version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 597
start: 8 2 117 3 31 22
data:
$ID,574
$MISSION,23
$DIVE,597
$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,24
$R_STBD_OVSHOOT,37
$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
$GPS1,020817,032125,-3344.2815,2717.5276,4,0.9,4,-27.7,0.5,351.4,8,20.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-80.9
$GPS2,020817,033035,-3344.3120,2717.5120,4,0.9,4,-27.7,0.5,220.4,8,20.3
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3349.711,2728.770
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.45,-175.2,124,2061,1188,1022,0.0,0.0,0,88,0.00,0.00,-69.43,0.000,16386,0.000,0.000,124,2062,3009,3016,3003,0,0,0,0,0,0,26.17,28.83,26.19
$GC,91,-0.45,-175.2,124,2062,3017,3002,3.2,-3.7,9,117,9.95,2.22,-3.42,0.000,18948,0.216,0.041,2657,627,3182,3202,3162,0,0,0,0,0,0,25.16,24.08,25.36
$GC,184,-0.45,-175.2,2656,627,3206,3161,20.3,-11.6,23,193,0.00,2.22,0.00,0.000,1030,0.000,0.028,2648,2052,3182,3207,3157,0,0,0,0,0,0,25.96,25.91,25.97
$GC,243,-0.45,-175.2,2647,2052,3208,3155,27.4,-12.3,32,252,0.00,2.15,0.00,0.000,260,0.000,0.034,2637,3455,3181,3208,3155,0,0,0,0,0,0,26.34,25.95,26.36
$GC,310,-0.45,-175.2,2637,3455,3208,3155,35.4,-12.4,42,319,0.00,2.17,0.00,0.000,1030,0.000,0.024,2637,2029,3181,3208,3155,0,0,0,0,0,0,26.04,26.01,26.07
$GC,369,-0.45,-175.2,2637,2024,3210,3154,42.1,-9.6,51,376,0.00,2.10,0.00,0.000,516,0.000,0.030,2637,634,3181,3210,3153,0,0,0,0,0,0,26.41,26.00,26.42
$GC,389,-0.45,-175.2,2636,634,3210,3154,44.1,-10.2,54,398,0.10,2.20,0.00,0.000,3078,0.142,0.025,2658,2058,3182,3210,3154,0,0,0,0,0,0,25.73,26.04,25.82
$GC,443,-0.45,-175.2,2658,2059,3211,3153,48.7,-8.0,63,449,0.00,2.10,0.00,0.000,260,0.000,0.033,2649,3462,3182,3211,3153,0,0,0,0,0,0,26.44,26.01,26.45
$GC,483,-0.45,-175.2,2648,3462,3210,3153,52.5,-9.6,70,490,0.00,2.10,0.00,0.000,1030,0.000,0.024,2649,2048,3182,3211,3153,0,0,0,0,0,0,26.15,26.07,26.17
$GC,536,-0.45,-175.2,2648,2043,3212,3152,57.5,-10.4,79,543,0.00,2.10,0.00,0.000,516,0.000,0.027,2649,634,3182,3213,3152,0,0,0,0,0,0,26.47,26.07,26.48
$GC,585,-0.45,-175.2,2648,633,3212,3152,62.8,-11.3,87,592,0.00,2.17,0.00,0.000,1030,0.000,0.028,2638,2058,3182,3213,3152,0,0,0,0,0,0,26.17,26.08,26.20
$GC,636,-0.45,-175.2,2638,2058,3213,3152,68.7,-11.3,96,644,0.00,2.10,0.00,0.000,260,0.000,0.031,2628,3453,3182,3212,3152,0,0,0,0,0,0,26.50,26.08,26.51
$GC,657,-0.45,-175.2,2627,3453,3212,3152,71.0,-10.5,99,665,0.10,2.10,0.00,0.000,3078,0.123,0.026,2662,2050,3182,3212,3152,0,0,0,0,0,0,25.92,26.10,26.03
$GC,709,-0.45,-175.2,2661,2045,3213,3151,75.7,-8.6,108,718,0.00,2.12,0.00,0.000,516,0.000,0.027,2662,645,3182,3213,3151,0,0,0,0,0,0,26.51,26.10,26.53
