version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 596
start: 8 2 117 2 35 0
data:
$ID,574
$MISSION,23
$DIVE,596
$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,120
$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,330
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,2
$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,32
$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,30
$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
$GPS1,020817,023315,-3344.2568,2717.3999,5,0.9,5,-27.7,0.0,0.0,8,19.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-79.2
$GPS2,020817,023412,-3344.2617,2717.3984,4,0.9,4,-27.7,0.0,0.0,9,18.0
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3349.661,2728.656
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,147.7,20000,-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,15,-0.45,-175.2,124,2059,1197,1024,0.0,0.0,0,87,0.00,0.00,-69.40,0.000,16386,0.000,0.000,124,2059,3013,3019,3008,0,0,0,0,0,0,26.47,28.83,26.48
$GC,91,-0.45,-175.2,123,2059,3020,3008,3.6,-5.3,9,116,9.82,2.20,-3.33,0.000,18948,0.216,0.041,2658,629,3182,3202,3163,0,0,0,0,0,0,25.32,24.25,25.53
$GC,171,-0.45,-175.2,2658,629,3205,3162,19.6,-12.3,21,180,0.00,2.25,0.00,0.000,1030,0.000,0.032,2649,2063,3183,3208,3159,0,0,0,0,0,0,26.11,26.07,26.14
$GC,231,-0.45,-175.2,2648,2063,3209,3157,27.1,-12.3,30,239,0.00,2.12,0.00,0.000,260,0.000,0.034,2638,3458,3182,3208,3157,0,0,0,0,0,0,26.49,26.08,26.51
$GC,309,-0.45,-175.2,2638,3458,3208,3157,36.9,-13.0,42,318,0.00,2.15,0.00,0.000,1030,0.000,0.025,2638,2042,3182,3209,3156,0,0,0,0,0,0,26.17,26.14,26.20
$GC,366,-0.45,-175.2,2638,2037,3210,3155,43.7,-10.9,51,373,0.00,2.10,0.00,0.000,516,0.000,0.029,2638,640,3182,3210,3155,0,0,0,0,0,0,26.53,26.12,26.53
$GC,397,-0.45,-175.2,2637,638,3210,3155,47.5,-11.8,56,405,0.10,2.20,0.00,0.000,3078,0.142,0.028,2660,2062,3182,3210,3155,0,0,0,0,0,0,25.88,26.16,25.94
$GC,451,-0.45,-175.2,2659,2062,3211,3155,52.6,-9.0,65,457,0.00,2.08,0.00,0.000,260,0.000,0.033,2650,3464,3183,3211,3155,0,0,0,0,0,0,26.54,26.11,26.55
$GC,477,-0.45,-175.2,2649,3464,3210,3155,55.0,-9.5,69,484,0.00,2.12,0.00,0.000,1030,0.000,0.024,2650,2042,3182,3211,3154,0,0,0,0,0,0,26.24,26.17,26.27
$GC,528,-0.45,-175.2,2649,2038,3211,3154,59.7,-8.7,78,537,0.00,2.12,0.00,0.000,516,0.000,0.029,2650,642,3183,3212,3154,0,0,0,0,0,0,26.55,26.16,26.56
$GC,586,-0.45,-175.2,2650,642,3212,3154,65.5,-10.2,88,594,0.00,2.17,0.00,0.000,1030,0.000,0.028,2640,2053,3183,3212,3154,0,0,0,0,0,0,26.21,26.17,26.24
$GC,640,-0.45,-175.2,2640,2053,3213,3154,70.6,-9.9,97,645,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2053,3183,3212,3154,0,0,0,0,0,0,26.56,26.58,26.58
