version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 599
start: 8 2 117 5 15 51
data:
$ID,574
$MISSION,23
$DIVE,599
$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,26
$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,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
$GPS1,020817,050530,-3344.3115,2717.7798,28,1.0,28,-27.7,0.0,0.0,9,7.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-79.9
$GPS2,020817,051504,-3344.3157,2717.7737,4,1.0,4,-27.7,0.7,203.5,9,91.8
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3349.715,2729.032
$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,16,-0.45,-175.2,124,2058,1153,962,0.0,0.0,0,88,0.00,0.00,-69.50,0.000,16386,0.000,0.000,125,2059,2964,2973,2956,0,0,0,0,0,0,26.16,28.83,26.17
$GC,91,-0.45,-175.2,124,2059,2973,2957,3.1,-3.8,9,117,9.93,2.22,-4.47,0.000,18948,0.217,0.040,2647,618,3183,3205,3161,0,0,0,0,0,0,25.20,24.10,25.40
$GC,206,-0.45,-175.2,2646,618,3207,3160,23.1,-12.0,27,215,0.00,2.25,0.00,0.000,1030,0.000,0.030,2637,2045,3182,3208,3157,0,0,0,0,0,0,25.96,25.91,25.98
$GC,268,-0.45,-175.2,2637,2045,3210,3156,31.5,-13.1,36,277,0.00,2.17,0.00,0.000,260,0.000,0.033,2626,3466,3182,3210,3155,0,0,0,0,0,0,26.35,25.94,26.36
$GC,321,-0.45,-175.2,2626,3466,3209,3155,38.4,-12.1,44,331,0.10,2.17,0.00,0.000,3078,0.138,0.024,2658,2036,3182,3209,3155,0,0,0,0,0,0,25.73,26.01,25.80
$GC,379,-0.45,-175.2,2657,2032,3213,3153,44.9,-9.7,53,386,0.00,2.08,0.00,0.000,516,0.000,0.027,2658,644,3183,3213,3153,0,0,0,0,0,0,26.41,26.01,26.41
$GC,427,-0.45,-175.2,2657,643,3213,3153,50.1,-10.7,61,434,0.00,2.15,0.00,0.000,1030,0.000,0.027,2649,2058,3182,3213,3152,0,0,0,0,0,0,26.13,26.04,26.15
$GC,477,-0.45,-175.2,2648,2058,3213,3152,55.6,-10.6,70,484,0.00,2.08,0.00,0.000,260,0.000,0.032,2638,3457,3182,3213,3152,0,0,0,0,0,0,26.45,26.02,26.46
$GC,502,-0.45,-175.2,2638,3457,3213,3152,58.2,-10.3,74,509,0.00,2.10,0.00,0.000,1030,0.000,0.025,2638,2050,3182,3213,3152,0,0,0,0,0,0,26.15,26.06,26.17
$GC,555,-0.45,-175.2,2638,2046,3213,3151,63.5,-10.1,83,562,0.00,2.10,0.00,0.000,516,0.000,0.027,2638,638,3182,3213,3151,0,0,0,0,0,0,26.47,26.07,26.48
$GC,618,-0.45,-175.2,2638,637,3214,3151,70.2,-10.5,94,625,0.10,2.15,0.00,0.000,3078,0.149,0.028,2660,2049,3182,3213,3151,0,0,0,0,0,0,25.84,26.09,25.98
$GC,672,-0.45,-175.2,2658,2049,3213,3151,75.4,-9.2,103,679,0.00,2.10,0.00,0.000,260,0.000,0.034,2649,3458,3182,3214,3151,0,0,0,0,0,0,26.50,26.06,26.51
$GC,709,-0.45,-175.2,2649,3458,3213,3151,78.8,-8.8,109,715,0.00,2.10,0.00,0.000,1030,0.000,0.024,2649,2042,3182,3213,3151,0,0,0,0,0,0,26.20,26.12,26.22
$GC,760,-0.45,-175.2,2649,2038,3214,3151,83.9,-9.1,118,766,0.00,2.08,0.00,0.000,516,0.000,0.028,2649,642,3182,3214,3151,0,0,0,0,0,0,26.52,26.10,26.53
