version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 600
start: 8 2 117 6 4 31
data:
$ID,574
$MISSION,23
$DIVE,600
$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,23
$R_STBD_OVSHOOT,31
$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
$GPS1,020817,060246,-3344.3372,2717.9324,4,0.9,5,-27.7,0.0,0.0,9,23.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-79.2
$GPS2,020817,060343,-3344.3398,2717.9277,4,1.2,4,-27.7,0.0,0.0,7,23.8
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3349.740,2729.186
$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,-175.2,124,2057,1192,1025,0.0,0.0,0,88,0.00,0.00,-70.32,0.000,16386,0.000,0.000,124,2058,3069,3073,3065,0,0,0,0,0,0,26.47,28.83,26.48
$GC,92,-0.45,-175.2,124,2058,3075,3065,3.8,-5.8,9,110,9.95,2.22,-2.15,0.000,18948,0.221,0.043,2657,621,3183,3197,3169,0,0,0,0,0,0,25.34,24.26,25.56
$GC,200,-0.45,-175.2,2657,621,3206,3161,24.1,-13.1,26,208,0.00,2.25,0.00,0.000,1030,0.000,0.031,2649,2055,3183,3207,3159,0,0,0,0,0,0,26.11,26.07,26.15
$GC,259,-0.45,-175.2,2648,2056,3209,3157,31.9,-12.6,35,268,0.00,2.12,0.00,0.000,260,0.000,0.033,2637,3457,3182,3208,3156,0,0,0,0,0,0,26.50,26.08,26.51
$GC,307,-0.45,-175.2,2637,3457,3208,3156,37.1,-10.8,42,316,0.00,2.17,0.00,0.000,1030,0.000,0.025,2638,2026,3182,3208,3156,0,0,0,0,0,0,26.14,26.12,26.18
$GC,363,-0.45,-175.2,2637,2021,3210,3156,42.8,-9.0,51,370,0.00,2.08,0.00,0.000,516,0.000,0.027,2638,637,3182,3210,3155,0,0,0,0,0,0,26.52,26.12,26.53
$GC,409,-0.45,-175.2,2637,637,3210,3155,47.1,-9.8,59,417,0.12,2.15,0.00,0.000,3078,0.144,0.028,2665,2055,3183,3211,3155,0,0,0,0,0,0,25.84,26.13,25.98
$GC,462,-0.45,-175.2,2665,2055,3211,3155,51.5,-7.5,68,469,0.00,2.12,0.00,0.000,260,0.000,0.033,2656,3459,3183,3211,3155,0,0,0,0,0,0,26.54,26.10,26.55
$GC,477,-0.45,-175.2,2656,3459,3210,3155,52.7,-8.0,70,484,0.00,2.10,0.00,0.000,1030,0.000,0.025,2656,2044,3183,3211,3155,0,0,0,0,0,0,26.22,26.14,26.25
$GC,530,-0.45,-175.2,2656,2040,3212,3154,57.3,-9.1,79,537,0.00,2.08,0.00,0.000,516,0.000,0.028,2656,642,3183,3213,3154,0,0,0,0,0,0,26.55,26.13,26.56
$GC,587,-0.45,-175.2,2656,642,3212,3154,63.6,-11.5,89,593,0.00,2.15,0.00,0.000,1030,0.000,0.029,2646,2057,3183,3212,3154,0,0,0,0,0,0,26.23,26.15,26.26
$GC,637,-0.45,-175.2,2646,2056,3213,3154,69.8,-12.5,98,645,0.00,2.08,0.00,0.000,260,0.000,0.033,2635,3457,3183,3213,3154,0,0,0,0,0,0,26.56,26.11,26.58
$GC,684,-0.45,-175.2,2635,3457,3212,3154,75.1,-11.2,106,690,0.00,2.10,0.00,0.000,1030,0.000,0.027,2636,2046,3183,3212,3154,0,0,0,0,0,0,26.24,26.15,26.27
$GC,737,-0.45,-175.2,2635,2043,3213,3154,81.4,-12.1,115,744,0.00,2.10,0.00,0.000,516,0.000,0.031,2636,642,3183,3213,3153,0,0,0,0,0,0,26.58,26.13,26.58
