version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 601
start: 8 2 117 7 2 10
data:
$ID,574
$MISSION,23
$DIVE,601
$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,270
$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,21
$R_STBD_OVSHOOT,39
$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
$GPS1,020817,065230,-3344.3286,2718.1042,4,0.8,5,-27.7,0.5,40.8,10,20.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-77.7
$GPS2,020817,070122,-3344.2983,2718.0767,4,0.9,5,-27.7,0.0,249.3,9,19.5
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3349.698,2729.335
$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,-175.2,123,2061,1187,1024,0.0,0.0,0,88,0.00,0.00,-70.40,0.000,16386,0.000,0.000,124,2062,3046,3053,3040,0,0,0,0,0,0,26.18,28.83,26.19
$GC,92,-0.45,-175.2,123,2062,3054,3040,3.4,-4.6,9,110,9.90,2.17,-2.60,0.000,18692,0.213,0.041,2646,3465,3184,3199,3169,0,0,0,0,0,0,25.15,24.08,25.35
$GC,188,-0.45,-175.2,2645,3464,3207,3162,23.1,-13.1,24,197,0.00,2.20,0.00,0.000,1030,0.000,0.026,2646,2033,3184,3208,3160,0,0,0,0,0,0,25.98,25.92,25.98
$GC,250,-0.45,-175.2,2645,2027,3212,3157,31.3,-12.8,33,258,0.00,2.12,0.00,0.000,516,0.000,0.028,2646,643,3184,3212,3156,0,0,0,0,0,0,26.34,25.96,26.35
$GC,268,-0.45,-175.2,2645,643,3212,3156,33.3,-11.6,35,276,0.00,2.20,0.00,0.000,1030,0.000,0.027,2636,2055,3184,3212,3156,0,0,0,0,0,0,26.01,25.97,26.03
$GC,326,-0.45,-175.2,2635,2055,3212,3156,39.8,-12.2,44,336,0.00,2.12,0.00,0.000,260,0.000,0.032,2625,3456,3183,3211,3156,0,0,0,0,0,0,26.39,26.00,26.40
$GC,343,-0.45,-175.2,2625,3456,3212,3156,41.9,-11.2,46,350,0.12,2.12,0.00,0.000,3078,0.123,0.027,2666,2042,3184,3212,3156,0,0,0,0,0,0,25.77,25.99,25.89
$GC,397,-0.45,-175.2,2665,2037,3227,3142,47.4,-9.5,55,403,0.00,2.10,0.00,0.000,516,0.000,0.028,2666,638,3184,3226,3142,0,0,0,0,0,0,26.42,26.00,26.43
$GC,449,-0.45,-175.2,2665,637,3227,3142,53.2,-10.8,64,456,0.00,2.20,0.00,0.000,1030,0.000,0.026,2657,2058,3184,3227,3142,0,0,0,0,0,0,26.08,26.05,26.10
$GC,503,-0.45,-175.2,2656,2058,3228,3141,58.4,-9.9,73,510,0.00,2.10,0.00,0.000,260,0.000,0.034,2647,3455,3184,3228,3141,0,0,0,0,0,0,26.46,26.01,26.47
$GC,517,-0.45,-175.2,2646,3454,3228,3141,59.8,-9.4,75,525,0.00,2.12,0.00,0.000,1030,0.000,0.026,2647,2039,3184,3229,3140,0,0,0,0,0,0,26.14,26.06,26.17
$GC,569,-0.45,-175.2,2647,2035,3230,3139,65.2,-9.7,84,578,0.00,2.12,0.00,0.000,516,0.000,0.028,2647,643,3185,3231,3139,0,0,0,0,0,0,26.48,26.06,26.48
$GC,626,-0.45,-175.2,2646,643,3230,3139,71.4,-10.6,94,633,0.00,2.15,0.00,0.000,1030,0.000,0.028,2637,2057,3185,3230,3140,0,0,0,0,0,0,26.17,26.08,26.19
$GC,680,-0.45,-175.2,2636,2058,3231,3139,77.3,-11.1,103,686,0.00,2.10,0.00,0.000,260,0.000,0.032,2626,3461,3185,3231,3139,0,0,0,0,0,0,26.51,26.06,26.52
