version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 609
start: 8 2 117 15 16 24
data:
$ID,574
$MISSION,23
$DIVE,609
$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,43
$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
$GPS1,020817,150509,-3343.4429,2720.1760,4,0.8,5,-27.7,0.6,295.2,10,173.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-79.4
$GPS2,020817,151537,-3343.3618,2720.1567,4,0.8,5,-27.7,0.0,160.0,9,29.4
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3353.997,2722.416
$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,-175.2,125,2027,1397,1262,0.0,0.0,0,80,0.00,0.00,-62.40,0.000,16386,0.000,0.000,125,2028,3078,3084,3073,0,0,0,0,0,0,26.16,28.83,26.17
$GC,84,-0.45,-175.2,125,2028,3084,3073,3.7,-5.5,8,102,9.95,2.22,-1.92,0.000,19204,0.215,0.037,2647,3485,3181,3192,3170,0,0,0,0,0,0,25.16,24.07,25.36
$GC,188,-0.45,-175.2,2646,3485,3204,3161,23.5,-11.7,24,196,0.00,2.20,0.00,0.000,1030,0.000,0.024,2647,2046,3182,3206,3158,0,0,0,0,0,0,25.94,25.91,25.98
$GC,249,-0.45,-175.2,2646,2042,3207,3156,30.3,-10.8,33,258,0.00,2.15,0.00,0.000,516,0.000,0.028,2646,639,3181,3207,3156,0,0,0,0,0,0,26.32,25.92,26.33
$GC,339,-0.45,-175.2,2646,639,3208,3156,40.2,-10.9,47,345,0.00,2.15,0.00,0.000,1030,0.000,0.028,2636,2051,3181,3208,3155,0,0,0,0,0,0,26.06,25.97,26.08
$GC,390,-0.45,-175.2,2637,2050,3208,3155,46.0,-11.0,56,397,0.00,2.17,0.00,0.000,260,0.000,0.033,2626,3464,3181,3208,3154,0,0,0,0,0,0,26.41,25.97,26.42
$GC,453,-0.45,-175.2,2625,3464,3208,3154,52.8,-11.1,67,461,0.12,2.12,0.00,0.000,3078,0.126,0.024,2666,2040,3182,3209,3155,0,0,0,0,0,0,25.79,26.03,25.91
$GC,505,-0.45,-175.2,2666,2035,3210,3153,58.0,-8.8,76,512,0.00,2.12,0.00,0.000,516,0.000,0.028,2666,644,3182,3211,3153,0,0,0,0,0,0,26.46,26.02,26.46
$GC,561,-0.45,-175.2,2666,644,3211,3153,62.8,-9.0,85,567,0.00,2.15,0.00,0.000,1030,0.000,0.027,2658,2065,3182,3211,3153,0,0,0,0,0,0,26.14,26.06,26.17
$GC,612,-0.45,-175.2,2657,2065,3212,3153,67.8,-9.1,94,618,0.00,2.08,0.00,0.000,260,0.000,0.033,2647,3460,3182,3211,3153,0,0,0,0,0,0,26.48,26.02,26.49
$GC,648,-0.45,-175.2,2646,3460,3211,3153,71.3,-9.7,100,655,0.00,2.15,0.00,0.000,1030,0.000,0.024,2647,2042,3182,3211,3153,0,0,0,0,0,0,26.13,26.10,26.17
$GC,701,-0.45,-175.2,2647,2038,3212,3153,75.9,-8.9,109,708,0.00,2.08,0.00,0.000,516,0.000,0.027,2647,641,3182,3212,3153,0,0,0,0,0,0,26.51,26.07,26.51
$GC,757,-0.45,-175.2,2646,640,3213,3153,81.9,-11.0,119,763,0.00,2.12,0.00,0.000,1030,0.000,0.028,2637,2050,3182,3213,3152,0,0,0,0,0,0,26.17,26.10,26.20
$GC,808,-0.45,-175.2,2636,2050,3213,3152,87.4,-11.1,128,816,0.00,2.15,0.00,0.000,260,0.000,0.034,2626,3451,3182,3212,3152,0,0,0,0,0,0,26.53,26.08,26.54