$GC,805,-0.45,-175.2,2635,642,3213,3153,89.4,-12.0,127,813,0.12,2.15,0.00,0.000,3078,0.144,0.028,2663,2062,3183,3213,3154,0,0,0,0,0,0,25.88,26.17,26.02
$GC,858,-0.45,-175.2,2663,2062,3213,3153,94.9,-8.4,136,865,0.00,2.10,0.00,0.000,260,0.000,0.033,2654,3450,3183,3213,3153,0,0,0,0,0,0,26.59,26.15,26.60
$GC,891,-0.45,-175.2,2653,3450,3213,3153,97.8,-8.5,141,897,0.00,2.10,0.00,0.000,1030,0.000,0.024,2654,2037,3183,3213,3153,0,0,0,0,0,0,26.27,26.19,26.29
$GC,945,-0.45,-175.2,2653,2033,3214,3153,103.0,-9.3,148,949,0.00,2.08,0.00,0.000,516,0.000,0.028,2654,644,3183,3214,3153,0,0,0,0,0,0,26.60,26.15,26.60
$GC,982,-0.45,-175.2,2653,643,3213,3153,105.9,-9.2,151,988,0.00,2.12,0.00,0.000,1030,0.000,0.029,2644,2049,3183,3214,3153,0,0,0,0,0,0,26.26,26.17,26.29
$GC,1167,-0.45,-175.2,2644,2048,3214,3153,126.8,-11.4,170,1175,0.00,2.10,0.00,0.000,260,0.000,0.034,2633,3465,3183,3213,3153,0,0,0,0,0,0,26.62,26.15,26.63
$GC,1203,-0.45,-175.2,2633,3465,3214,3153,130.3,-11.1,173,1210,0.10,2.10,0.00,0.000,3078,0.135,0.026,2666,2051,3183,3213,3153,0,0,0,0,0,0,25.98,26.19,26.10
$STATE,1258,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1258,begin apogee
$GC,1265,0.00,0.0,2665,1750,3214,3152,137.0,-10.5,179,1401,0.43,0.05,130.57,0.696,10246,0.106,0.116,2808,1838,2465,2526,2404,0,0,0,0,0,0,25.89,25.00,24.37
$STATE,1402,end apogee,CONTROL_FINISHED_OK
$STATE,1402,begin climb
$GC,1405,0.45,175.2,2807,1838,2525,2404,144.8,0.0,193,1552,0.38,2.15,133.90,0.689,10500,0.039,0.031,2981,3177,1749,1841,1658,0,0,0,0,0,0,25.25,24.87,24.26
$GC,1605,0.45,175.2,2981,3177,1838,1656,131.7,11.3,213,1615,0.12,2.05,0.00,0.000,5126,0.164,0.030,2957,1849,1746,1838,1655,0,0,0,0,0,0,25.15,25.41,25.33
$GC,1797,0.45,175.2,2956,1849,1837,1651,111.9,10.4,232,1805,0.00,1.95,0.00,0.000,260,0.000,0.027,2957,3180,1744,1837,1651,0,0,0,0,0,0,26.17,25.83,26.19
$GC,1920,0.49,209.0,2956,3180,1837,1651,100.5,9.1,244,1954,0.00,2.08,27.70,0.640,9222,0.000,0.029,2965,1794,1611,1714,1508,0,0,0,0,0,0,25.97,25.94,24.85
$GC,1999,0.49,209.0,2965,1793,1709,1507,92.5,10.4,257,2006,0.00,2.17,0.00,0.000,516,0.000,0.037,2975,393,1607,1708,1507,0,0,0,0,0,0,26.08,25.70,26.09
$GC,2056,0.54,252.1,2975,393,1698,1507,87.0,8.9,267,2100,0.00,2.10,34.70,0.635,9222,0.000,0.025,2975,1761,1436,1548,1325,0,0,0,0,0,0,25.92,25.84,24.72
$GC,2143,0.54,252.1,2975,1761,1545,1324,76.9,12.5,282,2152,0.00,2.25,0.00,0.000,260,0.000,0.031,2975,3210,1434,1545,1324,0,0,0,0,0,0,25.96,25.64,25.98
$GC,2191,0.54,252.1,2975,3210,1544,1324,71.1,12.1,290,2197,0.00,2.15,0.00,0.000,1030,0.000,0.030,2985,1801,1434,1544,1324,0,0,0,0,0,0,25.82,25.74,25.84
