573,9905,0.00,2.10,0.00,0.000,260,0.000,0.031,2967,3197,1734,1826,1643,0,0,0,0,0,0,26.63,26.16,26.64
$GC,9987,0.48,175.2,2967,3197,1826,1643,547.6,14.6,577,9991,0.00,2.12,0.00,0.000,1030,0.000,0.031,2975,1790,1734,1825,1643,0,0,0,0,0,0,26.25,26.15,26.29
$GC,10795,0.48,175.2,2975,1790,1825,1643,423.0,14.6,617,10800,0.00,2.17,0.00,0.000,516,0.000,0.038,2986,377,1734,1825,1643,0,0,0,0,0,0,26.66,26.09,26.67
$GC,10847,0.48,175.2,2986,377,1820,1643,417.3,14.4,619,10854,0.00,2.15,0.00,0.000,1030,0.000,0.028,2986,1789,1731,1820,1643,0,0,0,0,0,0,26.29,26.21,26.33
$GC,11654,0.48,175.2,2986,1792,1823,1643,298.1,14.9,660,11660,0.00,2.10,0.00,0.000,260,0.000,0.031,2986,3202,1733,1824,1643,0,0,0,0,0,0,26.67,26.18,26.70
$GC,11774,0.48,175.2,2986,3202,1824,1643,281.6,13.4,666,11781,0.10,2.12,0.00,0.000,5126,0.195,0.031,2970,1786,1733,1824,1643,0,0,0,0,0,0,25.79,26.17,25.98
$GC,12585,0.50,189.6,2970,1787,1826,1643,189.9,9.6,711,12597,0.00,0.00,10.77,0.700,8198,0.000,0.000,2970,1787,1691,1788,1595,0,0,0,0,0,0,26.69,26.03,25.31
$GC,12895,0.50,189.6,2970,1787,1787,1595,155.1,11.1,742,12903,0.00,2.15,0.00,0.000,516,0.000,0.036,2979,380,1690,1785,1595,0,0,0,0,0,0,26.59,26.06,26.60
$GC,13006,0.50,189.6,2978,380,1779,1595,143.2,10.3,753,13010,0.00,2.15,0.00,0.000,1030,0.000,0.027,2979,1795,1687,1779,1595,0,0,0,0,0,0,26.26,26.17,26.28
$GC,13317,0.53,211.6,2978,1795,1785,1595,114.7,9.4,784,13339,0.00,0.00,19.50,0.666,8198,0.000,0.000,2978,1795,1602,1706,1498,0,0,0,0,0,0,26.63,25.92,25.32
$GC,13645,0.62,285.0,2978,1798,1702,1498,86.1,8.1,832,13713,0.00,2.17,59.95,0.666,8452,0.000,0.030,2979,3191,1302,1430,1174,0,0,0,0,0,0,26.48,25.39,24.82
$GC,13771,0.68,334.1,2978,3191,1425,1174,75.8,8.7,853,13822,0.12,2.15,41.67,0.654,11270,0.070,0.027,3067,1785,1102,1235,969,0,0,0,0,0,0,25.61,25.61,24.62
$GC,14159,0.68,334.1,3066,1783,1223,965,4.4,21.0,921,14169,0.10,2.20,0.00,0.000,4612,0.171,0.029,3041,378,1092,1220,965,0,0,0,0,0,0,25.69,25.80,25.74
$STATE,14176,end climb,SURFACE_DEPTH_REACHED
$STATE,14176,begin surface coast
$FINISH,1.1,0.999640
$STATE,14195,end surface coast,CONTROL_FINISHED_OK
$STATE,14195,begin surface
$SM_CCo,14274,0.00,0.000,0,0,1088,337.77
$SM_GC,1.98,7.70,2.50,0.00,0.033,0.018,0.000,125,2003,1088,-8.34,-1.10,337.77,0,0,0,0,0,0,25.91,25.93,25.96
$IRIDIUM_FIX,-3107.63,3051.34,200717,050901
$TT8_MAMPS,0.025466,0.26215
$HUMID,54.72
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.08,38.343
$10V_AH,10.18,19.385
$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,19.175,77.575,424.675,0.000,0.000,31.191,42.937,277.202,20.250,0.000,10.794,2247.607,9623.254,455.365,2280.557,154.005,0.000,1372.973,0.000,1824.465,0.000,136.132,0.000
$DEVICE_MAMPS,214.965,41.310,1282.905,0.000,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,636.151,74.193,315.181,321.200,0.000,0.000,0.000,0.000,0.000,0.000
$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,60296,926
$CAP_FILE_SIZE,114257,0
$CFSIZE,2097086464,2050031616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$WARN,PPS timeout
$GPS,200717,091502,-3126.148,3046.694,28,1.0,28,-26.5,0.0,0.0,8,9.8