$GC,716,-0.45,-175.2,2625,3461,3231,3139,81.4,-11.4,109,723,0.12,2.10,0.00,0.000,3078,0.123,0.026,2667,2049,3185,3232,3139,0,0,0,0,0,0,25.87,26.10,26.00
$GC,767,-0.45,-175.2,2666,2045,3233,3138,86.6,-8.7,118,774,0.00,2.10,0.00,0.000,516,0.000,0.029,2667,641,3184,3232,3137,0,0,0,0,0,0,26.53,26.09,26.53
$GC,831,-0.45,-175.2,2666,640,3233,3138,92.6,-10.3,129,838,0.00,2.15,0.00,0.000,1030,0.000,0.028,2659,2050,3185,3233,3138,0,0,0,0,0,0,26.20,26.12,26.22
$GC,881,-0.45,-175.2,2658,2050,3233,3137,97.6,-9.8,138,890,0.00,2.17,0.00,0.000,260,0.000,0.034,2647,3463,3185,3233,3138,0,0,0,0,0,0,26.54,26.08,26.55
$GC,919,-0.45,-175.2,2647,3463,3233,3138,101.3,-9.9,143,928,0.00,2.10,0.00,0.000,1030,0.000,0.024,2648,2041,3185,3233,3138,0,0,0,0,0,0,26.23,26.15,26.25
$GC,1111,-0.45,-175.2,2647,2037,3234,3137,120.8,-10.6,162,1115,0.00,2.10,0.00,0.000,516,0.000,0.028,2648,640,3185,3234,3137,0,0,0,0,0,0,26.56,26.14,26.57
$GC,1205,-0.45,-175.2,2647,638,3234,3137,131.2,-11.5,171,1212,0.00,2.17,0.00,0.000,1030,0.000,0.028,2638,2047,3185,3234,3137,0,0,0,0,0,0,26.20,26.16,26.23
$STATE,1285,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1285,begin apogee
$GC,1291,0.00,0.0,2638,1750,3234,3137,140.5,-11.5,179,1432,0.52,0.08,130.90,0.695,10246,0.116,0.091,2806,1849,2463,2529,2398,0,0,0,0,0,0,25.75,24.99,24.37
$STATE,1433,end apogee,CONTROL_FINISHED_OK
$STATE,1433,begin climb
$GC,1436,0.45,175.2,2806,1848,2529,2399,150.5,0.0,194,1578,0.43,2.25,133.20,0.682,10756,0.047,0.032,2993,453,1749,1841,1658,0,0,0,0,0,0,25.25,24.82,24.26
$GC,1611,0.45,175.2,2992,453,1828,1658,142.9,10.8,211,1620,0.12,2.05,0.00,0.000,5126,0.146,0.027,2958,1761,1743,1829,1658,0,0,0,0,0,0,25.08,25.32,25.25
$GC,1804,0.47,193.9,2957,1763,1830,1655,124.7,9.5,230,1825,0.00,2.05,15.57,0.630,8964,0.000,0.031,2966,454,1673,1768,1578,0,0,0,0,0,0,26.15,25.25,24.79
$GC,1899,0.51,227.0,2965,454,1757,1578,115.6,9.2,239,1936,0.00,2.08,27.42,0.650,9222,0.000,0.024,2966,1807,1537,1642,1432,0,0,0,0,0,0,25.89,25.82,24.70
$GC,2122,0.51,227.0,2965,1807,1638,1430,91.1,11.4,268,2130,0.00,2.12,0.00,0.000,516,0.000,0.033,2975,453,1533,1636,1430,0,0,0,0,0,0,26.22,25.82,26.23
$GC,2168,0.51,227.0,2974,453,1631,1430,86.0,10.7,276,2177,0.00,2.08,0.00,0.000,1030,0.000,0.024,2975,1793,1531,1631,1431,0,0,0,0,0,0,25.97,25.96,25.99
$GC,2222,0.51,227.0,2974,1795,1631,1431,79.8,11.7,285,2228,0.00,2.15,0.00,0.000,260,0.000,0.031,2975,3215,1531,1631,1432,0,0,0,0,0,0,26.31,25.92,26.32
$GC,2267,0.51,227.0,2974,3215,1631,1431,74.3,11.7,293,2274,0.00,2.05,0.00,0.000,1030,0.000,0.028,2985,1851,1531,1631,1431,0,0,0,0,0,0,26.06,25.97,26.08
$GC,2319,0.51,227.0,2984,1851,1631,1431,67.9,12.6,302,2325,0.00,2.15,0.00,0.000,516,0.000,0.035,2996,455,1531,1631,1431,0,0,0,0,0,0,26.36,25.93,26.38
