version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 614
start: 8 2 117 20 39 57
data:
$ID,574
$MISSION,23
$DIVE,614
$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,58
$R_STBD_OVSHOOT,38
$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
$GPS1,020817,203757,-3343.1851,2721.1785,18,0.8,18,-27.7,0.6,241.5,11,364.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-79.2
$GPS2,020817,203910,-3343.1711,2721.2026,18,0.8,18,-27.7,0.0,0.0,11,355.1
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3345.046,2733.993
$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,16,-0.45,-175.2,125,2018,1419,1293,0.0,0.0,0,80,0.00,0.00,-61.95,0.000,16386,0.000,0.000,125,2019,3084,3090,3079,0,0,0,0,0,0,26.44,28.83,26.44
$GC,84,-0.45,-175.2,124,2019,3090,3080,3.8,-5.3,8,102,9.93,2.10,-1.88,0.000,18948,0.220,0.039,2658,647,3182,3194,3171,0,0,0,0,0,0,25.32,24.22,25.53
$GC,192,-0.45,-175.2,2657,647,3207,3162,23.3,-10.5,25,201,0.00,2.17,0.00,0.000,1030,0.000,0.028,2649,2046,3183,3207,3160,0,0,0,0,0,0,26.09,26.06,26.12
$GC,251,-0.45,-175.2,2648,2046,3209,3158,29.7,-10.8,34,263,0.00,2.12,0.00,0.000,516,0.000,0.028,2649,659,3183,3209,3157,0,0,0,0,0,0,26.48,26.06,26.48
$GC,302,-0.45,-175.2,2648,659,3209,3157,35.7,-11.7,41,310,0.00,2.17,0.00,0.000,1030,0.000,0.029,2639,2053,3183,3209,3157,0,0,0,0,0,0,26.11,26.07,26.13
$GC,361,-0.45,-175.2,2638,2053,3210,3156,42.9,-11.8,50,367,0.00,2.10,0.00,0.000,260,0.000,0.032,2628,3467,3182,3209,3156,0,0,0,0,0,0,26.50,26.06,26.51
$GC,426,-0.45,-175.2,2627,3467,3209,3157,50.2,-12.4,61,433,0.10,2.10,0.00,0.000,3078,0.132,0.025,2661,2056,3182,3209,3156,0,0,0,0,0,0,25.90,26.11,26.01
$GC,478,-0.45,-175.2,2660,2051,3211,3155,55.9,-9.9,70,484,0.00,2.10,0.00,0.000,516,0.000,0.028,2661,641,3183,3212,3155,0,0,0,0,0,0,26.53,26.09,26.53
$GC,531,-0.45,-175.2,2660,641,3213,3155,61.1,-10.7,79,538,0.00,2.15,0.00,0.000,1030,0.000,0.027,2652,2060,3183,3212,3155,0,0,0,0,0,0,26.20,26.12,26.23
$GC,582,-0.45,-175.2,2652,2060,3213,3154,66.1,-9.4,88,590,0.00,2.12,0.00,0.000,260,0.000,0.033,2642,3453,3183,3212,3155,0,0,0,0,0,0,26.54,26.11,26.55
$GC,624,-0.45,-175.2,2641,3453,3212,3155,70.4,-10.5,95,631,0.00,2.08,0.00,0.000,1030,0.000,0.024,2642,2046,3183,3212,3155,0,0,0,0,0,0,26.22,26.15,26.25
$GC,676,-0.45,-175.2,2641,2042,3213,3154,75.7,-10.8,104,683,0.00,2.12,0.00,0.000,516,0.000,0.028,2642,645,3184,3213,3155,0,0,0,0,0,0,26.55,26.11,26.56
$GC,728,-0.45,-175.2,2641,645,3213,3155,81.3,-10.8,113,735,0.10,2.12,0.00,0.000,3078,0.144,0.028,2664,2050,3184,3213,3155,0,0,0,0,0,0,25.90,26.13,26.02
$GC,780,-0.45,-175.2,2662,2049,3213,3154,86.3,-8.6,122,786,0.00,2.10,0.00,0.000,260,0.000,0.033,2654,3464,3183,3213,3154,0,0,0,0,0,0,26.57,26.10,26.58
$GC,830,-0.45,-175.2,2653,3464,3213,3154,90.7,-8.4,131,837,0.00,2.10,0.00,0.000,1030,0.000,0.023,2653,2041,3183,3213,3154,0,0,0,0,0,0,26.25,26.17,26.27
$GC,882,-0.45,-175.2,2653,2037,3213,3154,95.3,-9.1,140,889,0.00,2.12,0.00,0.000,516,0.000,0.028,2653,640,3183,3213,3154,0,0,0,0,0,0,26.58,26.13,26.59
