version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 604
start: 8 2 117 9 51 48
data:
$ID,574
$MISSION,23
$DIVE,604
$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,26
$R_STBD_OVSHOOT,42
$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
$GPS1,020817,095000,-3344.0818,2718.7146,25,1.0,25,-27.7,0.6,248.9,9,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-79.6
$GPS2,020817,095059,-3344.0793,2718.7163,4,1.0,4,-27.7,0.0,0.0,9,76.2
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3340.386,2730.910
$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,-175.2,124,2064,1419,1289,0.0,0.0,0,80,0.00,0.00,-62.35,0.000,16386,0.000,0.000,124,2064,3110,3114,3106,0,0,0,0,0,0,26.43,28.83,26.44
$GC,84,-0.45,-175.2,124,2064,3114,3106,4.0,-6.1,8,102,10.02,2.10,-1.33,0.000,18692,0.224,0.040,2642,3468,3181,3195,3168,0,0,0,0,0,0,25.34,25.41,25.54
$GC,180,-0.45,-175.2,2641,3468,3204,3161,23.3,-12.4,23,189,0.00,2.20,0.00,0.000,1030,0.000,0.028,2642,2036,3182,3206,3159,0,0,0,0,0,0,26.08,26.05,26.10
$GC,241,-0.45,-175.2,2641,2033,3208,3156,30.6,-11.2,32,249,0.00,2.15,0.00,0.000,516,0.000,0.030,2642,633,3182,3208,3156,0,0,0,0,0,0,26.44,26.06,26.45
$GC,281,-0.45,-175.2,2641,632,3207,3156,35.5,-11.4,38,291,0.10,2.20,0.00,0.000,3078,0.136,0.028,2663,2048,3181,3208,3155,0,0,0,0,0,0,25.81,26.08,25.88
$GC,340,-0.45,-175.2,2663,2048,3209,3154,42.0,-10.1,47,347,0.00,2.10,0.00,0.000,260,0.000,0.033,2654,3462,3181,3209,3154,0,0,0,0,0,0,26.49,26.06,26.51
$GC,376,-0.45,-175.2,2653,3462,3209,3154,45.5,-9.9,53,383,0.00,2.12,0.00,0.000,1030,0.000,0.024,2654,2031,3181,3209,3154,0,0,0,0,0,0,26.20,26.12,26.22
$GC,428,-0.45,-175.2,2653,2027,3210,3153,51.1,-10.6,62,435,0.00,2.08,0.00,0.000,516,0.000,0.028,2654,635,3182,3211,3153,0,0,0,0,0,0,26.51,26.09,26.51
$GC,479,-0.45,-175.2,2653,635,3211,3153,56.7,-11.4,71,486,0.00,2.15,0.00,0.000,1030,0.000,0.028,2644,2055,3182,3211,3153,0,0,0,0,0,0,26.20,26.12,26.22
$GC,531,-0.45,-175.2,2643,2055,3212,3153,62.6,-11.5,80,539,0.00,2.12,0.00,0.000,260,0.000,0.034,2633,3453,3182,3211,3153,0,0,0,0,0,0,26.53,26.08,26.54
$GC,573,-0.45,-175.2,2633,3453,3211,3153,67.2,-11.0,87,580,0.10,2.10,0.00,0.000,3078,0.135,0.025,2666,2044,3181,3210,3153,0,0,0,0,0,0,25.92,26.14,26.04
$GC,625,-0.45,-175.2,2665,2039,3213,3153,72.5,-9.6,96,634,0.00,2.12,0.00,0.000,516,0.000,0.028,2666,641,3182,3212,3152,0,0,0,0,0,0,26.55,26.13,26.56
$GC,669,-0.45,-175.2,2665,641,3212,3153,76.6,-10.1,103,676,0.00,2.15,0.00,0.000,1030,0.000,0.028,2658,2059,3182,3212,3153,0,0,0,0,0,0,26.22,26.13,26.25
$GC,721,-0.45,-175.2,2657,2059,3213,3152,82.0,-9.8,112,729,0.00,2.12,0.00,0.000,260,0.000,0.034,2647,3457,3182,3212,3152,0,0,0,0,0,0,26.56,26.10,26.57
$GC,754,-0.45,-175.2,2646,3457,3212,3152,85.0,-9.6,117,761,0.00,2.10,0.00,0.000,1030,0.000,0.024,2647,2047,3182,3212,3152,0,0,0,0,0,0,26.24,26.16,26.27
