version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 420
start: 7 20 117 13 45 56
data:
$ID,574
$MISSION,23
$DIVE,420
$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,40
$R_STBD_OVSHOOT,35
$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
$GPS1,200717,133626,-3131.1431,3040.5327,57,1.1,57,-26.5,1.5,246.7,7,10.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-74.8
$GPS2,200717,134508,-3131.4458,3040.2153,3,0.8,4,-26.5,1.6,188.5,10,269.3
$SPEED_LIMITS,0.325,0.335
$TGT_NAME,HEADING
$TGT_LATLONG,-3127.752,3028.318
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,316.5,20000,-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,-175.2,126,1976,1211,1075,0.0,0.0,0,65,0.00,0.00,-47.17,0.000,16386,0.000,0.000,126,1975,2468,2449,2487,0,0,0,0,0,0,26.11,28.83,26.13
$GC,68,-0.48,-175.2,126,1975,2449,2488,3.1,-2.4,6,102,9.98,2.17,-15.62,0.000,19204,0.221,0.038,2633,3414,3181,3225,3137,0,0,0,0,0,0,25.29,25.27,25.46
$GC,110,-0.48,-175.2,2632,3414,3227,3137,13.0,-24.5,11,119,0.00,2.20,0.00,0.000,1030,0.000,0.025,2633,1984,3182,3228,3136,0,0,0,0,0,0,25.86,25.82,25.89
$GC,169,-0.48,-175.2,2632,1978,3228,3134,24.9,-20.3,20,177,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,1978,3181,3228,3135,0,0,0,0,0,0,26.22,26.24,26.23
$GC,310,-0.48,-175.2,2633,1978,3229,3134,65.1,-23.9,45,317,0.00,2.15,0.00,0.000,260,0.000,0.031,2622,3414,3181,3228,3135,0,0,0,0,0,0,26.32,25.94,26.34
$GC,355,-0.48,-175.2,2621,3414,3229,3135,75.2,-19.8,53,363,0.10,2.12,0.00,0.000,3078,0.152,0.024,2652,1981,3182,3230,3135,0,0,0,0,0,0,25.73,25.98,25.86
$GC,676,-0.48,-175.2,2652,1978,3232,3133,136.5,-18.9,96,684,0.00,2.12,0.00,0.000,260,0.000,0.031,2643,3410,3182,3232,3133,0,0,0,0,0,0,26.48,26.07,26.49
$GC,867,-0.48,-175.2,2643,3410,3234,3133,162.2,-12.9,115,875,0.00,2.10,0.00,0.000,1030,0.000,0.024,2643,1983,3183,3234,3133,0,0,0,0,0,0,26.23,26.16,26.26
$GC,1187,-0.48,-175.2,2643,1980,3236,3133,213.6,-15.9,143,1192,0.00,2.10,0.00,0.000,260,0.000,0.030,2633,3412,3184,3235,3133,0,0,0,0,0,0,26.58,26.17,26.60
$GC,1229,-0.48,-175.2,2632,3412,3236,3133,219.5,-15.5,145,1233,0.00,2.12,0.00,0.000,1030,0.000,0.024,2633,1990,3184,3236,3133,0,0,0,0,0,0,26.25,26.22,26.27
$GC,2048,-0.48,-175.2,2633,1989,3236,3132,344.5,-14.3,186,2053,0.00,2.08,0.00,0.000,260,0.000,0.031,2623,3407,3184,3237,3132,0,0,0,0,0,0,26.67,26.24,26.68
$GC,2100,-0.48,-175.2,2622,3407,3236,3132,349.7,-13.8,188,2111,0.10,2.10,0.00,0.000,3078,0.136,0.025,2656,1982,3184,3236,3132,0,0,0,0,0,0,26.05,26.27,26.17
$GC,2909,-0.48,-175.2,2656,1982,3235,3128,450.1,-12.8,229,2914,0.00,2.08,0.00,0.000,260,0.000,0.032,2647,3399,3181,3235,3128,0,0,0,0,0,0,26.67,26.25,26.69
$GC,2969,-0.48,-175.2,2647,3398,3234,3128,457.1,-11.9,232,2973,0.00,2.12,0.00,0.000,1030,0.000,0.024,2648,1986,3181,3234,3128,0,0,0,0,0,0,26.33,26.29,26.35