$GC,2383,0.51,227.0,2995,455,1626,1431,60.2,12.7,313,2390,0.00,2.05,0.00,0.000,1030,0.000,0.026,2996,1805,1530,1628,1432,0,0,0,0,0,0,26.12,26.04,26.15
$GC,2434,0.51,227.0,2995,1808,1629,1430,53.5,12.6,322,2441,0.00,2.10,0.00,0.000,260,0.000,0.030,2996,3214,1530,1629,1432,0,0,0,0,0,0,26.42,26.03,26.44
$GC,2456,0.51,227.0,2995,3213,1629,1431,51.0,12.5,325,2462,0.00,2.05,0.00,0.000,1030,0.000,0.030,3005,1851,1530,1629,1431,0,0,0,0,0,0,26.12,26.03,26.15
$GC,2506,0.51,227.0,3005,1851,1629,1431,44.2,13.4,334,2513,0.00,2.15,0.00,0.000,516,0.000,0.035,3017,449,1530,1629,1431,0,0,0,0,0,0,26.44,25.99,26.46
$GC,2562,0.51,227.0,3016,448,1623,1431,37.3,12.6,343,2571,0.12,2.10,0.00,0.000,5126,0.143,0.027,2978,1803,1528,1625,1431,0,0,0,0,0,0,25.76,26.09,25.85
$GC,2622,0.51,227.0,2978,1803,1627,1431,30.3,10.5,352,2631,0.00,2.15,0.00,0.000,260,0.000,0.031,2978,3212,1529,1627,1431,0,0,0,0,0,0,26.48,26.08,26.49
$GC,2692,0.51,227.0,2978,3211,1627,1431,23.3,10.2,363,2701,0.00,2.08,0.00,0.000,1030,0.000,0.027,2987,1850,1529,1627,1431,0,0,0,0,0,0,26.17,26.11,26.18
$GC,2752,0.51,227.0,2986,1850,1627,1431,17.8,10.1,372,2759,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,1850,1529,1628,1431,0,0,0,0,0,0,26.51,26.53,26.52
$GC,2810,0.51,227.0,2986,1849,1628,1431,12.0,10.6,381,2818,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,1849,1529,1627,1431,0,0,0,0,0,0,26.53,26.54,26.53
$GC,2869,0.54,246.2,2986,1850,1627,1431,5.9,9.5,390,2886,0.00,2.30,8.27,0.467,8708,0.000,0.037,2998,395,1458,1563,1354,0,0,0,0,0,0,26.53,25.51,25.08
$STATE,2893,end climb,SURFACE_DEPTH_REACHED
$STATE,2893,begin surface coast
$FINISH,0.5,1.026440
$STATE,2925,end surface coast,CONTROL_FINISHED_OK
$STATE,2925,begin surface
$SM_CCo,2945,9.60,0.051,0,0,1363,270.07
$SM_GC,2.32,7.45,2.58,9.60,0.026,0.022,0.051,125,2066,1363,-8.33,-1.07,270.07,0,0,0,0,0,0,26.10,26.13,25.99
$IRIDIUM_FIX,-3333.14,2716.79,020817,050750
$TT8_MAMPS,0.025466,0.262899
$HUMID,61.14
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,16.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,140.5,14.5
$24V_AH,24.08,55.518
$10V_AH,10.14,28.824
$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,18.800,81.875,315.375,9.600,0.000,24.844,20.150,350.017,3.250,0.000,12.557,959.874,560.432,438.942,1386.260,171.153,0.000,945.740,0.000,967.977,0.000,21.917,0.000
$DEVICE_MAMPS,213.435,91.035,694.620,51.255,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,274.020,109.072,484.237,645.117,0.000,0.000,0.000,0.000,0.000,0.000
$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,27113,398
$CAP_FILE_SIZE,75155,0
$CFSIZE,2097086464,2030141440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,020817,075207,-3344.306,2718.264,4,0.9,5,-27.7,0.0,0.0,9,318.6