$GC,806,-0.45,-175.2,2646,2043,3213,3152,90.1,-9.9,126,815,0.00,2.12,0.00,0.000,516,0.000,0.030,2647,648,3182,3213,3152,0,0,0,0,0,0,26.55,26.13,26.56
$GC,832,-0.45,-175.2,2646,648,3213,3152,93.3,-11.1,130,839,0.00,2.12,0.00,0.000,1030,0.000,0.027,2640,2054,3182,3213,3152,0,0,0,0,0,0,26.25,26.16,26.27
$GC,886,-0.45,-175.2,2639,2054,3213,3152,99.0,-11.5,139,892,0.00,2.08,0.00,0.000,260,0.000,0.032,2629,3460,3183,3214,3152,0,0,0,0,0,0,26.58,26.13,26.59
$GC,914,-0.45,-175.2,2628,3460,3213,3152,101.9,-10.5,142,921,0.10,2.10,0.00,0.000,3078,0.135,0.025,2661,2043,3182,3213,3152,0,0,0,0,0,0,25.95,26.17,26.06
$GC,1105,-0.45,-175.2,2661,2039,3213,3151,120.3,-9.5,161,1113,0.00,2.08,0.00,0.000,260,0.000,0.031,2652,3451,3182,3213,3151,0,0,0,0,0,0,26.59,26.16,26.60
$GC,1159,-0.45,-175.2,2652,3451,3213,3152,125.7,-9.7,166,1166,0.00,2.08,0.00,0.000,1030,0.000,0.025,2652,2050,3182,3213,3152,0,0,0,0,0,0,26.27,26.20,26.30
$GC,1348,-0.45,-175.2,2652,2044,3214,3151,144.8,-9.9,185,1356,0.00,2.08,0.00,0.000,516,0.000,0.029,2652,646,3183,3214,3152,0,0,0,0,0,0,26.63,26.16,26.63
$STATE,1409,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1410,begin apogee
$GC,1417,0.00,0.0,2644,1811,3214,3152,151.7,-10.4,191,1552,0.50,0.00,130.48,0.704,10246,0.122,0.000,2802,1811,2464,2526,2403,0,0,0,0,0,0,25.73,24.99,24.36
$STATE,1553,end apogee,CONTROL_FINISHED_OK
$STATE,1553,begin climb
$GC,1555,0.45,175.2,2802,1811,2525,2403,160.0,0.0,205,1703,0.43,2.22,134.50,0.698,10500,0.048,0.028,2975,3202,1748,1842,1654,0,0,0,0,0,0,25.18,24.85,24.22
$GC,1719,0.45,175.2,2975,3202,1841,1654,150.8,11.0,221,1726,0.00,2.17,0.00,0.000,1030,0.000,0.028,2985,1809,1747,1840,1655,0,0,0,0,0,0,25.28,25.20,25.30
$GC,1906,0.45,175.2,2984,1808,1836,1651,127.1,12.7,240,1915,0.00,2.10,0.00,0.000,260,0.000,0.028,2985,3208,1743,1836,1651,0,0,0,0,0,0,26.11,25.77,26.12
$GC,1938,0.45,175.2,2984,3208,1836,1651,123.2,12.3,243,1947,0.12,2.15,0.00,0.000,5126,0.161,0.030,2960,1797,1744,1836,1652,0,0,0,0,0,0,25.51,25.79,25.68
$GC,2129,0.45,175.2,2960,1797,1836,1650,102.9,10.8,262,2138,0.00,2.15,0.00,0.000,516,0.000,0.038,2969,392,1741,1832,1650,0,0,0,0,0,0,26.33,25.90,26.34
$GC,2181,0.45,175.2,2969,392,1827,1650,97.1,10.6,269,2188,0.00,2.15,0.00,0.000,1030,0.000,0.026,2969,1802,1738,1827,1650,0,0,0,0,0,0,26.07,26.00,26.10
$GC,2232,0.45,175.2,2969,1802,1829,1650,91.4,11.7,278,2239,0.00,2.12,0.00,0.000,260,0.000,0.032,2969,3216,1740,1830,1650,0,0,0,0,0,0,26.39,25.98,26.39
$GC,2278,0.45,175.2,2969,3217,1829,1650,86.4,10.7,286,2284,0.00,2.15,0.00,0.000,1030,0.000,0.028,2979,1790,1739,1829,1650,0,0,0,0,0,0,26.10,26.01,26.14
$GC,2330,0.45,175.2,2978,1789,1830,1650,81.1,10.8,295,2337,0.00,2.15,0.00,0.000,516,0.000,0.035,2990,390,1739,1829,1650,0,0,0,0,0,0,26.43,25.96,26.44