$GC,2242,0.54,252.1,2985,1801,1542,1324,64.4,13.3,299,2248,0.00,2.17,0.00,0.000,516,0.000,0.037,2997,396,1432,1541,1324,0,0,0,0,0,0,26.15,25.75,26.17
$GC,2289,0.54,252.1,2996,395,1533,1323,58.6,12.2,307,2295,0.00,2.15,0.00,0.000,1030,0.000,0.025,2997,1799,1428,1533,1324,0,0,0,0,0,0,25.95,25.88,25.98
$GC,2340,0.54,252.1,2996,1799,1533,1324,51.5,13.5,316,2347,0.00,2.17,0.00,0.000,260,0.000,0.032,2996,3209,1428,1533,1323,0,0,0,0,0,0,26.27,25.89,26.27
$GC,2402,0.54,252.1,2996,3209,1533,1324,43.7,11.3,327,2409,0.00,2.15,0.00,0.000,1030,0.000,0.030,3006,1798,1428,1533,1324,0,0,0,0,0,0,26.03,25.94,26.06
$GC,2457,0.54,252.1,3006,1798,1533,1324,36.9,13.5,336,2466,0.00,2.22,0.00,0.000,516,0.000,0.038,3017,392,1428,1532,1324,0,0,0,0,0,0,26.35,25.91,26.36
$GC,2517,0.54,252.1,3017,391,1527,1324,29.4,11.9,345,2526,0.08,2.20,0.00,0.000,5126,0.123,0.027,2991,1806,1427,1530,1324,0,0,0,0,0,0,25.84,26.02,25.89
$GC,2577,0.54,252.1,2990,1810,1530,1324,23.2,10.5,354,2585,0.00,2.15,0.00,0.000,260,0.000,0.031,2991,3210,1427,1530,1324,0,0,0,0,0,0,26.41,26.01,26.42
$GC,2630,0.54,252.1,2990,3210,1530,1324,17.5,10.9,362,2639,0.00,2.17,0.00,0.000,1030,0.000,0.029,3000,1796,1427,1530,1324,0,0,0,0,0,0,26.08,26.04,26.11
$GC,2690,0.54,252.1,2999,1796,1530,1324,10.8,11.6,371,2698,0.00,2.20,0.00,0.000,516,0.000,0.037,3011,396,1426,1529,1323,0,0,0,0,0,0,26.45,26.01,26.46
$GC,2725,0.54,252.1,3010,394,1526,1324,6.2,12.3,376,2734,0.00,2.17,0.00,0.000,1030,0.000,0.027,3011,1795,1426,1528,1324,0,0,0,0,0,0,26.12,26.08,26.13
$STATE,2754,end climb,SURFACE_DEPTH_REACHED
$STATE,2754,begin surface coast
$FINISH,0.5,1.024617
$STATE,2785,end surface coast,CONTROL_FINISHED_OK
$STATE,2786,begin surface
$SM_CCo,2803,33.88,0.047,0,0,1118,330.17
$SM_GC,1.34,7.45,0.38,33.88,0.022,0.024,0.047,124,2161,1118,-8.35,-0.96,330.17,0,0,0,0,0,0,26.10,26.29,26.00
$IRIDIUM_FIX,-3330.55,2720.28,020817,032326
$TT8_MAMPS,0.025466,0.260652
$HUMID,60.35
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,130.3,20.6
$24V_AH,24.26,55.434
$10V_AH,10.14,28.775
$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,18.750,82.125,326.875,33.875,0.000,0.000,0.000,0.000,3.000,0.000,11.531,907.560,494.650,469.921,953.721,98.804,0.000,957.397,0.000,937.043,0.000,20.428,0.000
$DEVICE_MAMPS,221.085,115.515,696.150,47.430,0.000,0.000,0.000,0.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,265.864,107.779,473.042,619.128,0.000,0.000,0.000,0.000,0.000,0.000
$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,27244,385
$CAP_FILE_SIZE,65469,0
$CFSIZE,2097086464,2030272512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,020817,065230,-3344.329,2718.104,4,0.8,5,-27.7,0.5,40.8,10,20.6