version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 605
start: 8 2 117 11 2 24
data:
$ID,574
$MISSION,23
$DIVE,605
$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,39
$R_STBD_OVSHOOT,41
$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
$GPS1,020817,104521,-3343.9094,2719.0198,4,0.9,5,-27.7,0.6,1.1,10,99.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-76.6
$GPS2,020817,110136,-3343.8606,2719.0854,4,1.0,5,-27.7,0.5,355.7,9,17.0
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3349.260,2730.343
$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,-175.2,124,2038,1294,1139,0.0,0.0,0,80,0.00,0.00,-62.53,0.000,16386,0.000,0.000,125,2039,2934,2938,2931,0,0,0,0,0,0,26.15,28.83,26.17
$GC,84,-0.45,-175.2,124,2038,2939,2931,3.1,-3.2,8,109,9.90,2.17,-5.07,0.000,18948,0.214,0.044,2649,638,3183,3204,3162,0,0,0,0,0,0,25.16,24.06,25.36
$GC,187,-0.45,-175.2,2649,638,3208,3157,23.1,-12.5,24,196,0.00,2.20,0.00,0.000,1030,0.000,0.029,2640,2041,3182,3210,3155,0,0,0,0,0,0,25.94,25.90,25.96
$GC,248,-0.45,-175.2,2640,2041,3212,3152,30.3,-12.3,33,256,0.00,2.17,0.00,0.000,260,0.000,0.034,2629,3458,3181,3212,3151,0,0,0,0,0,0,26.31,25.90,26.32
$GC,300,-0.45,-175.2,2629,3458,3212,3151,36.0,-10.3,41,310,0.10,2.17,0.00,0.000,3078,0.125,0.027,2662,2040,3181,3212,3151,0,0,0,0,0,0,25.72,25.97,25.79
$GC,360,-0.45,-175.2,2662,2034,3214,3150,41.7,-8.7,50,367,0.00,2.10,0.00,0.000,516,0.000,0.028,2662,632,3183,3222,3145,0,0,0,0,0,0,26.39,25.98,26.41
$GC,411,-0.45,-175.2,2662,632,3224,3144,46.7,-10.0,59,418,0.00,2.17,0.00,0.000,1030,0.000,0.028,2654,2061,3183,3226,3141,0,0,0,0,0,0,26.10,26.02,26.13
$GC,464,-0.45,-175.2,2653,2061,3228,3140,51.8,-9.5,68,471,0.00,2.15,0.00,0.000,260,0.000,0.034,2643,3456,3183,3228,3139,0,0,0,0,0,0,26.44,26.00,26.45
$GC,516,-0.45,-175.2,2642,3455,3228,3138,56.9,-9.4,77,523,0.00,2.10,0.00,0.000,1030,0.000,0.024,2643,2043,3183,3229,3137,0,0,0,0,0,0,26.14,26.06,26.17
$GC,570,-0.45,-175.2,2642,2039,3231,3135,62.2,-9.6,86,576,0.00,2.08,0.00,0.000,516,0.000,0.027,2643,642,3183,3231,3136,0,0,0,0,0,0,26.47,26.06,26.48
$GC,626,-0.45,-175.2,2642,642,3231,3135,68.3,-10.9,96,635,0.08,2.17,0.00,0.000,3078,0.141,0.028,2658,2050,3183,3231,3136,0,0,0,0,0,0,25.84,26.08,25.91
$GC,682,-0.45,-175.2,2657,2050,3232,3135,73.5,-9.0,105,688,0.00,2.12,0.00,0.000,260,0.000,0.033,2648,3461,3183,3231,3135,0,0,0,0,0,0,26.50,26.06,26.51
$GC,732,-0.45,-175.2,2647,3461,3232,3135,78.3,-9.5,114,740,0.00,2.15,0.00,0.000,1030,0.000,0.024,2648,2042,3183,3232,3135,0,0,0,0,0,0,26.15,26.12,26.17
$GC,785,-0.45,-175.2,2647,2038,3233,3134,83.7,-10.5,123,792,0.00,2.08,0.00,0.000,516,0.000,0.028,2647,642,3183,3233,3134,0,0,0,0,0,0,26.53,26.10,26.53
