version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 608
start: 8 2 117 14 7 29
data:
$ID,574
$MISSION,23
$DIVE,608
$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,170
$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,34
$R_STBD_OVSHOOT,72
$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
$GPS1,020817,140542,-3343.5354,2719.9932,4,1.0,5,-27.7,0.0,0.0,9,123.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-79.5
$GPS2,020817,140642,-3343.5249,2719.9919,4,1.0,5,-27.7,0.5,239.0,9,17.5
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3354.160,2722.251
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,197.7,20000,-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,-175.2,126,2088,1418,1292,0.0,0.0,0,80,0.00,0.00,-62.20,0.000,16386,0.000,0.000,126,2089,3076,3083,3069,0,0,0,0,0,0,26.49,28.83,26.51
$GC,84,-0.45,-175.2,126,2089,3083,3069,3.6,-4.5,8,102,9.95,2.05,-2.05,0.000,18692,0.220,0.041,2645,3438,3182,3195,3170,0,0,0,0,0,0,25.37,24.28,25.57
$GC,142,-0.45,-175.2,2644,3437,3205,3162,17.2,-13.2,16,150,0.00,2.12,0.00,0.000,1030,0.000,0.024,2644,2041,3184,3207,3161,0,0,0,0,0,0,26.13,26.10,26.15
$GC,201,-0.45,-175.2,2644,2036,3208,3158,24.6,-11.6,25,210,0.00,2.12,0.00,0.000,516,0.000,0.029,2644,643,3183,3209,3158,0,0,0,0,0,0,26.50,26.08,26.51
$GC,224,-0.45,-175.2,2644,643,3209,3158,27.6,-12.7,28,233,0.00,2.12,0.00,0.000,1030,0.000,0.027,2634,2018,3183,3209,3157,0,0,0,0,0,0,26.15,26.10,26.17
$GC,284,-0.45,-175.2,2634,2017,3211,3155,34.6,-11.2,37,293,0.08,2.22,0.00,0.000,2308,0.173,0.034,2654,3457,3183,3211,3155,0,0,0,0,0,0,26.01,26.06,26.05
$GC,349,-0.45,-175.2,2653,3457,3211,3156,41.3,-9.9,47,356,0.00,2.10,0.00,0.000,1030,0.000,0.024,2654,2041,3183,3211,3155,0,0,0,0,0,0,26.21,26.13,26.24
$GC,400,-0.45,-175.2,2653,2036,3213,3154,46.5,-9.7,56,408,0.00,2.12,0.00,0.000,516,0.000,0.028,2653,638,3183,3213,3153,0,0,0,0,0,0,26.54,26.11,26.55
$GC,447,-0.45,-175.2,2653,638,3213,3154,51.5,-10.5,64,454,0.00,2.20,0.00,0.000,1030,0.000,0.029,2644,2055,3183,3213,3154,0,0,0,0,0,0,26.20,26.13,26.22
$GC,501,-0.45,-175.2,2644,2055,3213,3153,57.2,-11.2,73,507,0.00,2.10,0.00,0.000,260,0.000,0.033,2634,3466,3183,3213,3153,0,0,0,0,0,0,26.55,26.10,26.56
$GC,550,-0.45,-175.2,2633,3466,3213,3154,62.6,-10.4,82,558,0.10,2.10,0.00,0.000,3078,0.135,0.024,2666,2050,3183,3213,3153,0,0,0,0,0,0,25.94,26.16,26.05
$GC,604,-0.45,-175.2,2665,2045,3215,3153,67.4,-8.4,91,611,0.00,2.10,0.00,0.000,516,0.000,0.028,2666,637,3183,3214,3153,0,0,0,0,0,0,26.57,26.13,26.58
$GC,656,-0.45,-175.2,2665,636,3214,3153,72.5,-9.6,100,664,0.00,2.20,0.00,0.000,1030,0.000,0.028,2657,2061,3183,3214,3152,0,0,0,0,0,0,26.20,26.17,26.22
$GC,711,-0.45,-175.2,2657,2062,3215,3153,77.1,-8.2,109,718,0.00,2.10,0.00,0.000,260,0.000,0.034,2646,3460,3183,3214,3152,0,0,0,0,0,0,26.58,26.11,26.59