$GC,3788,-0.48,-175.2,2647,1985,3230,3122,567.3,-12.7,273,3793,0.00,2.08,0.00,0.000,260,0.000,0.033,2638,3397,3176,3231,3122,0,0,0,0,0,0,26.71,26.23,26.72
$GC,3895,-0.48,-175.2,2637,3397,3228,3122,578.9,-11.3,278,3899,0.00,2.08,0.00,0.000,1030,0.000,0.025,2637,1991,3175,3228,3122,0,0,0,0,0,0,26.36,26.28,26.39
$GC,4705,-0.48,-175.2,2637,1987,3226,3116,690.3,-14.6,318,4711,0.00,2.08,0.00,0.000,260,0.000,0.033,2628,3398,3171,3226,3116,0,0,0,0,0,0,26.70,26.22,26.71
$GC,4787,-0.48,-175.2,2627,3398,3225,3116,700.7,-12.9,322,4791,0.00,2.12,0.00,0.000,1030,0.000,0.026,2627,1997,3170,3225,3116,0,0,0,0,0,0,26.29,26.26,26.32
$GC,5606,-0.48,-175.2,2627,1996,3223,3110,814.2,-12.5,363,5611,0.00,2.08,0.00,0.000,260,0.000,0.033,2617,3397,3166,3222,3110,0,0,0,0,0,0,26.72,26.20,26.73
$GC,5658,-0.48,-175.2,2617,3397,3221,3110,818.9,-12.2,365,5666,0.12,2.10,0.00,0.000,3078,0.144,0.028,2658,1984,3164,3220,3109,0,0,0,0,0,0,25.94,26.22,26.08
$GC,6465,-0.48,-175.2,2657,1984,3220,3106,902.1,-10.2,406,6470,0.00,2.12,0.00,0.000,516,0.000,0.034,2658,581,3163,3220,3106,0,0,0,0,0,0,26.72,26.15,26.73
$GC,6513,-0.48,-175.2,2657,580,3219,3106,906.2,-10.2,408,6517,0.00,2.15,0.00,0.000,1030,0.000,0.028,2650,2001,3163,3220,3106,0,0,0,0,0,0,26.31,26.22,26.34
$GC,7320,-0.48,-175.2,2649,2001,3217,3100,993.1,-10.3,448,7325,0.00,2.10,0.00,0.000,260,0.000,0.035,2639,3401,3157,3216,3099,0,0,0,0,0,0,26.72,26.13,26.73
$STATE,7399,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7399,begin apogee
$GC,7407,0.00,0.0,2639,1794,3214,3100,1000.3,-8.9,452,7551,0.55,0.00,141.27,1.286,10246,0.125,0.000,2809,1790,2465,2539,2391,0,0,0,0,0,0,25.62,24.46,23.67
$STATE,7552,end apogee,CONTROL_FINISHED_OK
$STATE,7552,begin climb
$GC,7554,0.48,175.2,2809,1790,2538,2390,1005.0,0.0,459,7715,0.40,2.42,151.07,1.256,10756,0.054,0.038,2976,381,1749,1849,1649,0,0,0,0,0,0,24.67,23.63,23.06
$GC,7800,0.48,175.2,2976,382,1833,1649,977.9,15.7,471,7804,0.00,2.28,0.00,0.000,1030,0.000,0.028,2976,1783,1741,1833,1649,0,0,0,0,0,0,24.91,24.82,24.93
$GC,8612,0.48,175.2,2976,1786,1830,1645,841.1,16.7,512,8618,0.00,2.15,0.00,0.000,260,0.000,0.032,2976,3202,1737,1830,1645,0,0,0,0,0,0,26.36,25.96,26.37
$GC,8685,0.48,175.2,2976,3202,1827,1645,831.2,16.5,515,8692,0.00,2.17,0.00,0.000,1030,0.000,0.032,2986,1782,1736,1828,1645,0,0,0,0,0,0,26.08,25.98,26.11
$GC,9492,0.48,175.2,2986,1783,1825,1644,677.3,18.4,556,9498,0.00,2.17,0.00,0.000,516,0.000,0.040,2997,382,1734,1825,1644,0,0,0,0,0,0,26.55,26.03,26.56
$GC,9605,0.48,175.2,2997,382,1818,1644,660.3,16.4,561,9613,0.10,2.15,0.00,0.000,5126,0.210,0.028,2971,1796,1731,1819,1644,0,0,0,0,0,0,25.75,26.14,25.95
$GC,10412,0.48,175.2,2971,1799,1821,1644,536.7,14.9,602,10418,0.00,2.10,0.00,0.000,260,0.000,0.030,2971,3200,1732,1821,1644,0,0,0,0,0,0,26.63,26.15,26.64
