version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 613
start: 8 2 117 19 35 54
data:
$ID,574
$MISSION,23
$DIVE,613
$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,100
$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,44
$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
$GPS1,020817,192521,-3343.1792,2720.9805,4,0.9,5,-27.7,0.0,0.0,9,44.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-81.1
$GPS2,020817,193507,-3343.1755,2720.9258,4,1.4,4,-27.7,0.0,0.0,7,56.9
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3345.051,2733.717
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,127.7,20000,-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,-175.2,126,2041,1283,1131,0.0,0.0,0,80,0.00,0.00,-62.42,0.000,16386,0.000,0.000,126,2040,2920,2923,2918,0,0,0,0,0,0,26.15,28.83,26.15
$GC,84,-0.45,-175.2,126,2040,2925,2917,3.2,-3.4,8,109,10.02,2.17,-5.43,0.000,18948,0.217,0.043,2658,639,3182,3204,3160,0,0,0,0,0,0,25.13,24.03,25.33
$GC,195,-0.45,-175.2,2657,639,3208,3155,21.8,-12.4,25,203,0.00,2.20,0.00,0.000,1030,0.000,0.028,2649,2047,3181,3209,3153,0,0,0,0,0,0,25.94,25.90,25.96
$GC,254,-0.45,-175.2,2648,2047,3212,3150,29.4,-12.2,34,263,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2047,3181,3212,3151,0,0,0,0,0,0,26.33,26.34,26.34
$GC,312,-0.45,-175.2,2648,2047,3212,3150,36.1,-11.4,43,321,0.00,2.15,0.00,0.000,516,0.000,0.028,2649,648,3181,3212,3151,0,0,0,0,0,0,26.36,25.97,26.38
$GC,365,-0.45,-175.2,2648,648,3213,3150,42.0,-10.2,51,372,0.00,2.15,0.00,0.000,1030,0.000,0.030,2639,2049,3181,3213,3150,0,0,0,0,0,0,26.06,25.97,26.09
$GC,416,-0.45,-175.2,2639,2049,3213,3150,47.3,-10.1,60,424,0.00,2.15,0.00,0.000,260,0.000,0.033,2628,3459,3181,3213,3150,0,0,0,0,0,0,26.41,25.98,26.43
$GC,463,-0.45,-175.2,2627,3460,3212,3150,52.6,-10.9,68,471,0.10,2.15,0.00,0.000,3078,0.125,0.025,2662,2050,3181,3212,3150,0,0,0,0,0,0,25.78,26.03,25.86
$GC,516,-0.45,-175.2,2661,2045,3214,3150,57.9,-10.1,77,522,0.00,2.10,0.00,0.000,516,0.000,0.027,2662,638,3181,3214,3149,0,0,0,0,0,0,26.45,26.03,26.46
$GC,563,-0.45,-175.2,2661,637,3214,3149,62.7,-10.5,85,570,0.00,2.15,0.00,0.000,1030,0.000,0.026,2653,2058,3182,3214,3150,0,0,0,0,0,0,26.14,26.06,26.17
$GC,614,-0.45,-175.2,2652,2058,3215,3150,68.4,-11.5,94,620,0.00,2.08,0.00,0.000,260,0.000,0.031,2642,3463,3182,3214,3150,0,0,0,0,0,0,26.48,26.03,26.49
$GC,647,-0.45,-175.2,2642,3463,3214,3149,71.9,-11.0,99,653,0.00,2.10,0.00,0.000,1030,0.000,0.024,2642,2048,3181,3214,3149,0,0,0,0,0,0,26.17,26.09,26.20
$GC,697,-0.45,-175.2,2642,2043,3216,3149,78.0,-11.3,108,706,0.00,2.12,0.00,0.000,516,0.000,0.028,2642,646,3182,3216,3149,0,0,0,0,0,0,26.50,26.07,26.51
$GC,751,-0.45,-175.2,2642,646,3216,3149,84.3,-12.0,117,759,0.10,2.15,0.00,0.000,3078,0.145,0.028,2663,2055,3182,3216,3149,0,0,0,0,0,0,25.85,26.08,25.97
$GC,802,-0.45,-175.2,2663,2055,3217,3149,89.5,-9.4,126,811,0.00,2.12,0.00,0.000,260,0.000,0.034,2654,3455,3182,3216,3149,0,0,0,0,0,0,26.52,26.07,26.53
