version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 603
start: 8 2 117 8 54 55
data:
$ID,574
$MISSION,23
$DIVE,603
$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,70
$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,37
$R_STBD_OVSHOOT,62
$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
$GPS1,020817,084425,-3344.2847,2718.6426,13,0.9,13,-27.7,0.0,0.0,10,272.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-78.5
$GPS2,020817,085407,-3344.2495,2718.5847,18,0.8,18,-27.7,0.5,334.1,11,254.2
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3340.556,2730.779
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,97.7,20000,-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,-175.2,124,2087,1411,1293,0.0,0.0,0,80,0.00,0.00,-62.45,0.000,16386,0.000,0.000,125,2087,3128,3133,3123,0,0,0,0,0,0,26.19,28.83,26.20
$GC,84,-0.45,-175.2,125,2087,3134,3123,4.1,-6.5,8,102,10.07,2.22,-0.98,0.000,18948,0.220,0.038,2658,630,3182,3194,3170,0,0,0,0,0,0,25.13,25.22,25.35
$GC,169,-0.45,-175.2,2657,630,3205,3162,23.2,-11.8,21,178,0.00,2.20,0.00,0.000,1030,0.000,0.028,2649,2032,3182,3207,3158,0,0,0,0,0,0,25.93,25.88,25.96
$GC,229,-0.45,-175.2,2648,2032,3207,3156,30.2,-11.2,30,237,0.00,2.17,0.00,0.000,260,0.000,0.034,2638,3454,3181,3207,3156,0,0,0,0,0,0,26.31,25.91,26.32
$GC,293,-0.45,-175.2,2637,3454,3207,3156,36.8,-10.5,40,302,0.00,2.15,0.00,0.000,1030,0.000,0.024,2638,2044,3181,3207,3156,0,0,0,0,0,0,26.01,25.98,26.03
$GC,351,-0.45,-175.2,2637,2039,3209,3155,42.8,-9.9,49,358,0.00,2.10,0.00,0.000,516,0.000,0.028,2637,635,3182,3210,3155,0,0,0,0,0,0,26.41,25.99,26.41
$GC,407,-0.45,-175.2,2637,634,3210,3155,49.5,-11.0,59,415,0.12,2.15,0.00,0.000,3078,0.146,0.028,2666,2050,3182,3210,3155,0,0,0,0,0,0,25.72,26.02,25.86
$GC,460,-0.45,-175.2,2665,2050,3211,3154,54.8,-9.5,68,467,0.00,2.17,0.00,0.000,260,0.000,0.034,2656,3458,3182,3210,3154,0,0,0,0,0,0,26.45,26.00,26.46
$GC,496,-0.45,-175.2,2655,3458,3210,3154,58.4,-10.0,74,503,0.00,2.10,0.00,0.000,1030,0.000,0.023,2656,2041,3182,3210,3154,0,0,0,0,0,0,26.15,26.07,26.17
$GC,548,-0.45,-175.2,2655,2037,3212,3153,63.6,-9.9,83,555,0.00,2.08,0.00,0.000,516,0.000,0.028,2656,644,3182,3212,3153,0,0,0,0,0,0,26.48,26.05,26.48
$GC,579,-0.45,-175.2,2655,644,3212,3153,66.7,-10.2,88,587,0.00,2.17,0.00,0.000,1030,0.000,0.028,2646,2047,3183,3213,3154,0,0,0,0,0,0,26.10,26.08,26.13
$GC,634,-0.45,-175.2,2645,2047,3212,3153,72.3,-10.2,97,640,0.00,2.10,0.00,0.000,260,0.000,0.033,2635,3463,3182,3212,3153,0,0,0,0,0,0,26.50,26.05,26.51
$GC,658,-0.45,-175.2,2635,3462,3212,3153,75.0,-10.6,101,665,0.00,2.10,0.00,0.000,1030,0.000,0.024,2635,2048,3182,3212,3153,0,0,0,0,0,0,26.17,26.10,26.20
$GC,710,-0.45,-175.2,2635,2044,3212,3153,80.7,-10.9,110,716,0.00,2.08,0.00,0.000,516,0.000,0.027,2635,646,3183,3213,3153,0,0,0,0,0,0,26.51,26.08,26.51