$GC,843,-0.45,-175.2,2647,642,3233,3134,89.6,-10.4,133,851,0.00,2.15,0.00,0.000,1030,0.000,0.027,2638,2064,3183,3233,3134,0,0,0,0,0,0,26.20,26.13,26.23
$GC,895,-0.45,-175.2,2637,2064,3233,3134,95.4,-10.3,142,901,0.00,2.08,0.00,0.000,260,0.000,0.033,2627,3466,3183,3233,3134,0,0,0,0,0,0,26.54,26.09,26.55
$GC,936,-0.45,-175.2,2626,3466,3233,3134,99.8,-10.3,149,944,0.10,2.10,0.00,0.000,3078,0.129,0.025,2660,2049,3183,3232,3134,0,0,0,0,0,0,25.94,26.14,26.05
$GC,982,-0.45,-175.2,2660,2044,3234,3133,104.4,-9.4,154,991,0.00,2.08,0.00,0.000,516,0.000,0.027,2660,641,3183,3234,3133,0,0,0,0,0,0,26.55,26.13,26.57
$GC,1034,-0.45,-175.2,2659,641,3234,3134,109.6,-9.8,159,1046,0.00,2.12,0.00,0.000,1030,0.000,0.026,2651,2050,3183,3234,3133,0,0,0,0,0,0,26.23,26.15,26.26
$GC,1225,-0.45,-175.2,2651,2050,3234,3133,128.8,-10.4,178,1226,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2050,3183,3234,3133,0,0,0,0,0,0,26.59,26.60,26.60
$GC,1404,-0.45,-175.2,2651,2050,3234,3133,146.4,-9.9,196,1413,0.00,2.15,0.00,0.000,516,0.000,0.029,2651,636,3183,3234,3133,0,0,0,0,0,0,26.61,26.15,26.62
$GC,1448,-0.45,-175.2,2651,635,3234,3133,150.9,-10.7,200,1457,0.00,2.15,0.00,0.000,1030,0.000,0.028,2643,2052,3183,3234,3133,0,0,0,0,0,0,26.27,26.18,26.29
$STATE,1485,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1485,begin apogee
$GC,1491,0.00,0.0,2642,1724,3234,3133,154.8,-9.7,204,1627,0.50,0.10,130.73,0.717,10246,0.121,0.076,2801,1859,2464,2531,2398,0,0,0,0,0,0,25.71,24.98,24.33
$STATE,1628,end apogee,CONTROL_FINISHED_OK
$STATE,1628,begin climb
$GC,1630,0.45,175.2,2801,1859,2530,2399,163.6,0.0,218,1778,0.38,2.40,134.35,0.722,10756,0.047,0.032,2974,399,1747,1841,1653,0,0,0,0,0,0,25.19,24.84,24.22
$GC,1851,0.45,177.7,2973,399,1830,1653,149.3,9.9,240,1860,0.00,2.20,0.00,0.000,1030,0.000,0.025,2974,1805,1741,1830,1653,0,0,0,0,0,0,25.57,25.49,25.58
$GC,2042,0.45,177.7,2974,1805,1830,1652,126.5,12.7,259,2050,0.00,2.10,0.00,0.000,260,0.000,0.031,2974,3212,1741,1830,1652,0,0,0,0,0,0,26.20,25.84,26.20
$GC,2177,0.45,177.7,2973,3212,1829,1652,110.7,11.3,272,2184,0.00,2.12,0.00,0.000,1030,0.000,0.029,2984,1805,1740,1829,1652,0,0,0,0,0,0,26.03,25.94,26.06
$GC,2370,0.45,177.7,2984,1805,1829,1651,86.8,12.1,301,2376,0.00,2.17,0.00,0.000,516,0.000,0.035,2994,384,1739,1828,1650,0,0,0,0,0,0,26.42,25.97,26.44
$GC,2416,0.45,177.7,2995,383,1822,1651,81.1,12.0,309,2423,0.12,2.17,0.00,0.000,5126,0.149,0.027,2959,1805,1737,1824,1651,0,0,0,0,0,0,25.75,26.06,25.91
$GC,2467,0.45,177.7,2958,1806,1825,1651,75.2,11.1,318,2475,0.00,2.12,0.00,0.000,260,0.000,0.031,2959,3207,1738,1826,1651,0,0,0,0,0,0,26.46,26.06,26.46
$GC,2498,0.45,177.7,2959,3207,1825,1651,71.6,11.6,323,2504,0.00,2.12,0.00,0.000,1030,0.000,0.028,2967,1792,1738,1826,1651,0,0,0,0,0,0,26.15,26.07,26.18