$GC,824,-0.45,-175.2,2649,642,3214,3151,90.0,-9.8,129,830,0.00,2.15,0.00,0.000,1030,0.000,0.028,2639,2053,3182,3214,3151,0,0,0,0,0,0,26.21,26.13,26.24
$GC,874,-0.45,-175.2,2639,2053,3214,3151,95.4,-10.1,138,882,0.00,2.12,0.00,0.000,260,0.000,0.033,2629,3456,3182,3214,3151,0,0,0,0,0,0,26.54,26.10,26.55
$GC,918,-0.45,-175.2,2628,3456,3214,3151,99.7,-9.9,145,926,0.10,2.08,0.00,0.000,3078,0.134,0.024,2661,2047,3182,3214,3150,0,0,0,0,0,0,25.94,26.16,26.06
$GC,964,-0.45,-175.2,2661,2042,3215,3150,104.3,-9.6,150,973,0.00,2.08,0.00,0.000,516,0.000,0.028,2661,646,3182,3215,3150,0,0,0,0,0,0,26.55,26.13,26.56
$GC,1016,-0.45,-175.2,2660,645,3216,3151,109.0,-9.2,155,1025,0.00,2.15,0.00,0.000,1030,0.000,0.029,2653,2060,3183,3216,3150,0,0,0,0,0,0,26.23,26.15,26.26
$GC,1209,-0.45,-175.2,2653,2059,3216,3150,126.6,-8.8,174,1218,0.00,2.05,0.00,0.000,260,0.000,0.033,2643,3453,3183,3217,3150,0,0,0,0,0,0,26.59,26.14,26.60
$GC,1231,-0.45,-175.2,2642,3453,3214,3150,128.9,-9.0,176,1235,0.00,2.10,0.00,0.000,1030,0.000,0.024,2643,2042,3182,3215,3150,0,0,0,0,0,0,26.26,26.18,26.29
$STATE,1260,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1261,begin apogee
$GC,1267,0.00,0.0,2643,1757,3216,3151,132.0,-9.6,179,1403,0.50,0.00,130.18,0.698,10246,0.116,0.000,2804,1755,2465,2525,2405,0,0,0,0,0,0,25.77,25.00,24.37
$STATE,1403,end apogee,CONTROL_FINISHED_OK
$STATE,1404,begin climb
$GC,1406,0.45,175.2,2803,1755,2524,2405,139.1,0.0,193,1547,0.40,2.30,133.90,0.695,10500,0.045,0.030,2976,3207,1749,1841,1657,0,0,0,0,0,0,25.22,24.68,24.26
$GC,1594,0.45,175.2,2976,3207,1839,1657,127.3,12.4,211,1601,0.00,2.12,0.00,0.000,1030,0.000,0.028,2986,1838,1748,1839,1657,0,0,0,0,0,0,25.44,25.37,25.46
$GC,1782,0.45,175.2,2985,1838,1836,1654,103.1,13.0,230,1791,0.08,2.25,0.00,0.000,4612,0.187,0.034,2969,393,1743,1832,1654,0,0,0,0,0,0,25.65,25.76,25.71
$GC,1862,0.49,210.9,2969,392,1825,1654,94.4,9.1,242,1899,0.00,2.17,28.80,0.641,9222,0.000,0.027,2969,1811,1603,1704,1503,0,0,0,0,0,0,25.98,25.90,24.80
$GC,1944,0.49,210.9,2969,1811,1702,1502,84.7,12.6,256,1951,0.00,2.15,0.00,0.000,260,0.000,0.030,2969,3207,1601,1701,1502,0,0,0,0,0,0,26.04,25.72,26.06
$GC,1996,0.49,210.9,2969,3207,1701,1502,78.4,11.2,265,2003,0.00,2.15,0.00,0.000,1030,0.000,0.028,2979,1793,1601,1701,1502,0,0,0,0,0,0,25.89,25.81,25.91
$GC,2047,0.49,210.9,2979,1793,1700,1502,72.2,12.0,274,2053,0.00,2.15,0.00,0.000,516,0.000,0.035,2990,393,1600,1698,1502,0,0,0,0,0,0,26.20,25.81,26.22
$GC,2077,0.49,210.9,2989,394,1692,1502,68.4,12.6,279,2084,0.00,2.17,0.00,0.000,1030,0.000,0.026,2990,1803,1597,1693,1501,0,0,0,0,0,0,25.98,25.89,25.99
$GC,2128,0.49,210.9,2990,1804,1694,1502,62.1,12.8,288,2137,0.00,2.15,0.00,0.000,260,0.000,0.030,2990,3217,1598,1694,1502,0,0,0,0,0,0,26.28,25.92,26.29
