version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 479
start: 7 29 117 17 15 47
data:
$ID,574
$MISSION,23
$DIVE,479
$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,333
$T_MISSION,343
$T_ABORT,400
$T_TURN,225
$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,300
$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,57
$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,2050
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$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
$GPS1,290717,170803,-3303.4609,2817.7957,14,0.9,14,-27.4,0.0,0.0,9,16.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-77.1
$GPS2,290717,171501,-3303.4983,2817.6965,5,1.5,5,-27.4,0.0,0.0,5,125.6
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3258.099,2806.549
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,327.4,20000,-13.3,-10.010,-16.52,4021
$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,-0.45,-175.2,125,2034,1141,964,0.0,0.0,0,81,0.00,0.00,-62.25,0.000,16386,0.000,0.000,126,2034,2760,2751,2769,0,0,0,0,0,0,26.13,28.83,26.15
$GC,84,-0.45,-175.2,125,2034,2751,2769,3.2,-2.6,8,110,9.88,2.12,-8.90,0.000,19204,0.216,0.041,2656,646,3183,3225,3141,0,0,0,0,0,0,25.26,25.27,25.45
$GC,153,-0.45,-175.2,2655,646,3228,3141,18.0,-14.8,18,162,0.00,2.20,0.00,0.000,1030,0.000,0.031,2647,2042,3184,3228,3141,0,0,0,0,0,0,25.86,25.83,25.90
$GC,212,-0.45,-175.2,2646,2042,3229,3140,26.9,-16.0,27,221,0.00,2.17,0.00,0.000,260,0.000,0.034,2636,3456,3184,3229,3140,0,0,0,0,0,0,26.27,25.84,26.29
$GC,271,-0.45,-175.2,2636,3456,3231,3138,35.8,-14.2,36,280,0.00,2.15,0.00,0.000,1030,0.000,0.028,2636,2064,3185,3233,3137,0,0,0,0,0,0,25.94,25.91,25.97
$GC,475,-0.45,-175.2,2636,2061,3234,3136,64.7,-14.4,73,481,0.00,2.15,0.00,0.000,516,0.000,0.031,2636,635,3185,3234,3136,0,0,0,0,0,0,26.42,25.98,26.43
$GC,552,-0.45,-175.2,2635,635,3234,3136,75.3,-12.1,87,559,0.12,2.17,0.00,0.000,3078,0.158,0.029,2663,2059,3185,3235,3136,0,0,0,0,0,0,25.70,26.02,25.85
$GC,751,-0.45,-175.2,2663,2059,3237,3136,96.3,-10.0,124,759,0.00,2.12,0.00,0.000,260,0.000,0.033,2654,3460,3186,3237,3136,0,0,0,0,0,0,26.51,26.05,26.51
$GC,828,-0.45,-175.2,2653,3460,3237,3137,103.8,-9.7,135,832,0.00,2.10,0.00,0.000,1030,0.000,0.024,2654,2038,3187,3237,3137,0,0,0,0,0,0,26.18,26.10,26.21
$GC,1020,-0.45,-175.2,2653,2034,3239,3136,123.0,-10.0,154,1028,0.00,2.08,0.00,0.000,516,0.000,0.029,2654,643,3187,3239,3136,0,0,0,0,0,0,26.56,26.09,26.57
$GC,1084,-0.45,-175.2,2653,642,3239,3136,129.7,-11.0,160,1090,0.00,2.12,0.00,0.000,1030,0.000,0.029,2644,2050,3187,3239,3136,0,0,0,0,0,0,26.20,26.12,26.25