$GC,775,-0.45,-175.2,2661,645,3213,3151,81.3,-9.3,119,781,0.00,2.12,0.00,0.000,1030,0.000,0.028,2653,2051,3182,3213,3151,0,0,0,0,0,0,26.21,26.13,26.23
$GC,826,-0.45,-175.2,2653,2051,3213,3151,86.3,-9.3,128,833,0.00,2.12,0.00,0.000,260,0.000,0.032,2643,3460,3182,3213,3151,0,0,0,0,0,0,26.54,26.11,26.55
$GC,868,-0.45,-175.2,2642,3461,3213,3151,90.1,-9.9,135,875,0.00,2.10,0.00,0.000,1030,0.000,0.023,2643,2042,3182,3213,3151,0,0,0,0,0,0,26.23,26.16,26.26
$GC,920,-0.45,-175.2,2642,2037,3214,3151,95.1,-9.1,144,928,0.00,2.10,0.00,0.000,516,0.000,0.027,2643,648,3182,3213,3151,0,0,0,0,0,0,26.55,26.13,26.56
$GC,971,-0.45,-175.2,2642,647,3214,3151,100.1,-11.0,152,978,0.10,2.12,0.00,0.000,3078,0.147,0.028,2664,2054,3182,3213,3151,0,0,0,0,0,0,25.91,26.15,26.03
$GC,1160,-0.45,-175.2,2664,2053,3215,3151,117.2,-9.2,171,1163,0.00,2.10,0.00,0.000,516,0.000,0.027,2664,647,3182,3214,3151,0,0,0,0,0,0,26.59,26.15,26.60
$GC,1207,-0.45,-175.2,2664,645,3214,3151,121.9,-10.1,175,1214,0.00,2.12,0.00,0.000,1030,0.000,0.026,2655,2057,3182,3214,3151,0,0,0,0,0,0,26.27,26.19,26.29
$STATE,1223,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1223,begin apogee
$GC,1229,0.00,0.0,2655,1744,3214,3151,123.8,-9.9,177,1365,0.47,0.08,130.00,0.682,10246,0.119,0.092,2807,1844,2464,2525,2404,0,0,0,0,0,0,25.77,25.02,24.41
$STATE,1366,end apogee,CONTROL_FINISHED_OK
$STATE,1367,begin climb
$GC,1369,0.45,175.2,2807,1843,2524,2405,132.2,0.0,191,1516,0.43,2.33,133.25,0.670,10756,0.050,0.031,2990,404,1745,1836,1655,0,0,0,0,0,0,25.22,24.71,24.30
$GC,1549,0.45,175.2,2989,404,1828,1655,122.2,11.0,209,1559,0.12,2.12,0.00,0.000,5126,0.146,0.027,2955,1757,1741,1828,1655,0,0,0,0,0,0,25.12,25.36,25.31
$GC,1743,0.45,175.2,2954,1757,1828,1654,102.3,10.4,228,1751,0.00,2.17,0.00,0.000,260,0.000,0.031,2955,3204,1741,1828,1654,0,0,0,0,0,0,26.16,25.80,26.17
$GC,1887,0.45,175.2,2954,3204,1828,1654,86.6,11.8,253,1894,0.00,2.10,0.00,0.000,1030,0.000,0.028,2963,1807,1741,1828,1654,0,0,0,0,0,0,26.03,25.94,26.06
$GC,1937,0.45,175.2,2962,1807,1828,1653,80.8,10.8,262,1944,0.00,2.17,0.00,0.000,516,0.000,0.034,2973,394,1739,1826,1653,0,0,0,0,0,0,26.34,25.91,26.35
$GC,1990,0.45,177.5,2973,394,1821,1653,75.6,10.0,271,1997,0.00,2.15,0.00,0.000,1030,0.000,0.026,2973,1804,1737,1822,1653,0,0,0,0,0,0,26.09,26.01,26.11
$GC,2041,0.45,177.5,2973,1804,1824,1653,70.0,10.6,280,2048,0.00,2.15,0.00,0.000,260,0.000,0.031,2973,3220,1738,1824,1653,0,0,0,0,0,0,26.39,26.01,26.41
$GC,2055,0.45,177.5,2973,3220,1824,1654,68.2,12.2,282,2063,0.00,2.17,0.00,0.000,1030,0.000,0.028,2983,1804,1738,1824,1653,0,0,0,0,0,0,26.06,26.02,26.09