$GC,939,-0.45,-175.2,2653,640,3214,3154,100.8,-10.4,150,948,0.00,2.12,0.00,0.000,1030,0.000,0.026,2644,2052,3184,3214,3154,0,0,0,0,0,0,26.24,26.16,26.27
$GC,1129,-0.45,-175.2,2643,2052,3214,3154,119.6,-10.2,169,1141,0.00,2.08,0.00,0.000,260,0.000,0.034,2633,3455,3183,3213,3154,0,0,0,0,0,0,26.60,26.12,26.62
$GC,1147,-0.45,-175.2,2632,3455,3214,3154,120.5,-9.9,170,1154,0.10,2.10,0.00,0.000,3078,0.124,0.025,2667,2043,3183,3213,3154,0,0,0,0,0,0,25.98,26.17,26.09
$GC,1336,-0.45,-175.2,2666,2038,3215,3153,137.8,-8.8,189,1345,0.00,2.10,0.00,0.000,260,0.000,0.032,2658,3458,3184,3214,3154,0,0,0,0,0,0,26.62,26.14,26.63
$GC,1398,-0.45,-175.2,2658,3458,3214,3154,143.4,-9.4,195,1407,0.00,2.08,0.00,0.000,1030,0.000,0.023,2658,2043,3184,3214,3154,0,0,0,0,0,0,26.29,26.21,26.31
$GC,1590,-0.45,-175.2,2658,2040,3215,3154,160.7,-9.2,214,1599,0.00,2.08,0.00,0.000,260,0.000,0.031,2649,3447,3184,3214,3154,0,0,0,0,0,0,26.62,26.15,26.63
$GC,1632,-0.45,-175.2,2648,3447,3214,3154,165.0,-9.6,218,1641,0.00,2.05,0.00,0.000,1030,0.000,0.024,2649,2054,3184,3214,3154,0,0,0,0,0,0,26.29,26.21,26.32
$GC,1823,-0.45,-175.2,2648,2049,3214,3153,185.2,-10.3,237,1832,0.00,2.08,0.00,0.000,516,0.000,0.028,2649,641,3184,3215,3153,0,0,0,0,0,0,26.64,26.17,26.65
$STATE,1843,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1843,begin apogee
$GC,1850,0.00,0.0,2641,1801,3215,3154,187.8,-11.0,239,1986,0.50,0.00,131.93,0.741,10246,0.113,0.000,2803,1802,2464,2526,2403,0,0,0,0,0,0,25.78,24.93,24.27
$STATE,1987,end apogee,CONTROL_FINISHED_OK
$STATE,1987,begin climb
$GC,1989,0.45,175.2,2803,1802,2525,2403,196.5,0.0,253,2137,0.38,2.22,135.50,0.729,10500,0.031,0.031,3010,3212,1749,1835,1663,0,0,0,0,0,0,25.20,24.79,24.13
$GC,2180,0.45,175.2,3010,3212,1831,1663,182.8,12.7,272,2189,0.20,2.17,0.00,0.000,5126,0.161,0.028,2962,1807,1746,1830,1663,0,0,0,0,0,0,24.99,25.31,25.11
$GC,2371,0.46,180.3,2961,1808,1830,1659,163.9,9.9,291,2381,0.00,2.17,4.82,0.513,8452,0.000,0.028,2962,3207,1729,1816,1643,0,0,0,0,0,0,26.13,25.51,24.65
$GC,2434,0.46,185.2,2961,3207,1815,1642,157.3,9.9,297,2446,0.00,2.15,5.97,0.546,9222,0.000,0.029,2969,1794,1709,1795,1623,0,0,0,0,0,0,25.90,25.82,24.72
$GC,2635,0.46,185.2,2969,1794,1792,1622,136.3,10.8,317,2644,0.00,2.17,0.00,0.000,516,0.000,0.035,2981,384,1705,1790,1620,0,0,0,0,0,0,26.31,25.86,26.32
$GC,2700,0.47,190.9,2980,384,1786,1620,129.9,9.9,323,2710,0.00,2.15,5.90,0.535,9222,0.000,0.027,2980,1797,1685,1774,1596,0,0,0,0,0,0,26.06,25.98,24.83
$GC,2893,0.47,190.9,2980,1796,1772,1596,107.7,11.3,342,2902,0.00,2.10,0.00,0.000,260,0.000,0.032,2980,3214,1684,1772,1596,0,0,0,0,0,0,26.40,25.99,26.41
$GC,3022,0.47,190.9,2980,3214,1771,1596,92.6,11.1,360,3030,0.00,2.17,0.00,0.000,1030,0.000,0.030,2990,1802,1683,1771,1596,0,0,0,0,0,0,26.11,26.04,26.11
$GC,3075,0.47,190.9,2990,1802,1771,1596,86.1,12.7,369,3082,0.00,2.17,0.00,0.000,516,0.000,0.034,3002,382,1683,1770,1596,0,0,0,0,0,0,26.47,25.99,26.48
$GC,3102,0.47,190.9,3001,382,1766,1596,82.9,12.5,373,3109,0.12,2.17,0.00,0.000,5126,0.152,0.028,2965,1809,1681,1766,1596,0,0,0,0,0,0,25.75,26.07,25.90
