version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 611
start: 8 2 117 17 27 0
data:
$ID,574
$MISSION,23
$DIVE,611
$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,58
$R_STBD_OVSHOOT,51
$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
$GPS1,020817,171602,-3343.2405,2720.5747,29,0.8,29,-27.7,0.0,0.0,10,7.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-77.1
$GPS2,020817,172613,-3343.1870,2720.5388,4,0.9,5,-27.7,0.0,0.0,9,36.1
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3353.822,2722.798
$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,-175.2,124,2019,1181,1002,0.0,0.0,0,88,0.00,0.00,-69.85,0.000,16386,0.000,0.000,124,2019,3026,3030,3022,0,0,0,0,0,0,26.15,28.83,26.16
$GC,91,-0.45,-175.2,124,2019,3031,3021,3.4,-4.4,9,117,10.12,2.22,-3.08,0.000,18692,0.222,0.040,2644,3462,3183,3203,3164,0,0,0,0,0,0,25.14,24.07,25.36
$GC,157,-0.45,-175.2,2643,3462,3207,3161,17.7,-12.6,18,165,0.00,2.15,0.00,0.000,1030,0.000,0.024,2643,2060,3184,3208,3160,0,0,0,0,0,0,25.92,25.91,25.95
$GC,216,-0.45,-175.2,2643,2055,3211,3158,25.6,-12.4,27,225,0.00,2.17,0.00,0.000,516,0.000,0.030,2644,645,3184,3211,3157,0,0,0,0,0,0,26.30,25.87,26.32
$GC,282,-0.45,-175.2,2643,644,3212,3157,34.1,-12.9,37,290,0.00,2.17,0.00,0.000,1030,0.000,0.031,2634,2028,3184,3212,3157,0,0,0,0,0,0,25.96,25.92,25.99
$GC,340,-0.45,-175.2,2633,2028,3212,3156,41.4,-12.1,46,347,0.08,2.17,0.00,0.000,2308,0.174,0.032,2653,3467,3184,3212,3156,0,0,0,0,0,0,25.86,25.93,25.90
$GC,407,-0.45,-175.2,2652,3467,3212,3157,48.4,-9.8,58,414,0.00,2.12,0.00,0.000,1030,0.000,0.024,2653,2041,3183,3211,3156,0,0,0,0,0,0,26.10,26.02,26.12
$GC,461,-0.45,-175.2,2652,2036,3213,3155,53.5,-9.0,67,468,0.00,2.08,0.00,0.000,516,0.000,0.027,2653,642,3184,3213,3155,0,0,0,0,0,0,26.44,26.01,26.44
$GC,497,-0.45,-175.2,2652,642,3213,3155,57.0,-10.1,73,504,0.00,2.15,0.00,0.000,1030,0.000,0.028,2643,2059,3184,3214,3155,0,0,0,0,0,0,26.12,26.04,26.15
$GC,548,-0.45,-175.2,2642,2059,3214,3155,62.8,-11.6,82,555,0.00,2.08,0.00,0.000,260,0.000,0.032,2632,3455,3184,3213,3155,0,0,0,0,0,0,26.46,26.01,26.47
$GC,601,-0.45,-175.2,2631,3456,3213,3154,68.3,-10.2,91,608,0.10,2.10,0.00,0.000,3078,0.142,0.024,2663,2046,3184,3213,3155,0,0,0,0,0,0,25.82,26.07,25.95
$GC,652,-0.45,-175.2,2662,2041,3214,3153,73.4,-8.7,100,659,0.00,2.12,0.00,0.000,516,0.000,0.028,2663,645,3184,3215,3154,0,0,0,0,0,0,26.49,26.06,26.49
$GC,706,-0.45,-175.2,2662,645,3215,3154,78.6,-9.6,109,713,0.00,2.12,0.00,0.000,1030,0.000,0.026,2655,2053,3184,3215,3154,0,0,0,0,0,0,26.17,26.10,26.20
$GC,757,-0.45,-175.2,2654,2053,3215,3154,83.6,-9.8,118,764,0.00,2.10,0.00,0.000,260,0.000,0.034,2644,3463,3184,3215,3154,0,0,0,0,0,0,26.51,26.05,26.52
$GC,803,-0.45,-175.2,2644,3463,3215,3154,88.1,-9.7,126,811,0.00,2.15,0.00,0.000,1030,0.000,0.024,2644,2045,3184,3214,3154,0,0,0,0,0,0,26.15,26.14,26.18