$GC,2108,0.45,177.5,2983,1804,1825,1653,62.5,11.6,291,2114,0.00,2.17,0.00,0.000,516,0.000,0.034,2995,383,1738,1824,1653,0,0,0,0,0,0,26.42,25.98,26.43
$GC,2170,0.45,177.5,2994,384,1819,1653,55.9,10.5,302,2177,0.12,2.17,0.00,0.000,5126,0.149,0.028,2958,1806,1736,1820,1653,0,0,0,0,0,0,25.77,26.06,25.93
$GC,2222,0.45,177.5,2957,1806,1823,1653,50.4,10.6,311,2228,0.00,2.10,0.00,0.000,260,0.000,0.031,2958,3219,1738,1823,1653,0,0,0,0,0,0,26.46,26.06,26.47
$GC,2280,0.45,177.5,2957,3219,1824,1653,44.4,10.3,321,2287,0.00,2.15,0.00,0.000,1030,0.000,0.029,2966,1795,1738,1824,1653,0,0,0,0,0,0,26.17,26.08,26.20
$GC,2333,0.45,177.5,2966,1794,1824,1653,39.1,10.5,330,2342,0.00,2.17,0.00,0.000,516,0.000,0.035,2977,395,1737,1821,1653,0,0,0,0,0,0,26.49,26.03,26.51
$GC,2399,0.48,204.6,2976,394,1817,1653,32.3,9.3,340,2424,0.00,2.20,17.15,0.594,9222,0.000,0.029,2977,1802,1629,1725,1533,0,0,0,0,0,0,26.15,26.12,25.10
$GC,2475,0.59,289.7,2977,1802,1723,1532,25.8,7.8,351,2523,0.00,2.22,42.30,0.591,8452,0.000,0.032,2977,3221,1281,1408,1155,0,0,0,0,0,0,26.35,25.48,24.86
$GC,2568,0.62,311.6,2977,3220,1401,1155,17.4,9.5,364,2585,0.00,2.20,10.52,0.513,9222,0.000,0.028,2987,1803,1192,1317,1068,0,0,0,0,0,0,25.75,25.71,24.77
$GC,2636,0.62,311.6,2986,1803,1313,1066,10.6,10.4,374,2645,0.00,2.22,0.00,0.000,516,0.000,0.035,2998,394,1187,1309,1066,0,0,0,0,0,0,26.08,25.67,26.10
$GC,2660,0.62,311.6,2997,394,1305,1066,7.9,10.6,377,2669,0.00,2.22,0.00,0.000,1030,0.000,0.025,2998,1817,1185,1306,1065,0,0,0,0,0,0,25.84,25.82,25.86
$STATE,2704,end climb,SURFACE_DEPTH_REACHED
$STATE,2704,begin surface coast
$FINISH,0.5,1.018603
$STATE,2735,end surface coast,CONTROL_FINISHED_OK
$STATE,2735,begin surface
$SM_CCo,2753,7.57,0.050,0,0,1118,330.17
$SM_GC,1.93,7.50,0.32,7.57,0.024,0.028,0.050,124,2146,1118,-8.34,-1.47,330.17,0,0,0,0,0,0,25.89,26.03,25.82
$IRIDIUM_FIX,-3333.14,2708.69,020817,014231
$TT8_MAMPS,0.025466,0.272636
$HUMID,60.31
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.5,17.9
$24V_AH,24.08,55.215
$10V_AH,10.14,28.643
$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,18.900,82.775,333.225,7.575,0.000,23.531,22.198,368.973,2.750,0.000,11.566,933.761,419.202,437.439,1380.790,169.446,0.000,939.855,0.000,947.305,0.000,18.955,0.000
$DEVICE_MAMPS,216.495,91.800,681.615,49.725,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,270.348,116.651,515.894,630.935,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343412
$DATA_FILE_SIZE,27111,389
$CAP_FILE_SIZE,73547,0
$CFSIZE,2097086464,2030534656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,020817,041804,-3344.317,2717.651,4,0.7,5,-27.7,0.0,135.8,12,218.9