$GC,736,-0.45,-175.2,2645,3460,3214,3153,79.6,-9.3,113,743,0.00,2.10,0.00,0.000,1030,0.000,0.024,2646,2039,3183,3213,3153,0,0,0,0,0,0,26.25,26.17,26.27
$GC,788,-0.45,-175.2,2646,2035,3215,3152,84.9,-9.6,122,795,0.00,2.08,0.00,0.000,516,0.000,0.029,2646,642,3183,3215,3152,0,0,0,0,0,0,26.59,26.13,26.60
$GC,851,-0.45,-175.2,2645,642,3216,3152,91.6,-11.4,133,858,0.00,2.12,0.00,0.000,1030,0.000,0.027,2636,2051,3184,3216,3152,0,0,0,0,0,0,26.25,26.17,26.28
$GC,901,-0.45,-175.2,2636,2051,3216,3152,97.5,-10.8,142,908,0.00,2.10,0.00,0.000,260,0.000,0.034,2625,3461,3184,3217,3152,0,0,0,0,0,0,26.60,26.12,26.60
$GC,957,-0.45,-175.2,2625,3461,3216,3153,103.4,-10.7,149,967,0.12,2.10,0.00,0.000,3078,0.123,0.025,2667,2047,3184,3215,3153,0,0,0,0,0,0,25.93,26.17,26.06
$GC,1149,-0.45,-175.2,2666,2042,3218,3152,122.9,-10.2,168,1157,0.00,2.08,0.00,0.000,772,0.000,0.029,2666,639,3185,3218,3152,0,0,0,0,0,0,26.62,26.15,26.63
$GC,1163,-0.45,-175.2,2667,639,3218,3152,123.7,-10.0,169,1169,0.00,2.12,0.00,0.000,1030,0.000,0.028,2660,2050,3185,3219,3152,0,0,0,0,0,0,26.26,26.17,26.29
$GC,1352,-0.45,-175.2,2660,2051,3219,3151,142.5,-9.1,188,1360,0.00,2.10,0.00,0.000,260,0.000,0.034,2649,3458,3184,3218,3151,0,0,0,0,0,0,26.63,26.15,26.64
$GC,1383,-0.45,-175.2,2648,3458,3218,3152,145.7,-9.6,191,1392,0.00,2.08,0.00,0.000,1030,0.000,0.023,2649,2046,3185,3218,3152,0,0,0,0,0,0,26.29,26.22,26.32
$STATE,1572,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1573,begin apogee
$GC,1579,0.00,0.0,2649,1746,3219,3151,164.6,-9.8,210,1715,0.47,0.08,131.38,0.716,10246,0.109,0.089,2805,1853,2464,2527,2402,0,0,0,0,0,0,25.79,24.97,24.33
$STATE,1716,end apogee,CONTROL_FINISHED_OK
$STATE,1716,begin climb
$GC,1718,0.45,175.2,2804,1853,2527,2402,172.7,0.0,224,1865,0.38,2.15,134.55,0.708,10500,0.047,0.031,2965,3206,1748,1841,1656,0,0,0,0,0,0,25.18,24.83,24.20
$GC,1951,0.45,175.2,2964,3205,1837,1656,157.2,10.9,247,1958,0.00,2.15,0.00,0.000,1030,0.000,0.028,2975,1809,1746,1837,1656,0,0,0,0,0,0,25.58,25.50,25.61
$GC,2138,0.45,175.2,2974,1809,1833,1656,135.1,11.7,266,2147,0.00,2.17,0.00,0.000,516,0.000,0.035,2985,393,1742,1830,1654,0,0,0,0,0,0,26.20,25.77,26.20
$GC,2219,0.45,175.2,2985,393,1824,1654,126.1,10.8,274,2223,0.00,2.17,0.00,0.000,1030,0.000,0.027,2985,1798,1739,1824,1654,0,0,0,0,0,0,25.99,25.91,26.02
$GC,2413,0.45,175.2,2984,1802,1826,1654,103.5,10.9,293,2421,0.00,2.10,0.00,0.000,260,0.000,0.031,2985,3211,1739,1825,1654,0,0,0,0,0,0,26.39,26.00,26.41
$GC,2438,0.45,175.2,2985,3211,1826,1654,100.9,10.9,295,2446,0.12,2.12,0.00,0.000,5126,0.164,0.028,2960,1797,1740,1826,1654,0,0,0,0,0,0,25.67,26.01,25.88
$GC,2639,0.57,272.2,2960,1797,1827,1654,83.1,7.5,332,2725,0.00,2.22,77.32,0.664,8708,0.000,0.037,2970,395,1353,1466,1240,0,0,0,0,0,0,26.48,25.23,24.59