$GC,856,-0.45,-175.2,2644,2039,3216,3153,93.4,-9.5,135,863,0.00,2.10,0.00,0.000,516,0.000,0.028,2644,640,3185,3216,3154,0,0,0,0,0,0,26.53,26.10,26.54
$GC,907,-0.45,-175.2,2644,641,3216,3154,98.8,-10.6,144,916,0.00,2.17,0.00,0.000,1030,0.000,0.028,2634,2045,3185,3217,3154,0,0,0,0,0,0,26.15,26.11,26.17
$GC,964,-0.45,-175.2,2634,2045,3217,3154,105.1,-11.4,150,974,0.08,2.12,0.00,0.000,2308,0.167,0.032,2654,3461,3184,3216,3153,0,0,0,0,0,0,26.07,26.07,26.08
$GC,1007,-0.45,-175.2,2654,3461,3216,3154,109.2,-9.8,154,1015,0.00,2.10,0.00,0.000,1030,0.000,0.023,2655,2041,3185,3216,3154,0,0,0,0,0,0,26.22,26.15,26.25
$GC,1198,-0.45,-175.2,2654,2036,3218,3153,127.7,-9.7,173,1207,0.00,2.05,0.00,0.000,516,0.000,0.028,2654,643,3185,3218,3153,0,0,0,0,0,0,26.58,26.13,26.59
$GC,1300,-0.45,-175.2,2654,642,3218,3153,138.4,-10.7,183,1309,0.00,2.15,0.00,0.000,1030,0.000,0.028,2645,2066,3185,3218,3153,0,0,0,0,0,0,26.24,26.15,26.27
$GC,1491,-0.45,-175.2,2644,2067,3218,3153,157.6,-9.6,202,1500,0.00,2.10,0.00,0.000,516,0.000,0.027,2645,648,3185,3218,3153,0,0,0,0,0,0,26.61,26.15,26.63
$GC,1535,-0.45,-175.2,2644,647,3218,3153,162.3,-10.6,206,1542,0.00,2.12,0.00,0.000,1030,0.000,0.028,2635,2054,3185,3217,3153,0,0,0,0,0,0,26.25,26.17,26.28
$STATE,1615,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1615,begin apogee
$GC,1622,0.00,0.0,2634,1750,3218,3152,170.5,-10.3,214,1758,0.50,0.05,131.05,0.718,10246,0.116,0.117,2796,1835,2464,2525,2403,0,0,0,0,0,0,25.74,24.96,24.32
$STATE,1759,end apogee,CONTROL_FINISHED_OK
$STATE,1759,begin climb
$GC,1761,0.45,175.2,2796,1836,2525,2404,178.2,0.0,228,1906,0.43,2.30,134.20,0.702,10756,0.041,0.033,2991,447,1748,1838,1659,0,0,0,0,0,0,25.20,24.83,24.20
$GC,1969,0.45,175.2,2990,447,1825,1659,163.1,11.4,249,1979,0.12,2.05,0.00,0.000,5126,0.145,0.026,2956,1763,1742,1826,1659,0,0,0,0,0,0,25.18,25.43,25.37
$GC,2162,0.48,202.7,2955,1764,1827,1656,144.3,9.3,268,2189,0.00,2.12,22.48,0.657,8964,0.000,0.031,2964,435,1637,1730,1545,0,0,0,0,0,0,26.17,25.46,24.75
$GC,2267,0.55,260.9,2964,435,1721,1544,135.3,8.5,278,2322,0.00,2.10,47.47,0.662,9222,0.000,0.024,2964,1814,1400,1505,1296,0,0,0,0,0,0,25.85,25.78,24.54
$GC,2502,0.55,260.9,2964,1814,1498,1294,108.4,12.5,302,2511,0.00,2.10,0.00,0.000,516,0.000,0.031,2974,447,1394,1494,1294,0,0,0,0,0,0,26.15,25.75,26.16
$GC,2567,0.55,260.9,2973,446,1492,1292,101.3,11.2,308,2573,0.00,2.05,0.00,0.000,1030,0.000,0.021,2974,1801,1392,1492,1292,0,0,0,0,0,0,25.98,25.91,26.01
$GC,2763,0.55,260.9,2973,1805,1492,1292,76.7,11.8,344,2770,0.00,2.15,0.00,0.000,260,0.000,0.031,2974,3200,1392,1492,1292,0,0,0,0,0,0,26.37,25.97,26.39
$GC,2846,0.55,260.9,2973,3200,1492,1292,66.7,10.8,359,2853,0.00,2.03,0.00,0.000,1030,0.000,0.028,2983,1847,1391,1491,1292,0,0,0,0,0,0,26.11,26.03,26.15