$GC,1271,-0.45,-175.2,2644,2050,3239,3137,151.9,-12.2,179,1279,0.00,2.12,0.00,0.000,260,0.000,0.034,2633,3463,3187,3239,3136,0,0,0,0,0,0,26.60,26.10,26.60
$GC,1335,-0.45,-175.2,2633,3463,3239,3136,158.9,-11.3,185,1342,0.10,2.08,0.00,0.000,3078,0.146,0.024,2666,2050,3187,3239,3136,0,0,0,0,0,0,25.92,26.17,26.03
$GC,1523,-0.45,-175.2,2665,2044,3240,3136,177.4,-9.6,204,1527,0.00,2.12,0.00,0.000,516,0.000,0.030,2666,641,3188,3240,3136,0,0,0,0,0,0,26.62,26.14,26.63
$GC,1577,-0.45,-175.2,2666,639,3240,3136,182.8,-10.6,209,1584,0.00,2.12,0.00,0.000,1030,0.000,0.028,2657,2051,3187,3239,3136,0,0,0,0,0,0,26.25,26.16,26.29
$GC,1774,-0.45,-175.2,2656,2051,3239,3136,204.9,-11.2,227,1780,0.00,2.10,0.00,0.000,260,0.000,0.034,2647,3457,3188,3240,3136,0,0,0,0,0,0,26.63,26.13,26.65
$GC,1842,-0.45,-175.2,2646,3457,3240,3135,211.5,-10.9,230,1846,0.00,2.10,0.00,0.000,1030,0.000,0.024,2646,2047,3187,3240,3135,0,0,0,0,0,0,26.27,26.20,26.30
$GC,2035,-0.45,-175.2,2646,2043,3240,3134,236.3,-12.8,240,2040,0.00,2.10,0.00,0.000,516,0.000,0.030,2646,638,3187,3240,3134,0,0,0,0,0,0,26.65,26.15,26.66
$GC,2094,-0.45,-175.2,2645,638,3240,3134,244.4,-13.4,243,2100,0.00,2.15,0.00,0.000,1030,0.000,0.028,2636,2058,3187,3240,3134,0,0,0,0,0,0,26.27,26.17,26.29
$GC,2295,-0.45,-175.2,2636,2058,3240,3133,272.0,-13.7,253,2300,0.00,2.08,0.00,0.000,260,0.000,0.033,2626,3460,3186,3240,3133,0,0,0,0,0,0,26.66,26.14,26.67
$GC,2337,-0.45,-175.2,2625,3460,3240,3132,277.2,-13.2,255,2342,0.12,2.10,0.00,0.000,3078,0.142,0.026,2666,2045,3186,3240,3132,0,0,0,0,0,0,25.89,26.19,26.01
$GC,2531,-0.45,-175.2,2666,2039,3239,3131,297.4,-10.0,265,2536,0.00,2.10,0.00,0.000,516,0.000,0.029,2667,634,3185,3240,3131,0,0,0,0,0,0,26.66,26.15,26.67
$GC,2598,-0.45,-175.2,2666,633,3240,3131,303.9,-10.8,268,2602,0.00,2.15,0.00,0.000,1030,0.000,0.026,2658,2059,3185,3239,3131,0,0,0,0,0,0,26.28,26.19,26.31
$GC,2785,-0.45,-175.2,2657,2059,3240,3131,325.0,-10.5,277,2790,0.00,2.08,0.00,0.000,260,0.000,0.034,2647,3455,3185,3240,3131,0,0,0,0,0,0,26.67,26.13,26.68
$GC,2827,-0.45,-175.2,2646,3454,3240,3131,329.5,-10.8,279,2831,0.00,2.08,0.00,0.000,1030,0.000,0.024,2647,2048,3185,3240,3131,0,0,0,0,0,0,26.29,26.20,26.31
$GC,3025,-0.45,-175.2,2646,2042,3239,3130,353.3,-12.5,289,3030,0.00,2.10,0.00,0.000,516,0.000,0.030,2647,639,3185,3240,3130,0,0,0,0,0,0,26.67,26.15,26.69
$GC,3093,-0.45,-175.2,2646,639,3240,3130,361.7,-13.8,292,3097,0.00,2.12,0.00,0.000,1030,0.000,0.028,2638,2048,3184,3239,3130,0,0,0,0,0,0,26.27,26.18,26.30