$GC,2549,0.45,177.7,2967,1792,1826,1651,66.2,11.1,332,2556,0.00,2.17,0.00,0.000,516,0.000,0.035,2978,393,1737,1825,1650,0,0,0,0,0,0,26.48,26.01,26.49
$GC,2581,0.45,177.7,2978,393,1821,1651,62.7,11.5,337,2588,0.00,2.15,0.00,0.000,1030,0.000,0.027,2978,1809,1737,1824,1651,0,0,0,0,0,0,26.17,26.10,26.20
$GC,2632,0.45,177.7,2978,1809,1824,1651,56.8,11.1,346,2638,0.00,2.08,0.00,0.000,260,0.000,0.031,2978,3208,1737,1824,1651,0,0,0,0,0,0,26.50,26.08,26.51
$GC,2677,0.45,177.7,2978,3208,1824,1651,51.7,10.5,354,2686,0.10,2.15,0.00,0.000,5126,0.155,0.028,2959,1802,1738,1825,1651,0,0,0,0,0,0,25.77,26.10,25.86
$GC,2731,0.53,244.0,2958,1802,1824,1651,46.7,8.3,363,2794,0.00,2.25,53.95,0.642,8708,0.000,0.034,2968,396,1468,1573,1363,0,0,0,0,0,0,26.51,25.22,24.80
$GC,2812,0.60,298.8,2967,396,1566,1363,39.6,8.6,376,2868,0.10,2.20,45.35,0.627,11270,0.050,0.023,3040,1806,1249,1366,1132,0,0,0,0,0,0,25.63,25.67,24.56
$GC,2919,0.60,298.8,3039,1806,1361,1131,25.0,14.9,391,2928,0.10,2.25,0.00,0.000,4612,0.171,0.031,3016,400,1244,1359,1130,0,0,0,0,0,0,25.34,25.50,25.41
$GC,2938,0.60,298.8,3015,400,1355,1130,21.6,16.4,393,2946,0.00,2.20,0.00,0.000,1030,0.000,0.026,3016,1788,1241,1354,1129,0,0,0,0,0,0,25.68,25.63,25.68
$GC,2997,0.60,298.8,3015,1790,1353,1129,14.2,13.3,402,3006,0.00,2.20,0.00,0.000,260,0.000,0.029,3016,3218,1241,1354,1129,0,0,0,0,0,0,26.08,25.73,26.09
$GC,3074,0.60,298.8,3015,3218,1354,1129,5.8,10.6,414,3083,0.00,2.20,0.00,0.000,1030,0.000,0.028,3026,1799,1241,1354,1129,0,0,0,0,0,0,25.87,25.84,25.92
$STATE,3101,end climb,SURFACE_DEPTH_REACHED
$STATE,3101,begin surface coast
$FINISH,0.5,1.012431
$STATE,3133,end surface coast,CONTROL_FINISHED_OK
$STATE,3134,begin surface
$SM_CCo,3211,0.00,0.000,0,0,1235,301.71
$SM_GC,1.59,7.53,0.40,0.00,0.024,0.039,0.000,127,2065,1235,-8.31,-0.90,301.71,0,0,0,0,0,0,25.89,25.94,25.95
$IRIDIUM_FIX,-3327.96,2719.09,020817,104739
$TT8_MAMPS,0.025466,0.291361
$HUMID,60.55
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,150.9,18.2
$24V_AH,24.06,55.851
$10V_AH,10.08,29.018
$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,19.000,82.925,364.375,0.000,0.000,66.264,63.210,615.370,3.500,0.000,12.552,997.428,791.107,460.552,1783.540,180.689,0.000,1002.935,0.000,997.623,0.000,23.420,0.000
$DEVICE_MAMPS,214.200,76.500,722.160,0.000,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,291.307,104.837,463.767,652.356,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343416
$DATA_FILE_SIZE,30408,423
$CAP_FILE_SIZE,81268,0
$CFSIZE,2097086464,2029748224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,020817,115634,-3343.778,2719.380,4,0.8,5,-27.7,0.0,92.0,11,42.6