$GC,852,-0.45,-175.2,2653,3454,3216,3149,94.3,-10.0,134,858,0.00,2.08,0.00,0.000,1030,0.000,0.022,2654,2046,3182,3216,3149,0,0,0,0,0,0,26.21,26.14,26.23
$GC,903,-0.45,-175.2,2653,2041,3217,3149,99.2,-9.6,143,909,0.00,2.08,0.00,0.000,516,0.000,0.026,2654,641,3183,3218,3149,0,0,0,0,0,0,26.54,26.10,26.55
$GC,951,-0.45,-175.2,2653,641,3218,3150,103.6,-9.4,148,955,0.00,2.15,0.00,0.000,1030,0.000,0.027,2644,2064,3183,3218,3149,0,0,0,0,0,0,26.20,26.13,26.23
$GC,1144,-0.45,-175.2,2643,2064,3219,3149,123.1,-10.6,167,1152,0.00,2.10,0.00,0.000,516,0.000,0.028,2644,650,3183,3218,3149,0,0,0,0,0,0,26.58,26.10,26.58
$GC,1165,-0.45,-175.2,2643,650,3218,3149,125.4,-10.5,169,1175,0.10,2.12,0.00,0.000,3078,0.142,0.028,2666,2054,3183,3218,3149,0,0,0,0,0,0,25.91,26.14,26.03
$GC,1359,-0.45,-175.2,2665,2053,3219,3149,142.0,-8.4,188,1367,0.00,2.08,0.00,0.000,516,0.000,0.028,2666,649,3184,3219,3149,0,0,0,0,0,0,26.60,26.14,26.61
$GC,1440,-0.45,-175.2,2665,649,3219,3149,149.4,-8.8,196,1452,0.00,2.12,0.00,0.000,1030,0.000,0.026,2657,2061,3184,3219,3149,0,0,0,0,0,0,26.26,26.17,26.29
$GC,1632,-0.45,-175.2,2656,2061,3219,3149,165.8,-8.5,215,1640,0.00,2.08,0.00,0.000,516,0.000,0.028,2657,654,3184,3219,3149,0,0,0,0,0,0,26.62,26.15,26.63
$GC,1688,-0.45,-175.2,2656,654,3219,3149,170.6,-8.7,220,1696,0.00,2.08,0.00,0.000,1030,0.000,0.027,2647,2043,3184,3219,3149,0,0,0,0,0,0,26.21,26.18,26.24
$STATE,1722,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1722,begin apogee
$GC,1728,0.00,0.0,2647,1743,3219,3148,174.7,-10.4,224,1865,0.47,0.10,131.00,0.730,10246,0.109,0.074,2804,1871,2464,2526,2403,0,0,0,0,0,0,25.77,24.94,24.29
$STATE,1866,end apogee,CONTROL_FINISHED_OK
$STATE,1866,begin climb
$GC,1868,0.45,175.2,2803,1870,2525,2403,182.5,0.0,238,2016,0.38,2.40,134.82,0.724,10756,0.051,0.034,2970,412,1747,1837,1657,0,0,0,0,0,0,25.16,24.81,24.16
$GC,2049,0.45,180.1,2970,412,1829,1657,171.8,9.9,256,2059,0.00,2.20,4.85,0.506,9222,0.000,0.026,2970,1808,1729,1820,1639,0,0,0,0,0,0,25.36,25.28,24.30
$GC,2241,0.45,180.1,2969,1810,1816,1639,150.5,10.5,275,2249,0.00,2.10,0.00,0.000,260,0.000,0.031,2971,3212,1727,1815,1639,0,0,0,0,0,0,26.12,25.76,26.13
$GC,2312,0.45,180.1,2970,3212,1814,1639,142.8,10.2,282,2316,0.00,2.15,0.00,0.000,1030,0.000,0.028,2980,1800,1726,1814,1639,0,0,0,0,0,0,25.92,25.84,25.95
$GC,2505,0.45,180.1,2980,1800,1813,1639,122.5,10.5,301,2514,0.00,2.15,0.00,0.000,516,0.000,0.034,2991,397,1724,1810,1638,0,0,0,0,0,0,26.36,25.91,26.36
$GC,2570,0.45,180.1,2990,396,1808,1639,115.7,10.6,307,2577,0.10,2.15,0.00,0.000,5126,0.155,0.028,2963,1803,1723,1808,1639,0,0,0,0,0,0,25.73,26.00,25.88
$GC,2761,0.45,180.1,2962,1803,1808,1639,96.2,10.0,329,2767,0.00,2.10,0.00,0.000,260,0.000,0.030,2962,3218,1723,1808,1639,0,0,0,0,0,0,26.46,26.04,26.47
$GC,2780,0.45,180.1,2962,3218,1809,1639,93.9,10.3,332,2788,0.00,2.17,0.00,0.000,1030,0.000,0.028,2971,1797,1723,1808,1639,0,0,0,0,0,0,26.13,26.06,26.13
$GC,2833,0.45,180.1,2970,1796,1808,1639,88.2,11.4,341,2839,0.00,2.10,0.00,0.000,260,0.000,0.028,2971,3214,1723,1808,1639,0,0,0,0,0,0,26.48,26.07,26.49