$GC,2779,0.57,272.2,2969,395,1458,1238,69.0,10.1,355,2786,0.00,2.17,0.00,0.000,1030,0.000,0.021,2969,1818,1347,1458,1237,0,0,0,0,0,0,25.68,25.62,25.71
$GC,2830,0.57,272.2,2969,1822,1458,1237,63.2,11.0,364,2838,0.00,2.12,0.00,0.000,260,0.000,0.029,2970,3194,1347,1457,1237,0,0,0,0,0,0,26.03,25.69,26.05
$GC,2888,0.57,272.2,2969,3193,1457,1237,56.5,10.8,374,2894,0.00,2.12,0.00,0.000,1030,0.000,0.028,2979,1794,1347,1457,1237,0,0,0,0,0,0,25.86,25.78,25.89
$GC,2939,0.57,272.2,2979,1794,1456,1237,50.5,12.5,383,2945,0.00,2.20,0.00,0.000,516,0.000,0.037,2990,388,1346,1455,1237,0,0,0,0,0,0,26.20,25.77,26.21
$GC,2986,0.57,272.2,2989,388,1449,1238,45.4,10.5,391,2993,0.00,2.15,0.00,0.000,1030,0.000,0.022,2990,1802,1343,1449,1237,0,0,0,0,0,0,25.98,25.90,26.01
$GC,3039,0.57,272.2,2989,1805,1449,1237,39.2,12.4,400,3048,0.00,2.15,0.00,0.000,260,0.000,0.031,2990,3198,1343,1449,1237,0,0,0,0,0,0,26.29,25.90,26.30
$GC,3093,0.57,272.2,2989,3198,1449,1236,32.8,11.0,408,3101,0.00,2.15,0.00,0.000,1030,0.000,0.028,3000,1802,1343,1449,1237,0,0,0,0,0,0,25.98,25.94,26.02
$GC,3152,0.57,272.2,2999,1802,1449,1237,25.7,12.0,417,3161,0.00,2.22,0.00,0.000,516,0.000,0.036,3011,390,1342,1448,1237,0,0,0,0,0,0,26.36,25.90,26.38
$GC,3194,0.57,272.2,3010,390,1445,1237,20.5,12.0,423,3202,0.00,2.20,0.00,0.000,1030,0.000,0.028,3011,1795,1341,1446,1236,0,0,0,0,0,0,26.03,26.02,26.09
$GC,3254,0.57,272.2,3010,1795,1445,1237,13.1,13.5,432,3262,0.00,2.17,0.00,0.000,260,0.000,0.031,3011,3213,1341,1446,1237,0,0,0,0,0,0,26.41,25.99,26.42
$STATE,3334,end climb,SURFACE_DEPTH_REACHED
$STATE,3334,begin surface coast
$FINISH,2.0,1.026231
$STATE,3342,end surface coast,CONTROL_FINISHED_OK
$STATE,3342,begin surface
$SM_CCo,3421,0.00,0.000,0,0,1337,276.69
$SM_GC,1.56,7.53,1.80,0.00,0.026,0.027,0.000,125,2032,1337,-8.33,0.85,276.69,0,0,0,0,0,0,26.01,26.05,26.09
$IRIDIUM_FIX,-3330.55,2716.79,020817,105412
$TT8_MAMPS,0.025466,0.272636
$HUMID,61.02
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,15.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,160.7,18.0
$24V_AH,24.20,56.078
$10V_AH,10.10,29.167
$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,18.750,85.525,343.250,0.000,0.000,0.000,0.000,0.000,4.000,0.000,12.558,1045.865,855.971,447.540,1048.795,107.518,0.000,974.801,0.000,1030.350,0.000,24.923,0.000
$DEVICE_MAMPS,220.320,88.740,716.040,0.000,0.000,0.000,0.000,0.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,306.058,109.241,469.275,679.013,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343580
$DATA_FILE_SIZE,30368,446
$CAP_FILE_SIZE,68749,0
$CFSIZE,2097086464,2029453312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,020817,150509,-3343.443,2720.176,4,0.8,5,-27.7,0.6,295.2,10,173.2