$GC,849,-0.45,-175.2,2626,3451,3212,3153,91.9,-11.2,135,856,0.12,2.10,0.00,0.000,3078,0.121,0.024,2668,2042,3182,3211,3153,0,0,0,0,0,0,25.88,26.12,26.00
$GC,901,-0.45,-175.2,2667,2037,3213,3152,97.0,-9.4,144,909,0.00,2.12,0.00,0.000,516,0.000,0.028,2668,641,3182,3213,3152,0,0,0,0,0,0,26.54,26.09,26.55
$GC,958,-0.45,-175.2,2667,640,3213,3152,102.5,-9.7,152,967,0.00,2.12,0.00,0.000,1030,0.000,0.027,2659,2049,3183,3214,3152,0,0,0,0,0,0,26.20,26.13,26.23
$GC,1149,-0.45,-175.2,2658,2050,3213,3152,121.0,-9.4,171,1158,0.00,2.12,0.00,0.000,516,0.000,0.028,2659,638,3182,3213,3152,0,0,0,0,0,0,26.58,26.13,26.59
$GC,1193,-0.45,-175.2,2659,638,3213,3152,125.3,-10.2,175,1200,0.00,2.17,0.00,0.000,1030,0.000,0.028,2650,2049,3182,3213,3152,0,0,0,0,0,0,26.19,26.14,26.26
$GC,1382,-0.45,-175.2,2649,2049,3214,3152,143.7,-9.3,194,1391,0.00,2.08,0.00,0.000,516,0.000,0.028,2649,649,3182,3213,3152,0,0,0,0,0,0,26.60,26.15,26.61
$GC,1434,-0.45,-175.2,2649,649,3213,3152,149.2,-10.5,199,1443,0.00,2.12,0.00,0.000,1030,0.000,0.027,2641,2056,3182,3213,3151,0,0,0,0,0,0,26.25,26.17,26.28
$STATE,1603,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1603,begin apogee
$GC,1609,0.00,0.0,2641,1752,3213,3151,166.8,-10.5,216,1745,0.50,0.03,130.65,0.724,10246,0.116,0.175,2802,1832,2464,2525,2403,0,0,0,0,0,0,25.72,24.96,24.32
$STATE,1746,end apogee,CONTROL_FINISHED_OK
$STATE,1746,begin climb
$GC,1748,0.45,175.2,2801,1831,2524,2404,174.8,0.0,230,1893,0.38,0.00,134.70,0.716,10758,0.044,0.000,2966,1831,1748,1842,1655,0,0,0,0,0,0,25.18,24.78,24.19
$GC,2073,0.45,175.2,2965,1832,1836,1653,148.2,10.6,263,2082,0.00,2.05,0.00,0.000,260,0.000,0.031,2966,3176,1744,1835,1653,0,0,0,0,0,0,26.06,25.70,26.07
$GC,2188,0.45,179.8,2965,3176,1834,1653,136.7,9.9,274,2198,0.00,2.00,4.10,0.459,9222,0.000,0.028,2975,1849,1733,1822,1644,0,0,0,0,0,0,25.94,25.86,24.69
$GC,2387,0.45,179.8,2974,1848,1819,1643,114.5,10.9,294,2396,0.00,2.25,0.00,0.000,516,0.000,0.034,2986,380,1729,1817,1642,0,0,0,0,0,0,26.34,25.90,26.36
$GC,2451,0.45,179.8,2986,380,1812,1642,107.6,10.5,300,2458,0.00,2.12,0.00,0.000,1030,0.000,0.026,2986,1776,1727,1813,1642,0,0,0,0,0,0,26.09,26.01,26.11
$GC,2646,0.45,179.8,2986,1776,1814,1642,83.3,12.2,331,2652,0.00,2.15,0.00,0.000,260,0.000,0.032,2987,3211,1728,1814,1642,0,0,0,0,0,0,26.46,26.03,26.47
$GC,2769,0.45,179.8,2986,3211,1814,1642,68.8,11.2,354,2778,0.12,2.17,0.00,0.000,5126,0.161,0.029,2961,1795,1728,1814,1642,0,0,0,0,0,0,25.69,26.08,25.77
$GC,2823,0.46,183.2,2960,1795,1812,1641,63.3,9.9,363,2837,0.00,2.20,4.32,0.460,8708,0.000,0.035,2970,387,1715,1803,1628,0,0,0,0,0,0,26.51,25.72,24.80