$GC,2897,0.55,260.9,2983,1847,1492,1292,60.1,12.8,368,2904,0.00,2.28,0.00,0.000,516,0.000,0.037,2995,402,1391,1490,1292,0,0,0,0,0,0,26.43,25.96,26.44
$GC,2939,0.55,260.9,2994,401,1488,1292,54.6,13.0,375,2945,0.00,2.12,0.00,0.000,1030,0.000,0.026,2995,1793,1390,1488,1292,0,0,0,0,0,0,26.15,26.06,26.17
$GC,2990,0.55,260.9,2994,1794,1489,1292,47.8,14.4,384,2999,0.00,2.17,0.00,0.000,260,0.000,0.032,2995,3211,1390,1488,1292,0,0,0,0,0,0,26.46,26.03,26.47
$GC,3044,0.55,260.9,2994,3211,1488,1292,41.0,12.0,393,3050,0.00,2.12,0.00,0.000,1030,0.000,0.029,3005,1803,1390,1488,1292,0,0,0,0,0,0,26.15,26.07,26.19
$GC,3101,0.55,260.9,3004,1803,1489,1292,33.4,13.7,402,3110,0.00,2.20,0.00,0.000,516,0.000,0.035,3015,398,1390,1488,1292,0,0,0,0,0,0,26.48,26.00,26.50
$GC,3125,0.55,260.9,3015,397,1486,1292,29.9,14.2,405,3134,0.00,2.17,0.00,0.000,1030,0.000,0.027,3016,1798,1389,1487,1292,0,0,0,0,0,0,26.13,26.11,26.15
$GC,3184,0.55,260.9,3015,1801,1487,1292,22.4,12.4,414,3192,0.00,2.20,0.00,0.000,516,0.000,0.034,3026,397,1389,1487,1292,0,0,0,0,0,0,26.51,26.03,26.51
$GC,3213,0.55,260.9,3025,397,1484,1292,18.2,14.0,418,3223,0.12,2.17,0.00,0.000,5126,0.135,0.028,2986,1798,1389,1486,1292,0,0,0,0,0,0,25.78,26.10,25.87
$GC,3272,0.55,260.9,2986,1798,1487,1292,11.5,10.7,427,3281,0.00,2.17,0.00,0.000,260,0.000,0.033,2987,3218,1389,1487,1292,0,0,0,0,0,0,26.52,26.08,26.53
$GC,3338,0.55,260.9,2986,3218,1487,1292,4.8,10.2,437,3346,0.00,2.17,0.00,0.000,1030,0.000,0.028,2996,1798,1389,1487,1292,0,0,0,0,0,0,26.15,26.11,26.18
$STATE,3359,end climb,SURFACE_DEPTH_REACHED
$STATE,3359,begin surface coast
$FINISH,0.6,1.024144
$STATE,3395,end surface coast,CONTROL_FINISHED_OK
$STATE,3395,begin surface
$SM_CCo,3413,2.35,0.055,0,0,1363,270.07
$SM_GC,2.30,7.40,0.40,2.35,0.024,0.041,0.055,125,2075,1363,-8.31,-0.90,270.07,0,0,0,0,0,0,26.11,26.20,26.02
$IRIDIUM_FIX,-3333.14,2716.79,020817,150714
$TT8_MAMPS,0.025466,0.289863
$HUMID,60.43
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,16.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,170.5,13.6
$24V_AH,24.07,56.337
$10V_AH,10.07,29.322
$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,18.950,86.375,335.200,2.350,0.000,25.168,45.350,403.430,4.000,0.000,12.571,1061.062,804.731,454.546,1555.019,179.864,0.000,1012.152,0.000,1060.008,0.000,26.426,0.000
$DEVICE_MAMPS,221.850,117.045,717.570,55.080,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,306.917,106.717,463.342,694.894,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343412
$DATA_FILE_SIZE,30362,446
$CAP_FILE_SIZE,80520,0
$CFSIZE,2097086464,2029158400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,020817,182438,-3343.157,2720.762,4,0.8,5,-27.7,0.0,321.9,10,208.8