version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 480
start: 7 29 117 19 9 17
data:
$ID,574
$MISSION,23
$DIVE,480
$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,30
$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
$GPS1,290717,190130,-3303.8569,2816.6731,31,1.0,31,-27.4,0.0,0.0,9,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-77.2
$GPS2,290717,190830,-3303.8948,2816.5803,4,1.0,4,-27.4,0.6,219.4,9,21.7
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3258.495,2805.432
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.45,-175.2,125,2050,1218,1073,0.0,0.0,0,73,0.00,0.00,-54.83,0.000,16386,0.000,0.000,125,2050,2652,2635,2670,0,0,0,0,0,0,26.20,28.83,26.22
$GC,76,-0.45,-175.2,125,2051,2636,2670,3.1,-2.7,7,109,9.95,2.20,-11.38,0.000,18948,0.218,0.040,2655,619,3183,3225,3141,0,0,0,0,0,0,25.27,24.08,25.46
$GC,130,-0.45,-175.2,2655,619,3226,3141,14.9,-19.0,14,139,0.00,2.25,0.00,0.000,1030,0.000,0.029,2646,2051,3183,3226,3141,0,0,0,0,0,0,25.90,25.85,25.92
$GC,189,-0.45,-175.2,2645,2051,3227,3140,24.0,-16.2,23,197,0.00,2.17,0.00,0.000,260,0.000,0.036,2635,3460,3183,3227,3140,0,0,0,0,0,0,26.30,25.84,26.32
$GC,252,-0.45,-175.2,2635,3460,3228,3138,33.4,-12.2,33,261,0.00,2.17,0.00,0.000,1030,0.000,0.028,2636,2045,3183,3229,3137,0,0,0,0,0,0,25.99,25.92,25.99
$GC,458,-0.45,-175.2,2635,2041,3232,3137,62.1,-14.4,70,464,0.00,2.10,0.00,0.000,516,0.000,0.030,2636,641,3184,3232,3136,0,0,0,0,0,0,26.44,25.99,26.46
$GC,479,-0.45,-175.2,2635,640,3232,3136,64.8,-14.1,73,486,0.12,2.15,0.00,0.000,3078,0.161,0.028,2663,2055,3184,3232,3136,0,0,0,0,0,0,25.69,26.02,25.84
$GC,678,-0.45,-175.2,2662,2055,3234,3136,88.8,-10.8,110,684,0.00,2.10,0.00,0.000,260,0.000,0.033,2653,3467,3185,3234,3136,0,0,0,0,0,0,26.51,26.03,26.52
$GC,742,-0.45,-175.2,2653,3467,3236,3137,95.2,-9.7,121,749,0.00,2.12,0.00,0.000,1030,0.000,0.024,2653,2032,3186,3235,3137,0,0,0,0,0,0,26.18,26.10,26.21
$GC,939,-0.45,-175.2,2652,2027,3237,3136,115.2,-9.1,144,943,0.00,2.08,0.00,0.000,516,0.000,0.029,2653,644,3186,3237,3136,0,0,0,0,0,0,26.56,26.09,26.58
$GC,1014,-0.45,-175.2,2653,643,3237,3136,122.0,-9.1,151,1021,0.00,2.12,0.00,0.000,1030,0.000,0.028,2643,2053,3186,3237,3136,0,0,0,0,0,0,26.21,26.13,26.24
$GC,1201,-0.45,-175.2,2643,2054,3238,3136,140.5,-9.8,170,1210,0.00,2.08,0.00,0.000,260,0.000,0.033,2633,3458,3186,3237,3136,0,0,0,0,0,0,26.60,26.10,26.61
$GC,1282,-0.45,-175.2,2632,3458,3237,3136,148.3,-9.6,178,1292,0.10,2.10,0.00,0.000,3078,0.153,0.025,2665,2040,3186,3237,3136,0,0,0,0,0,0,25.91,26.16,26.03
$GC,1474,-0.45,-175.2,2664,2035,3238,3136,166.0,-10.0,197,1482,0.00,2.05,0.00,0.000,516,0.000,0.029,2665,645,3186,3237,3136,0,0,0,0,0,0,26.63,26.14,26.64
$GC,1534,-0.45,-175.2,2665,645,3238,3136,172.4,-10.1,203,1543,0.00,2.15,0.00,0.000,1030,0.000,0.028,2656,2060,3186,3237,3136,0,0,0,0,0,0,26.25,26.17,26.28