$GC,689,-0.45,-175.2,2640,2053,3213,3154,75.9,-10.8,106,696,0.00,2.10,0.00,0.000,516,0.000,0.028,2640,645,3183,3213,3154,0,0,0,0,0,0,26.57,26.17,26.58
$GC,731,-0.45,-175.2,2640,643,3213,3154,80.3,-11.6,113,738,0.10,2.15,0.00,0.000,3078,0.147,0.029,2661,2060,3183,3213,3154,0,0,0,0,0,0,25.94,26.17,26.07
$GC,782,-0.45,-175.2,2661,2059,3213,3154,85.5,-9.3,122,789,0.00,2.10,0.00,0.000,260,0.000,0.034,2652,3461,3183,3213,3154,0,0,0,0,0,0,26.58,26.15,26.59
$GC,836,-0.45,-175.2,2651,3461,3212,3154,90.3,-9.6,131,843,0.00,2.10,0.00,0.000,1030,0.000,0.024,2652,2038,3183,3212,3154,0,0,0,0,0,0,26.28,26.20,26.31
$GC,888,-0.45,-175.2,2651,2033,3213,3153,95.4,-10.0,140,895,0.00,2.10,0.00,0.000,516,0.000,0.027,2652,645,3183,3213,3154,0,0,0,0,0,0,26.59,26.18,26.60
$GC,936,-0.45,-175.2,2651,645,3213,3153,100.3,-10.8,148,943,0.00,2.12,0.00,0.000,1030,0.000,0.028,2642,2051,3183,3213,3154,0,0,0,0,0,0,26.27,26.19,26.30
$GC,1124,-0.45,-175.2,2641,2051,3214,3153,122.2,-12.0,167,1133,0.00,2.08,0.00,0.000,260,0.000,0.033,2631,3457,3183,3213,3153,0,0,0,0,0,0,26.61,26.17,26.62
$GC,1165,-0.45,-175.2,2631,3457,3213,3153,126.8,-10.7,171,1175,0.10,2.10,0.00,0.000,3078,0.136,0.026,2663,2041,3183,3213,3153,0,0,0,0,0,0,25.99,26.21,26.11
$STATE,1208,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1208,begin apogee
$GC,1214,0.00,0.0,2663,1750,3214,3153,131.0,-10.4,175,1349,0.43,0.05,130.60,0.701,10246,0.109,0.116,2804,1844,2464,2525,2404,0,0,0,0,0,0,25.86,25.01,24.39
$STATE,1350,end apogee,CONTROL_FINISHED_OK
$STATE,1350,begin climb
$GC,1353,0.45,175.2,2804,1844,2524,2404,135.4,0.0,189,1498,0.43,2.08,134.00,0.697,10500,0.072,0.029,2964,3169,1748,1844,1652,0,0,0,0,0,0,25.15,24.68,24.26
$GC,1574,0.45,175.2,2963,3170,1840,1651,123.6,10.7,211,1581,0.00,2.03,0.00,0.000,1030,0.000,0.026,2973,1838,1745,1840,1650,0,0,0,0,0,0,25.59,25.52,25.61
$GC,1761,0.45,175.2,2973,1838,1838,1649,102.7,11.0,230,1769,0.00,1.98,0.00,0.000,260,0.000,0.028,2973,3172,1743,1837,1649,0,0,0,0,0,0,26.20,25.86,26.21
$GC,1887,0.45,175.2,2972,3172,1837,1649,87.8,12.0,251,1894,0.00,2.08,0.00,0.000,1030,0.000,0.028,2982,1803,1743,1837,1649,0,0,0,0,0,0,26.04,25.96,26.06
$GC,1938,0.45,175.2,2982,1802,1837,1649,81.8,12.7,260,1945,0.00,2.22,0.00,0.000,516,0.000,0.036,2994,387,1741,1833,1649,0,0,0,0,0,0,26.35,25.93,26.36
$GC,1979,0.45,175.2,2993,387,1826,1649,76.6,11.5,267,1987,0.12,2.10,0.00,0.000,5126,0.147,0.026,2958,1764,1738,1827,1649,0,0,0,0,0,0,25.72,26.02,25.91
$GC,2030,0.45,175.2,2957,1765,1830,1649,70.9,10.2,276,2039,0.00,2.20,0.00,0.000,260,0.000,0.030,2958,3204,1739,1830,1649,0,0,0,0,0,0,26.39,26.02,26.41
$GC,2074,0.47,188.6,2957,3204,1831,1649,66.8,9.7,283,2093,0.00,2.12,10.50,0.583,9222,0.000,0.028,2966,1791,1696,1790,1602,0,0,0,0,0,0,26.13,26.03,25.02