$GC,10505,0.48,175.2,2971,3200,1821,1644,525.3,14.3,606,10512,0.00,2.15,0.00,0.000,1030,0.000,0.031,2980,1781,1732,1821,1644,0,0,0,0,0,0,26.24,26.14,26.29
$GC,11312,0.48,175.2,2979,1781,1821,1644,402.2,15.2,647,11313,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,1781,1732,1821,1644,0,0,0,0,0,0,26.66,26.67,26.67
$GC,12112,0.48,175.2,2979,1781,1822,1644,285.6,13.5,687,12118,0.00,2.12,0.00,0.000,260,0.000,0.028,2981,3208,1732,1821,1644,0,0,0,0,0,0,26.68,26.19,26.69
$GC,12140,0.48,175.2,2979,3208,1821,1644,283.0,13.5,688,12144,0.00,2.15,0.00,0.000,1030,0.000,0.030,2990,1783,1733,1822,1644,0,0,0,0,0,0,26.26,26.16,26.31
$GC,12947,0.48,175.2,2990,1783,1824,1644,170.9,12.2,739,12956,0.00,2.15,0.00,0.000,516,0.000,0.037,3001,382,1733,1822,1644,0,0,0,0,0,0,26.69,26.08,26.70
$GC,13152,0.48,175.2,3001,382,1818,1644,146.1,11.2,759,13159,0.12,2.12,0.00,0.000,5126,0.163,0.028,2966,1791,1731,1819,1644,0,0,0,0,0,0,25.79,26.20,25.98
$GC,13459,0.70,350.8,2965,1794,1825,1644,125.1,5.4,790,13611,0.17,2.28,140.68,0.693,10756,0.060,0.036,3074,386,1033,1167,899,0,0,0,0,0,0,26.36,24.93,24.35
$GC,13674,0.70,350.8,3074,384,1152,899,89.0,17.5,816,13684,0.12,2.25,0.00,0.000,5126,0.150,0.026,3038,1792,1025,1152,898,0,0,0,0,0,0,25.11,25.39,25.22
$GC,14005,0.70,350.8,3037,1797,1150,896,38.6,15.9,877,14014,0.00,2.15,0.00,0.000,260,0.000,0.025,3038,3210,1023,1151,896,0,0,0,0,0,0,26.20,25.84,26.21
$GC,14052,0.70,350.8,3038,3214,1150,896,29.9,18.1,884,14061,0.00,2.20,0.00,0.000,1030,0.000,0.030,3046,1797,1022,1149,896,0,0,0,0,0,0,25.87,25.83,25.92
$GC,14205,0.70,350.8,3046,1793,1146,896,4.3,10.8,909,14213,0.00,2.20,0.00,0.000,516,0.000,0.029,3057,379,1019,1143,896,0,0,0,0,0,0,26.32,25.89,26.33
$STATE,14220,end climb,SURFACE_DEPTH_REACHED
$STATE,14221,begin surface coast
$FINISH,1.1,1.024967
$STATE,14258,end surface coast,CONTROL_FINISHED_OK
$STATE,14258,begin surface
$SM_CCo,14337,0.00,0.000,0,0,1015,355.43
$SM_GC,2.20,7.57,2.50,0.00,0.024,0.019,0.000,127,2018,1015,-8.30,-1.07,355.43,0,0,0,0,0,0,25.96,26.02,26.02
$IRIDIUM_FIX,-3117.71,3041.78,200717,133756
$TT8_MAMPS,0.025466,0.270389
$HUMID,55.98
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,20.90
$XPDR_PINGS,0
$24V_AH,23.06,38.657
$10V_AH,10.20,19.541
$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,19.350,86.750,433.025,0.000,0.000,31.781,45.073,326.640,20.250,0.000,11.815,2236.229,9627.196,483.446,2374.991,158.229,0.000,1425.470,0.000,1861.817,0.000,137.152,0.000
$DEVICE_MAMPS,221.085,60.435,1285.965,0.000,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,633.611,75.050,322.692,323.887,0.000,0.000,0.000,0.000,0.000,0.000
$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,60397,917
$CAP_FILE_SIZE,117121,0
$CFSIZE,2097086464,2049769472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$WARN,PPS timeout
$GPS,200717,174626,-3135.273,3033.819,59,1.4,59,-26.6,1.4,217.7,4,39.1