$GC,3153,0.47,190.9,2965,1809,1768,1596,76.8,11.2,382,3159,0.00,2.12,0.00,0.000,260,0.000,0.031,2965,3219,1682,1768,1596,0,0,0,0,0,0,26.48,26.05,26.49
$GC,3194,0.47,190.9,2965,3219,1769,1596,72.2,11.2,389,3201,0.00,2.15,0.00,0.000,1030,0.000,0.028,2973,1787,1682,1769,1596,0,0,0,0,0,0,26.16,26.08,26.19
$GC,3246,0.47,190.9,2973,1787,1769,1596,66.2,11.4,398,3252,0.00,2.12,0.00,0.000,516,0.000,0.034,2984,387,1682,1768,1596,0,0,0,0,0,0,26.51,26.01,26.51
$GC,3266,0.47,190.9,2984,387,1765,1596,63.9,12.3,401,3272,0.00,2.15,0.00,0.000,1030,0.000,0.027,2984,1799,1681,1766,1596,0,0,0,0,0,0,26.18,26.10,26.20
$GC,3317,0.47,190.9,2984,1799,1767,1596,57.7,12.3,410,3324,0.00,2.10,0.00,0.000,260,0.000,0.032,2984,3209,1681,1767,1596,0,0,0,0,0,0,26.51,26.07,26.53
$GC,3373,0.47,190.9,2983,3210,1767,1596,51.2,10.9,420,3382,0.00,2.15,0.00,0.000,1030,0.000,0.028,2994,1803,1681,1767,1596,0,0,0,0,0,0,26.14,26.13,26.17
$GC,3427,0.47,190.9,2994,1804,1767,1596,45.2,11.2,429,3434,0.08,2.17,0.00,0.000,4612,0.184,0.034,2976,393,1681,1767,1596,0,0,0,0,0,0,25.98,26.03,26.03
$GC,3474,0.50,216.9,2976,392,1762,1595,40.4,9.3,437,3505,0.00,2.15,22.33,0.617,9222,0.000,0.028,2977,1807,1579,1670,1488,0,0,0,0,0,0,26.20,26.12,25.04
$GC,3556,0.50,216.9,2975,1806,1668,1487,33.0,10.0,449,3564,0.00,2.15,0.00,0.000,260,0.000,0.031,2977,3214,1577,1668,1487,0,0,0,0,0,0,26.31,25.91,26.32
$GC,3615,0.58,283.7,2976,3214,1667,1486,27.6,8.3,458,3656,0.00,2.17,34.17,0.601,9222,0.000,0.026,2987,1793,1306,1420,1193,0,0,0,0,0,0,26.01,25.98,24.87
$GC,3707,0.60,298.9,2986,1793,1414,1190,20.0,9.6,471,3724,0.00,2.22,7.30,0.494,8708,0.000,0.038,2998,396,1243,1359,1127,0,0,0,0,0,0,26.09,25.48,24.72
$GC,3791,0.60,298.9,2997,396,1350,1125,11.3,10.2,484,3800,0.00,2.17,0.00,0.000,1030,0.000,0.022,2998,1796,1237,1349,1125,0,0,0,0,0,0,25.89,25.83,25.89
$GC,3851,0.60,298.9,2997,1798,1349,1125,4.5,12.2,493,3859,0.00,2.20,0.00,0.000,260,0.000,0.031,2997,3218,1236,1349,1124,0,0,0,0,0,0,26.22,25.83,26.24
$STATE,3866,end climb,SURFACE_DEPTH_REACHED
$STATE,3866,begin surface coast
$FINISH,0.6,1.026747
$STATE,3898,end surface coast,CONTROL_FINISHED_OK
$STATE,3898,begin surface
$SM_CCo,3977,0.00,0.000,0,0,1233,301.96
$SM_GC,1.65,7.50,1.80,0.00,0.024,0.024,0.000,125,2042,1233,-8.33,1.05,301.96,0,0,0,0,0,0,25.93,25.89,25.98
$IRIDIUM_FIX,-3330.55,2722.58,020817,171804
$TT8_MAMPS,0.025466,0.270389
$HUMID,60.43
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,181.1,20.6
$24V_AH,24.13,56.566
$10V_AH,10.11,29.476
$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,19.000,101.775,347.925,0.000,0.000,0.000,0.000,0.000,4.250,0.000,24.998,1186.690,1105.423,469.750,1189.230,123.035,0.000,1071.200,0.000,1152.237,0.000,27.922,0.000
$DEVICE_MAMPS,219.555,39.015,741.285,0.000,0.000,0.000,0.000,0.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,343.607,113.685,510.229,786.628,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343584
$DATA_FILE_SIZE,37167,500
$CAP_FILE_SIZE,80090,0
$CFSIZE,2097086464,2028830720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,020817,214726,-3343.076,2721.651,38,0.9,38,-27.7,0.0,0.0,9,8.0