$STATE,3183,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3183,begin apogee
$GC,3189,0.00,0.0,2637,1737,3240,3130,374.7,-12.8,297,3330,0.55,0.10,136.00,0.890,10246,0.124,0.071,2808,1884,2464,2529,2399,0,0,0,0,0,0,25.63,24.81,24.13
$STATE,3331,end apogee,CONTROL_FINISHED_OK
$STATE,3331,begin climb
$GC,3333,0.45,175.2,2807,1888,2529,2399,381.6,0.0,304,3486,0.43,2.10,139.23,0.871,11012,0.077,0.026,2962,3210,1748,1848,1649,0,0,0,0,0,0,24.97,24.40,23.95
$GC,3532,0.53,238.7,2962,3209,1846,1649,374.2,8.4,314,3591,0.00,2.20,52.50,0.823,9222,0.000,0.028,2972,1804,1491,1608,1374,0,0,0,0,0,0,25.25,25.17,24.10
$GC,3790,0.53,238.7,2972,1804,1602,1370,342.3,13.3,327,3796,0.00,2.20,0.00,0.000,516,0.000,0.037,2983,388,1486,1602,1370,0,0,0,0,0,0,26.01,25.62,26.02
$GC,3857,0.53,238.7,2982,388,1590,1370,334.5,13.0,330,3861,0.00,2.20,0.00,0.000,1030,0.000,0.028,2983,1807,1479,1589,1370,0,0,0,0,0,0,25.84,25.77,25.88
$GC,4044,0.53,238.7,2983,1811,1590,1370,306.6,14.8,339,4050,0.00,2.12,0.00,0.000,260,0.000,0.029,2983,3222,1480,1590,1371,0,0,0,0,0,0,26.28,25.91,26.29
$GC,4087,0.53,238.7,2983,3222,1590,1370,301.0,14.6,341,4091,0.00,2.17,0.00,0.000,1030,0.000,0.031,2993,1793,1480,1590,1371,0,0,0,0,0,0,26.01,25.92,26.05
$GC,4279,0.53,238.7,2993,1793,1590,1370,271.2,15.7,351,4285,0.00,2.17,0.00,0.000,516,0.000,0.037,3004,388,1480,1590,1370,0,0,0,0,0,0,26.40,25.94,26.41
$GC,4367,0.53,238.7,3004,387,1581,1371,259.3,14.8,355,4371,0.00,2.15,0.00,0.000,1030,0.000,0.027,3004,1802,1476,1581,1371,0,0,0,0,0,0,26.13,26.05,26.16
$GC,4554,0.53,238.7,3004,1806,1583,1371,227.3,16.9,364,4560,0.00,2.10,0.00,0.000,260,0.000,0.029,3004,3213,1477,1583,1371,0,0,0,0,0,0,26.48,26.07,26.50
$GC,4587,0.53,238.7,3004,3214,1582,1372,223.8,16.9,365,4594,0.10,2.15,0.00,0.000,5126,0.187,0.031,2985,1794,1477,1583,1372,0,0,0,0,0,0,25.76,26.06,25.95
$GC,4774,0.53,238.7,2985,1794,1582,1372,194.8,14.8,376,4782,0.00,2.17,0.00,0.000,516,0.000,0.037,2995,384,1476,1581,1372,0,0,0,0,0,0,26.53,26.02,26.54
$GC,4855,0.53,238.7,2995,383,1578,1372,183.5,13.0,384,4864,0.00,2.17,0.00,0.000,1030,0.000,0.027,2995,1811,1476,1580,1372,0,0,0,0,0,0,26.21,26.13,26.25
$GC,5045,0.53,238.7,2995,1815,1580,1372,154.1,15.0,403,5053,0.00,2.10,0.00,0.000,260,0.000,0.030,2995,3222,1476,1580,1372,0,0,0,0,0,0,26.57,26.12,26.58
$GC,5086,0.53,238.7,2995,3222,1580,1373,148.2,14.5,407,5094,0.00,2.15,0.00,0.000,1030,0.000,0.030,3005,1796,1476,1580,1373,0,0,0,0,0,0,26.21,26.12,26.25
$GC,5276,0.53,238.7,3004,1795,1580,1373,118.3,17.0,426,5285,0.00,2.15,0.00,0.000,516,0.000,0.037,3016,390,1476,1580,1373,0,0,0,0,0,0,26.59,26.06,26.60