$GC,1725,-0.45,-175.2,2656,2061,3237,3136,192.7,-10.7,222,1733,0.00,2.08,0.00,0.000,260,0.000,0.034,2645,3461,3186,3237,3136,0,0,0,0,0,0,26.64,26.13,26.65
$GC,1776,-0.45,-175.2,2645,3461,3237,3136,197.6,-9.9,227,1784,0.00,2.10,0.00,0.000,1030,0.000,0.024,2646,2040,3186,3237,3135,0,0,0,0,0,0,26.27,26.19,26.30
$GC,1965,-0.45,-175.2,2645,2036,3237,3135,218.0,-11.1,238,1971,0.00,2.08,0.00,0.000,516,0.000,0.030,2646,645,3186,3238,3135,0,0,0,0,0,0,26.65,26.14,26.67
$GC,2008,-0.45,-175.2,2645,645,3237,3135,222.6,-11.2,240,2013,0.00,2.12,0.00,0.000,1030,0.000,0.028,2636,2056,3186,3237,3135,0,0,0,0,0,0,26.26,26.17,26.29
$GC,2200,-0.45,-175.2,2636,2056,3237,3134,244.7,-11.2,250,2206,0.00,2.08,0.00,0.000,260,0.000,0.034,2625,3456,3185,3237,3133,0,0,0,0,0,0,26.66,26.13,26.67
$GC,2268,-0.45,-175.2,2625,3456,3236,3133,251.8,-11.7,253,2273,0.12,2.10,0.00,0.000,3078,0.142,0.028,2665,2045,3185,3237,3133,0,0,0,0,0,0,25.86,26.17,26.00
$GC,2456,-0.45,-175.2,2665,2040,3237,3133,272.4,-10.5,262,2459,0.00,2.10,0.00,0.000,516,0.000,0.031,2666,643,3185,3237,3133,0,0,0,0,0,0,26.67,26.14,26.68
$GC,2525,-0.45,-175.2,2666,643,3237,3133,279.4,-11.7,265,2529,0.00,2.12,0.00,0.000,1030,0.000,0.026,2657,2059,3184,3237,3132,0,0,0,0,0,0,26.28,26.20,26.31
$STATE,2610,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2610,begin apogee
$GC,2615,0.00,0.0,2657,1744,3237,3132,290.4,-11.6,269,2754,0.50,0.08,133.80,0.789,10246,0.138,0.089,2812,1846,2465,2533,2397,0,0,0,0,0,0,25.65,24.91,24.28
$STATE,2755,end apogee,CONTROL_FINISHED_OK
$STATE,2755,begin climb
$GC,2757,0.45,175.2,2811,1846,2532,2396,298.7,0.0,276,2902,0.40,2.38,135.88,0.763,10756,0.057,0.034,2980,391,1751,1847,1655,0,0,0,0,0,0,25.09,24.57,24.14
$GC,2949,0.45,175.2,2980,391,1833,1655,286.7,10.7,286,2953,0.00,2.15,0.00,0.000,1030,0.000,0.028,2980,1754,1744,1833,1655,0,0,0,0,0,0,25.34,25.27,25.37
$GC,3151,0.45,175.2,2980,1757,1833,1654,262.1,11.5,296,3157,0.00,2.25,0.00,0.000,260,0.000,0.036,2980,3215,1743,1833,1654,0,0,0,0,0,0,26.10,25.71,26.11
$GC,3251,0.45,175.2,2980,3221,1832,1654,249.5,13.0,301,3257,0.12,2.15,0.00,0.000,5126,0.171,0.030,2956,1803,1743,1832,1654,0,0,0,0,0,0,25.51,25.84,25.70
$GC,3451,0.45,175.2,2955,1802,1832,1653,221.2,13.6,311,3456,0.00,2.17,0.00,0.000,516,0.000,0.035,2965,391,1742,1832,1652,0,0,0,0,0,0,26.36,25.89,26.36
$GC,3499,0.45,175.2,2964,390,1826,1652,216.0,13.9,313,3503,0.00,2.15,0.00,0.000,1030,0.000,0.026,2965,1804,1739,1826,1652,0,0,0,0,0,0,26.08,26.00,26.11
$GC,3686,0.45,175.2,2965,1807,1829,1653,194.0,11.5,324,3694,0.00,2.10,0.00,0.000,260,0.000,0.031,2965,3209,1740,1828,1653,0,0,0,0,0,0,26.44,26.02,26.46
$GC,3787,0.45,175.2,2964,3209,1829,1653,182.8,11.0,334,3796,0.00,2.12,0.00,0.000,1030,0.000,0.029,2975,1798,1741,1830,1653,0,0,0,0,0,0,26.15,26.06,26.18