$GC,2943,0.45,180.1,2970,3213,1808,1639,76.4,10.4,361,2950,0.00,2.12,0.00,0.000,1030,0.000,0.028,2981,1796,1724,1809,1639,0,0,0,0,0,0,26.18,26.09,26.20
$GC,2993,0.45,180.1,2980,1796,1808,1639,70.7,10.8,370,3000,0.00,2.15,0.00,0.000,516,0.000,0.035,2991,386,1723,1808,1639,0,0,0,0,0,0,26.51,26.03,26.53
$GC,3029,0.45,180.1,2991,386,1805,1639,66.7,11.0,376,3037,0.10,2.20,0.00,0.000,5126,0.139,0.028,2962,1802,1722,1807,1638,0,0,0,0,0,0,25.81,26.11,25.89
$GC,3084,0.49,204.8,2961,1804,1807,1639,61.4,9.4,385,3114,0.00,2.15,20.67,0.632,8452,0.000,0.031,2962,3206,1629,1720,1538,0,0,0,0,0,0,26.53,25.76,25.01
$GC,3179,0.52,232.3,2961,3206,1717,1538,52.2,9.3,402,3211,0.00,2.17,23.42,0.627,9222,0.000,0.028,2970,1794,1516,1613,1420,0,0,0,0,0,0,25.99,25.94,24.86
$GC,3257,0.52,232.3,2969,1794,1610,1418,44.2,11.3,415,3264,0.00,2.17,0.00,0.000,516,0.000,0.034,2981,386,1513,1608,1418,0,0,0,0,0,0,26.14,25.73,26.15
$GC,3277,0.52,232.3,2980,386,1604,1416,41.6,11.8,418,3284,0.00,2.17,0.00,0.000,1030,0.000,0.027,2980,1798,1510,1605,1416,0,0,0,0,0,0,25.89,25.82,25.91
$GC,3334,0.52,232.3,2980,1800,1605,1416,35.0,12.5,427,3343,0.00,2.20,0.00,0.000,260,0.000,0.032,2980,3213,1510,1605,1416,0,0,0,0,0,0,26.24,25.85,26.25
$GC,3376,0.52,232.3,2980,3213,1605,1416,29.9,11.8,433,3385,0.00,2.17,0.00,0.000,1030,0.000,0.029,2990,1806,1510,1605,1416,0,0,0,0,0,0,25.93,25.87,25.94
$GC,3434,0.52,232.3,2990,1806,1604,1416,23.2,11.4,442,3443,0.00,2.22,0.00,0.000,516,0.000,0.036,3002,389,1509,1602,1416,0,0,0,0,0,0,26.32,25.86,26.33
$GC,3512,0.55,260.4,3001,389,1598,1416,15.5,9.3,454,3530,0.00,2.20,13.05,0.543,9222,0.000,0.028,3001,1795,1402,1502,1303,0,0,0,0,0,0,26.02,25.98,25.01
$GC,3581,0.55,260.4,3001,1796,1499,1301,8.5,10.2,464,3589,0.00,2.17,0.00,0.000,260,0.000,0.032,3002,3213,1399,1498,1301,0,0,0,0,0,0,26.28,25.89,26.29
$STATE,3632,end climb,SURFACE_DEPTH_REACHED
$STATE,3632,begin surface coast
$FINISH,1.4,1.026459
$STATE,3645,end surface coast,CONTROL_FINISHED_OK
$STATE,3645,begin surface
$SM_CCo,3664,3.45,0.054,0,0,1364,270.07
$SM_GC,2.66,7.50,1.77,3.45,0.024,0.018,0.054,125,2019,1364,-8.35,0.88,270.07,0,0,0,0,0,0,26.00,26.06,25.87
$IRIDIUM_FIX,-3330.55,2722.58,020817,171804
$TT8_MAMPS,0.025466,0.289863
$HUMID,60.67
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,15.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,170.6,18.9
$24V_AH,24.03,56.497
$10V_AH,10.07,29.424
$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,18.875,94.550,327.825,3.450,0.000,22.175,43.999,382.109,4.000,0.000,11.557,1132.983,926.773,460.210,1574.730,187.146,0.000,1036.098,0.000,1101.032,0.000,26.403,0.000
$DEVICE_MAMPS,217.260,74.205,729.810,53.550,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,325.418,111.373,492.555,742.939,0.000,0.000,0.000,0.000,0.000,0.000
$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,33747,474
$CAP_FILE_SIZE,84682,0
$CFSIZE,2097086464,2028929024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,020817,203757,-3343.185,2721.178,18,0.8,18,-27.7,0.6,241.5,11,364.6