$GC,2144,0.49,210.9,2989,3217,1694,1502,60.2,12.7,290,2151,0.10,2.15,0.00,0.000,5126,0.161,0.029,2972,1799,1598,1694,1502,0,0,0,0,0,0,25.68,25.93,25.84
$GC,2195,0.49,210.9,2971,1799,1694,1502,54.4,10.9,299,2202,0.00,2.15,0.00,0.000,516,0.000,0.036,2981,393,1598,1694,1502,0,0,0,0,0,0,26.33,25.90,26.34
$GC,2253,0.49,210.9,2980,393,1688,1502,48.3,10.3,309,2260,0.00,2.17,0.00,0.000,1030,0.000,0.027,2981,1808,1595,1689,1502,0,0,0,0,0,0,26.08,26.00,26.11
$GC,2303,0.49,210.9,2980,1808,1692,1502,42.9,11.4,318,2311,0.00,2.12,0.00,0.000,260,0.000,0.031,2981,3208,1597,1692,1502,0,0,0,0,0,0,26.39,26.01,26.40
$GC,2329,0.49,210.9,2980,3208,1692,1502,40.0,11.0,322,2335,0.00,2.12,0.00,0.000,1030,0.000,0.031,2991,1800,1597,1692,1502,0,0,0,0,0,0,26.10,26.01,26.13
$GC,2386,0.49,210.9,2990,1800,1693,1502,34.7,10.2,331,2395,0.00,2.22,0.00,0.000,516,0.000,0.037,3002,393,1596,1690,1502,0,0,0,0,0,0,26.42,25.98,26.44
$GC,2475,0.53,241.0,3001,393,1685,1502,25.5,9.2,345,2500,0.00,2.17,14.35,0.565,9222,0.000,0.027,3002,1798,1479,1584,1375,0,0,0,0,0,0,26.12,26.09,25.08
$GC,2551,0.53,241.0,3001,1799,1582,1373,18.3,10.9,356,2560,0.00,2.15,0.00,0.000,260,0.000,0.031,3002,3206,1478,1582,1374,0,0,0,0,0,0,26.34,25.98,26.35
$GC,2581,0.53,244.4,3001,3206,1582,1374,15.3,9.9,360,2591,0.00,2.17,1.15,0.085,9222,0.000,0.030,3011,1798,1469,1573,1366,0,0,0,0,0,0,26.03,25.98,25.79
$GC,2641,0.53,244.4,3011,1798,1572,1365,8.1,12.4,369,2649,0.00,2.20,0.00,0.000,516,0.000,0.037,3022,394,1466,1568,1365,0,0,0,0,0,0,26.39,25.92,26.40
$GC,2659,0.53,244.4,3022,394,1564,1365,5.9,12.0,371,2668,0.10,2.20,0.00,0.000,5126,0.132,0.032,2990,1791,1465,1566,1365,0,0,0,0,0,0,25.75,26.01,25.85
$STATE,2686,end climb,SURFACE_DEPTH_REACHED
$STATE,2686,begin surface coast
$FINISH,0.6,1.016443
$STATE,2717,end surface coast,CONTROL_FINISHED_OK
$STATE,2718,begin surface
$SM_CCo,2735,38.00,0.050,0,0,1118,330.17
$SM_GC,1.41,7.47,0.40,38.00,0.028,0.024,0.050,124,2172,1118,-8.34,-0.74,330.17,0,0,0,0,0,0,26.08,26.22,25.95
$IRIDIUM_FIX,-3330.55,2720.28,020817,032326
$TT8_MAMPS,0.025466,0.291361
$HUMID,59.92
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,131.0,15.3
$24V_AH,24.10,55.369
$10V_AH,10.09,28.732
$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,18.875,86.775,308.375,38.000,0.000,44.344,43.255,353.253,3.000,0.000,11.550,912.678,443.532,480.439,1373.420,167.135,0.000,958.216,0.000,916.546,0.000,20.444,0.000
$DEVICE_MAMPS,217.260,104.805,698.445,49.725,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,267.241,109.931,489.731,616.140,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343440
$DATA_FILE_SIZE,27022,380
$CAP_FILE_SIZE,75407,0
$CFSIZE,2097086464,2030338048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,020817,060246,-3344.337,2717.932,4,0.9,5,-27.7,0.0,0.0,9,23.7