$GC,2137,0.54,249.1,2966,1791,1790,1602,61.1,8.5,294,2194,0.00,2.20,49.50,0.632,8708,0.000,0.034,2977,394,1448,1562,1335,0,0,0,0,0,0,26.33,25.17,24.75
$GC,2252,0.55,256.7,2976,394,1548,1335,50.6,9.8,313,2266,0.00,2.15,7.00,0.526,9222,0.000,0.023,2977,1805,1418,1529,1307,0,0,0,0,0,0,25.78,25.71,24.70
$GC,2310,0.55,256.7,2976,1806,1528,1305,43.2,12.7,323,2316,0.00,2.12,0.00,0.000,260,0.000,0.031,2977,3212,1416,1528,1305,0,0,0,0,0,0,26.07,25.72,26.08
$GC,2360,0.55,256.7,2976,3212,1528,1305,37.0,12.7,331,2369,0.00,2.20,0.00,0.000,1030,0.000,0.030,2986,1801,1416,1528,1305,0,0,0,0,0,0,25.84,25.81,25.84
$GC,2419,0.55,256.7,2986,1800,1526,1305,29.4,12.8,340,2428,0.00,2.20,0.00,0.000,516,0.000,0.035,2998,396,1413,1522,1305,0,0,0,0,0,0,26.20,25.82,26.21
$GC,2437,0.55,256.7,2997,396,1520,1305,27.3,11.8,342,2446,0.00,2.17,0.00,0.000,1030,0.000,0.026,2998,1788,1413,1521,1305,0,0,0,0,0,0,25.94,25.90,25.98
$GC,2495,0.55,256.7,2997,1791,1521,1306,20.9,11.4,351,2504,0.00,2.17,0.00,0.000,260,0.000,0.031,2998,3214,1413,1520,1306,0,0,0,0,0,0,26.29,25.92,26.30
$GC,2537,0.55,256.7,2997,3214,1520,1305,16.4,11.0,357,2546,0.00,2.17,0.00,0.000,1030,0.000,0.030,3008,1808,1413,1521,1305,0,0,0,0,0,0,25.99,25.95,26.01
$GC,2595,0.55,256.7,3007,1808,1521,1306,10.4,10.3,366,2604,0.00,2.22,0.00,0.000,516,0.000,0.036,3019,386,1412,1519,1305,0,0,0,0,0,0,26.36,25.93,26.37
$GC,2643,0.56,264.7,3018,386,1514,1306,5.3,9.8,373,2653,0.00,2.22,3.10,0.278,9222,0.000,0.027,3019,1809,1384,1491,1277,0,0,0,0,0,0,26.05,26.03,24.77
$STATE,2666,end climb,SURFACE_DEPTH_REACHED
$STATE,2666,begin surface coast
$FINISH,0.5,1.025605
$STATE,2697,end surface coast,CONTROL_FINISHED_OK
$STATE,2697,begin surface
$SM_CCo,2715,29.40,0.050,0,0,1118,330.17
$SM_GC,1.68,7.60,0.35,29.40,0.031,0.028,0.050,124,2117,1118,-8.33,-1.10,330.17,0,0,0,0,0,0,26.06,26.19,25.94
$IRIDIUM_FIX,-3330.55,2719.09,020817,000801
$TT8_MAMPS,0.025466,0.271887
$HUMID,61.06
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,16.20
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,131.0,6.5
$24V_AH,24.25,55.128
$10V_AH,10.16,28.594
$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,18.700,77.900,334.700,29.400,0.000,0.000,0.000,0.000,4.000,0.000,11.531,889.824,438.194,469.215,938.997,95.515,0.000,952.152,0.000,918.728,0.000,23.217,0.000
$DEVICE_MAMPS,216.495,116.280,700.740,49.725,0.000,0.000,0.000,0.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,265.804,109.884,481.736,607.865,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343584
$DATA_FILE_SIZE,27063,381
$CAP_FILE_SIZE,64064,0
$CFSIZE,2097086464,2030665728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,020817,032125,-3344.281,2717.528,4,0.9,4,-27.7,0.5,351.4,8,20.9