$GC,2355,0.45,175.2,2989,390,1825,1650,78.2,10.5,299,2362,0.10,2.15,0.00,0.000,5126,0.148,0.028,2961,1798,1738,1826,1650,0,0,0,0,0,0,25.79,26.04,25.96
$GC,2407,0.50,220.0,2960,1799,1828,1651,73.4,8.9,308,2450,0.00,2.15,35.55,0.644,8452,0.000,0.031,2961,3216,1567,1668,1467,0,0,0,0,0,0,26.45,25.58,24.90
$GC,2516,0.53,238.2,2960,3216,1666,1466,62.9,9.5,327,2543,0.00,2.17,15.68,0.603,9222,0.000,0.029,2969,1796,1494,1598,1391,0,0,0,0,0,0,25.88,25.79,24.79
$GC,2588,0.53,238.2,2968,1796,1596,1389,55.6,10.2,339,2594,0.00,2.20,0.00,0.000,516,0.000,0.037,2979,383,1491,1594,1389,0,0,0,0,0,0,26.10,25.70,26.11
$GC,2660,0.56,268.2,2979,383,1586,1389,48.6,9.2,352,2693,0.00,2.20,26.00,0.615,9222,0.000,0.023,2979,1804,1369,1482,1257,0,0,0,0,0,0,25.90,25.88,24.81
$GC,2738,0.56,268.2,2979,1804,1478,1255,40.0,11.6,365,2745,0.00,2.10,0.00,0.000,260,0.000,0.030,2979,3199,1366,1478,1254,0,0,0,0,0,0,26.04,25.70,26.05
$GC,2777,0.56,268.2,2979,3199,1478,1254,35.9,11.0,371,2786,0.00,2.17,0.00,0.000,1030,0.000,0.031,2989,1806,1366,1478,1255,0,0,0,0,0,0,25.79,25.77,25.83
$GC,2836,0.56,268.2,2988,1806,1477,1254,28.9,12.6,380,2845,0.00,2.22,0.00,0.000,516,0.000,0.037,2999,396,1364,1474,1255,0,0,0,0,0,0,26.20,25.77,26.20
$GC,2890,0.60,301.1,3000,395,1469,1254,23.1,9.2,388,2915,0.00,2.17,16.17,0.565,9222,0.000,0.022,3000,1803,1237,1358,1116,0,0,0,0,0,0,25.95,25.92,24.92
$GC,2966,0.60,301.1,3000,1803,1355,1113,14.9,11.8,399,2974,0.00,2.15,0.00,0.000,260,0.000,0.031,3000,3202,1234,1355,1113,0,0,0,0,0,0,26.17,25.81,26.18
$GC,3031,0.60,301.1,2999,3202,1354,1113,7.0,10.8,409,3040,0.00,2.17,0.00,0.000,1030,0.000,0.030,3010,1799,1233,1353,1113,0,0,0,0,0,0,25.91,25.88,25.94
$STATE,3064,end climb,SURFACE_DEPTH_REACHED
$STATE,3064,begin surface coast
$FINISH,0.6,1.026124
$STATE,3096,end surface coast,CONTROL_FINISHED_OK
$STATE,3096,begin surface
$SM_CCo,3174,0.00,0.000,0,0,1229,303.19
$SM_GC,1.66,7.55,0.38,0.00,0.027,0.028,0.000,125,2110,1229,-8.34,-1.16,303.19,0,0,0,0,0,0,25.96,26.08,26.02
$IRIDIUM_FIX,-3330.55,2716.79,020817,065429
$TT8_MAMPS,0.025466,0.273385
$HUMID,60.71
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,16.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,150.4,15.0
$24V_AH,24.22,55.736
$10V_AH,10.14,28.964
$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,19.025,90.025,358.375,0.000,0.000,0.000,0.000,0.000,3.500,0.000,11.534,976.746,709.426,466.723,998.453,107.418,0.000,986.162,0.000,981.774,0.000,23.433,0.000
$DEVICE_MAMPS,224.145,76.500,703.800,0.000,0.000,0.000,0.000,0.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,292.394,108.616,475.584,649.600,0.000,0.000,0.000,0.000,0.000,0.000
$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,30399,419
$CAP_FILE_SIZE,69311,0
$CFSIZE,2097086464,2029846528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,020817,104521,-3343.909,2719.020,4,0.9,5,-27.7,0.6,1.1,10,99.9