$GC,3977,0.45,175.2,2974,1798,1829,1652,159.1,12.9,353,3985,0.00,2.17,0.00,0.000,516,0.000,0.036,2986,382,1739,1826,1652,0,0,0,0,0,0,26.52,26.01,26.53
$GC,4008,0.45,175.2,2985,382,1824,1653,155.1,13.1,356,4018,0.10,2.15,0.00,0.000,5126,0.171,0.028,2958,1800,1738,1825,1652,0,0,0,0,0,0,25.79,26.10,25.97
$GC,4198,0.45,175.2,2957,1801,1827,1653,133.5,10.9,375,4207,0.00,2.10,0.00,0.000,260,0.000,0.031,2957,3209,1740,1828,1652,0,0,0,0,0,0,26.55,26.10,26.58
$GC,4292,0.45,175.2,2958,3209,1827,1653,123.9,10.3,384,4299,0.00,2.12,0.00,0.000,1030,0.000,0.029,2966,1794,1740,1828,1652,0,0,0,0,0,0,26.21,26.12,26.25
$GC,4481,0.45,175.2,2966,1794,1827,1653,102.1,11.7,403,4482,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,1794,1740,1828,1652,0,0,0,0,0,0,26.60,26.61,26.60
$GC,4669,0.45,175.2,2966,1794,1828,1651,80.7,11.0,437,4674,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,1794,1739,1828,1651,0,0,0,0,0,0,26.61,26.63,26.63
$GC,4866,0.52,230.4,2966,1794,1828,1650,61.7,8.6,474,4918,0.00,2.15,43.42,0.636,8452,0.000,0.029,2966,3219,1525,1636,1414,0,0,0,0,0,0,26.63,25.67,25.05
$GC,4958,0.57,275.5,2966,3219,1633,1413,53.6,8.9,489,5007,0.00,2.17,38.25,0.620,9222,0.000,0.029,2976,1799,1338,1463,1213,0,0,0,0,0,0,25.87,25.79,24.78
$GC,5215,0.59,290.9,2975,1799,1458,1207,26.6,9.6,533,5232,0.00,2.22,7.03,0.508,8708,0.000,0.037,2987,393,1275,1405,1146,0,0,0,0,0,0,26.21,25.66,24.96
$GC,5241,0.61,302.8,2987,392,1399,1146,23.9,9.7,536,5258,0.00,2.20,5.88,0.467,9222,0.000,0.024,2987,1800,1228,1361,1095,0,0,0,0,0,0,25.87,25.82,24.91
$STATE,5446,end climb,SURFACE_DEPTH_REACHED
$STATE,5446,begin surface coast
$FINISH,1.3,1.025854
$STATE,5478,end surface coast,CONTROL_FINISHED_OK
$STATE,5478,begin surface
$SM_CCo,5494,7.10,0.050,0,0,1159,320.11
$SM_GC,2.63,7.45,0.38,7.10,0.029,0.029,0.050,128,2090,1159,-8.29,-1.02,320.11,0,0,0,0,0,0,25.98,26.10,25.88
$IRIDIUM_FIX,-3254.46,2827.80,290717,170944
$TT8_MAMPS,0.025466,0.26215
$HUMID,60.35
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,211.4,93.4
$24V_AH,24.08,46.792
$10V_AH,10.14,24.131
$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,18.875,82.475,364.250,7.100,0.000,22.130,59.394,225.746,1.000,0.000,11.570,1406.054,2243.048,458.124,1704.032,136.972,0.000,1132.610,0.000,1358.871,0.000,10.291,0.000
$DEVICE_MAMPS,218.025,88.740,788.715,50.490,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,400.730,116.255,496.278,509.199,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343368
$DATA_FILE_SIZE,36958,575
$CAP_FILE_SIZE,87490,0
$CFSIZE,2097086464,2042003456
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,2665.11,0x2338b8,2,24
$WARN,PPS timeout
$GPS,290717,204140,-3304.103,2815.660,5,1.7,5,-27.4,0.0,0.0,6,57.0