$GC,2871,0.47,194.3,2969,387,1799,1629,58.5,9.7,371,2886,0.00,2.15,10.68,0.589,9222,0.000,0.025,2970,1806,1671,1763,1580,0,0,0,0,0,0,26.18,26.10,25.04
$GC,2932,0.47,194.3,2969,1807,1761,1579,52.3,10.2,381,2938,0.00,2.10,0.00,0.000,260,0.000,0.031,2970,3210,1670,1761,1579,0,0,0,0,0,0,26.38,25.99,26.39
$GC,2993,0.47,194.3,2969,3210,1760,1579,45.6,10.6,392,3000,0.00,2.17,0.00,0.000,1030,0.000,0.028,2980,1794,1669,1760,1579,0,0,0,0,0,0,26.07,26.03,26.10
$GC,3045,0.47,194.3,2979,1794,1760,1579,39.9,10.9,401,3053,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,1794,1669,1760,1579,0,0,0,0,0,0,26.43,26.45,26.44
$GC,3103,0.47,194.3,2979,1794,1760,1579,33.9,10.1,410,3112,0.00,2.15,0.00,0.000,260,0.000,0.030,2980,3210,1669,1759,1579,0,0,0,0,0,0,26.46,26.04,26.46
$GC,3133,0.50,218.6,2979,3210,1759,1579,31.0,9.4,414,3158,0.00,2.17,13.82,0.591,9222,0.000,0.030,2990,1797,1572,1667,1478,0,0,0,0,0,0,26.10,26.06,25.06
$GC,3209,0.56,267.1,2990,1797,1665,1475,24.6,8.8,425,3242,0.00,2.22,24.00,0.589,8708,0.000,0.036,3001,400,1374,1484,1265,0,0,0,0,0,0,26.34,25.37,24.93
$GC,3333,0.58,283.2,3000,400,1470,1264,12.3,9.6,444,3350,0.00,2.20,7.15,0.478,9222,0.000,0.027,3001,1805,1310,1424,1196,0,0,0,0,0,0,25.91,25.86,24.87
$GC,3402,0.58,283.2,3000,1805,1420,1194,4.6,11.8,454,3410,0.00,2.15,0.00,0.000,260,0.000,0.031,3001,3208,1307,1420,1194,0,0,0,0,0,0,26.23,25.86,26.24
$STATE,3417,end climb,SURFACE_DEPTH_REACHED
$STATE,3417,begin surface coast
$FINISH,0.6,1.026303
$STATE,3443,end surface coast,CONTROL_FINISHED_OK
$STATE,3443,begin surface
$SM_CCo,3522,0.00,0.000,0,0,1304,284.79
$SM_GC,1.60,7.53,1.77,0.00,0.026,0.023,0.000,125,2038,1304,-8.34,1.10,284.79,0,0,0,0,0,0,25.93,25.94,25.98
$IRIDIUM_FIX,-3330.55,2716.79,020817,125736
$TT8_MAMPS,0.025466,0.287616
$HUMID,60.23
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,16.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,160.5,20.4
$24V_AH,24.07,56.171
$10V_AH,10.09,29.221
$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,18.725,77.175,329.425,0.000,0.000,29.069,46.331,413.563,3.750,0.000,12.560,1090.722,896.394,426.381,1589.381,173.357,0.000,970.032,0.000,1076.638,0.000,24.935,0.000
$DEVICE_MAMPS,214.965,175.185,723.690,0.000,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,320.131,114.954,508.336,726.846,0.000,0.000,0.000,0.000,0.000,0.000
$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,33729,460
$CAP_FILE_SIZE,77022,0
$CFSIZE,2097086464,2029322240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,020817,161546,-3343.300,2720.382,4,0.8,5,-27.7,0.0,0.0,10,45.1