$GC,5319,0.53,238.7,3016,390,1575,1373,112.0,15.6,430,5327,0.12,2.15,0.00,0.000,5126,0.164,0.028,2980,1803,1475,1577,1373,0,0,0,0,0,0,25.78,26.15,25.97
$GC,5512,0.53,238.7,2980,1806,1578,1373,85.1,12.9,459,5519,0.00,2.10,0.00,0.000,260,0.000,0.030,2980,3212,1475,1578,1373,0,0,0,0,0,0,26.61,26.15,26.62
$GC,5549,0.53,238.7,2979,3212,1578,1373,80.4,12.8,465,5555,0.00,2.15,0.00,0.000,1030,0.000,0.031,2990,1790,1475,1578,1373,0,0,0,0,0,0,26.23,26.14,26.27
$GC,5748,0.53,238.7,2988,1790,1578,1372,52.9,13.8,502,5755,0.00,2.15,0.00,0.000,516,0.000,0.036,3000,385,1475,1578,1373,0,0,0,0,0,0,26.63,26.06,26.64
$GC,5761,0.53,238.7,2999,384,1575,1373,51.2,13.7,504,5770,0.00,2.20,0.00,0.000,1030,0.000,0.026,3000,1808,1475,1577,1373,0,0,0,0,0,0,26.22,26.20,26.25
$GC,5976,0.53,238.7,2999,1812,1577,1373,27.4,10.1,541,5984,0.00,2.22,0.00,0.000,516,0.000,0.035,3010,390,1474,1575,1373,0,0,0,0,0,0,26.63,26.06,26.65
$GC,6074,0.55,261.1,3010,390,1573,1372,17.7,9.4,557,6091,0.00,2.17,9.35,0.535,9222,0.000,0.027,3010,1797,1399,1511,1287,0,0,0,0,0,0,26.22,26.19,25.22
$GC,6142,0.55,261.1,3010,1799,1511,1284,10.4,12.1,567,6150,0.00,2.15,0.00,0.000,260,0.000,0.031,3010,3216,1397,1511,1284,0,0,0,0,0,0,26.55,26.11,26.55
$GC,6171,0.55,261.1,3010,3216,1511,1284,7.1,10.4,571,6181,0.10,2.17,0.00,0.000,5126,0.162,0.028,2991,1794,1397,1511,1284,0,0,0,0,0,0,25.76,26.11,25.87
$STATE,6206,end climb,SURFACE_DEPTH_REACHED
$STATE,6206,begin surface coast
$FINISH,1.0,1.021422
$STATE,6232,end surface coast,CONTROL_FINISHED_OK
$STATE,6232,begin surface
$SM_CCo,6248,26.02,0.049,0,0,1159,320.11
$SM_GC,2.28,7.38,0.38,26.02,0.024,0.028,0.049,125,2183,1159,-8.33,-1.22,320.11,0,0,0,0,0,0,26.16,26.32,26.03
$IRIDIUM_FIX,-3249.33,2820.83,290717,144438
$TT8_MAMPS,0.025466,0.290612
$HUMID,59.13
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,252.7,134.5
$24V_AH,23.95,46.699
$10V_AH,10.09,24.074
$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,18.900,107.750,337.075,26.025,0.000,27.627,20.218,256.244,1.750,0.000,11.531,1473.667,2867.693,475.305,1749.319,150.450,0.000,1199.378,0.000,1408.356,0.000,14.131,0.000
$DEVICE_MAMPS,215.730,71.145,889.695,48.960,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,401.939,108.637,467.471,467.959,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343384
$DATA_FILE_SIZE,40358,580
$CAP_FILE_SIZE,98329,0
$CFSIZE,2097086464,2042068992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,290717,190130,-3303.857,2816.673,31,1.0,31,-27.4,0.0,0.0,9,9.6