$GC,755,-0.45,-175.2,2634,644,3213,3153,85.6,-10.6,118,762,0.12,2.15,0.00,0.000,3078,0.143,0.028,2663,2057,3183,3213,3153,0,0,0,0,0,0,25.80,26.10,25.95
$GC,810,-0.45,-175.2,2662,2057,3213,3152,90.4,-8.5,127,816,0.00,2.08,0.00,0.000,260,0.000,0.033,2654,3461,3183,3213,3153,0,0,0,0,0,0,26.53,26.08,26.54
$GC,846,-0.45,-175.2,2653,3460,3212,3153,93.7,-8.7,133,853,0.00,2.10,0.00,0.000,1030,0.000,0.024,2654,2039,3183,3213,3153,0,0,0,0,0,0,26.21,26.14,26.24
$GC,897,-0.45,-175.2,2653,2036,3213,3152,98.2,-8.4,142,904,0.00,2.08,0.00,0.000,516,0.000,0.028,2653,642,3183,3213,3153,0,0,0,0,0,0,26.55,26.10,26.56
$GC,944,-0.45,-175.2,2653,642,3213,3152,102.5,-9.4,148,948,0.00,2.15,0.00,0.000,1030,0.000,0.028,2644,2055,3182,3213,3152,0,0,0,0,0,0,26.21,26.13,26.24
$GC,1137,-0.45,-175.2,2643,2054,3214,3152,122.6,-10.5,167,1145,0.00,2.05,0.00,0.000,260,0.000,0.033,2633,3453,3182,3213,3152,0,0,0,0,0,0,26.58,26.11,26.59
$GC,1178,-0.45,-175.2,2632,3453,3213,3152,127.2,-10.6,171,1188,0.10,2.08,0.00,0.000,3078,0.132,0.024,2666,2050,3182,3213,3152,0,0,0,0,0,0,25.95,26.17,26.06
$GC,1370,-0.45,-175.2,2665,2044,3214,3152,144.6,-8.3,190,1379,0.00,2.08,0.00,0.000,516,0.000,0.028,2666,642,3183,3214,3152,0,0,0,0,0,0,26.61,26.15,26.62
$STATE,1432,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1432,begin apogee
$GC,1439,0.00,0.0,2659,1799,3214,3152,150.8,-10.0,196,1575,0.45,0.00,130.75,0.705,10246,0.112,0.000,2806,1801,2464,2525,2404,0,0,0,0,0,0,25.78,24.98,24.35
$STATE,1575,end apogee,CONTROL_FINISHED_OK
$STATE,1576,begin climb
$GC,1578,0.45,175.2,2806,1801,2525,2404,159.5,0.0,210,1722,0.40,2.22,134.85,0.695,10500,0.047,0.029,2976,3209,1748,1841,1655,0,0,0,0,0,0,25.19,24.65,24.24
$GC,1756,0.45,175.2,2976,3209,1839,1655,151.2,10.7,228,1766,0.10,2.17,0.00,0.000,5126,0.167,0.028,2960,1806,1747,1839,1655,0,0,0,0,0,0,25.07,25.30,25.24
$GC,1950,0.45,175.2,2959,1806,1837,1650,132.1,10.4,247,1958,0.00,2.08,0.00,0.000,260,0.000,0.028,2960,3202,1743,1836,1650,0,0,0,0,0,0,26.15,25.79,26.15
$GC,2001,0.45,175.2,2959,3202,1836,1650,126.5,10.6,252,2009,0.00,2.12,0.00,0.000,1030,0.000,0.028,2968,1800,1743,1836,1650,0,0,0,0,0,0,25.93,25.84,25.95
$GC,2192,0.45,175.2,2967,1800,1835,1650,106.8,10.3,271,2201,0.00,2.15,0.00,0.000,516,0.000,0.035,2978,392,1740,1831,1649,0,0,0,0,0,0,26.36,25.92,26.37
$GC,2233,0.45,175.2,2978,392,1825,1650,102.0,11.2,275,2242,0.00,2.15,0.00,0.000,1030,0.000,0.028,2978,1796,1738,1827,1650,0,0,0,0,0,0,26.08,26.00,26.11
$GC,2432,0.45,175.2,2978,1797,1828,1650,78.9,11.8,311,2439,0.00,2.12,0.00,0.000,260,0.000,0.032,2978,3215,1738,1827,1650,0,0,0,0,0,0,26.46,26.04,26.48
$GC,2448,0.45,175.2,2978,3215,1828,1650,77.2,12.1,313,2456,0.10,2.12,0.00,0.000,5126,0.162,0.028,2960,1797,1739,1828,1650,0,0,0,0,0,0,25.79,26.06,25.97
$GC,2500,0.46,185.7,2960,1797,1828,1650,71.7,9.7,322,2513,0.00,2.17,8.60,0.570,8452,0.000,0.028,2960,3216,1706,1799,1614,0,0,0,0,0,0,26.48,25.82,25.03
$GC,2629,0.48,203.6,2959,3216,1798,1613,59.4,9.6,345,2655,0.00,2.15,15.88,0.603,9222,0.000,0.028,2968,1795,1634,1731,1538,0,0,0,0,0,0,26.14,26.05,25.06
$GC,2701,0.48,204.4,2967,1795,1728,1537,52.1,10.0,357,2707,0.00,2.15,0.00,0.000,516,0.000,0.035,2979,393,1631,1726,1537,0,0,0,0,0,0,26.30,25.89,26.31
$GC,2760,0.51,225.6,2978,393,1717,1537,46.6,9.5,367,2785,0.00,2.15,18.55,0.604,9222,0.000,0.025,2978,1807,1544,1645,1444,0,0,0,0,0,0,26.06,25.99,24.96
$GC,2833,0.51,225.6,2978,1808,1643,1441,39.0,10.4,379,2842,0.00,2.15,0.00,0.000,260,0.000,0.031,2979,3210,1542,1643,1442,0,0,0,0,0,0,26.20,25.84,26.21
$GC,2875,0.51,225.7,2978,3209,1643,1442,34.4,10.0,385,2884,0.00,2.17,0.00,0.000,1030,0.000,0.028,2989,1803,1542,1643,1442,0,0,0,0,0,0,25.93,25.88,25.95
$GC,2935,0.51,225.7,2988,1802,1642,1441,27.9,11.6,394,2943,0.00,2.20,0.00,0.000,516,0.000,0.036,2999,397,1539,1637,1441,0,0,0,0,0,0,26.30,25.86,26.31
$GC,2964,0.51,225.7,2999,397,1633,1441,24.7,10.2,398,2973,0.00,2.17,0.00,0.000,1030,0.000,0.024,3000,1800,1539,1636,1442,0,0,0,0,0,0,26.01,25.98,26.03
$GC,3023,0.51,225.7,2998,1803,1637,1441,19.2,10.2,407,3032,0.00,2.15,0.00,0.000,260,0.000,0.031,3000,3210,1539,1636,1442,0,0,0,0,0,0,26.36,25.96,26.37
$GC,3082,0.51,225.7,2999,3209,1636,1442,12.8,11.1,416,3092,0.10,2.17,0.00,0.000,5126,0.148,0.027,2979,1793,1539,1636,1442,0,0,0,0,0,0,25.72,26.01,25.80
$GC,3142,0.51,225.7,2979,1793,1636,1442,7.1,10.2,425,3150,0.00,2.17,0.00,0.000,516,0.000,0.037,2989,403,1536,1631,1441,0,0,0,0,0,0,26.42,25.95,26.43
$GC,3160,0.55,259.1,2988,403,1631,1441,5.5,9.2,427,3185,0.00,2.15,15.18,0.508,9222,0.000,0.022,2988,1803,1406,1515,1298,0,0,0,0,0,0,26.10,26.10,25.14
$STATE,3191,end climb,SURFACE_DEPTH_REACHED
$STATE,3191,begin surface coast
$FINISH,0.5,1.006702
$STATE,3222,end surface coast,CONTROL_FINISHED_OK
$STATE,3222,begin surface
$SM_CCo,3240,4.10,0.050,0,0,1363,270.07
$SM_GC,2.74,7.47,0.35,4.10,0.027,0.024,0.050,124,2155,1363,-8.33,-1.22,270.07,0,0,0,0,0,0,25.97,26.13,25.89
$IRIDIUM_FIX,-3330.55,2716.79,020817,065429
$TT8_MAMPS,0.025466,0.263648
$HUMID,60.67
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,150.8,12.8
$24V_AH,24.24,55.667
$10V_AH,10.14,28.919
$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,19.050,89.800,323.800,4.100,0.000,24.726,45.516,364.604,3.500,0.000,24.902,1040.355,694.728,456.564,1483.488,180.768,0.000,974.693,0.000,1018.272,0.000,23.427,0.000
$DEVICE_MAMPS,219.555,38.250,705.330,50.490,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,307.417,114.368,498.475,684.393,0.000,0.000,0.000,0.000,0.000,0.000
$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,30502,436
$CAP_FILE_SIZE,79396,0
$CFSIZE,2097086464,2029944832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,020817,095000,-3344.082,2718.715,25,1.0,25,-27.7,0.6,248.9,9,9.2