version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 615
start: 8 2 117 21 58 0
data:
$ID,574
$MISSION,23
$DIVE,615
$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,120
$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,39
$R_STBD_OVSHOOT,36
$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
$GPS1,020817,214726,-3343.0764,2721.6509,38,0.9,38,-27.7,0.0,0.0,9,8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-77.8
$GPS2,020817,215713,-3343.1287,2721.6697,4,0.9,5,-27.7,0.0,205.7,10,142.4
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3348.528,2732.926
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,147.7,20000,-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,-175.2,125,2037,1295,1151,0.0,0.0,0,80,0.00,0.00,-62.15,0.000,16386,0.000,0.000,126,2039,2935,2937,2934,0,0,0,0,0,0,26.15,28.83,26.16
$GC,84,-0.45,-175.2,126,2039,2939,2933,3.1,-3.8,8,109,10.10,2.17,-5.12,0.000,18948,0.220,0.040,2653,634,3182,3204,3161,0,0,0,0,0,0,25.10,24.02,25.31
$GC,187,-0.45,-175.2,2652,633,3207,3157,21.1,-12.4,24,196,0.00,2.22,0.00,0.000,1030,0.000,0.028,2643,2051,3182,3210,3154,0,0,0,0,0,0,25.91,25.88,25.94
$GC,247,-0.45,-175.2,2643,2052,3212,3151,28.6,-12.7,33,255,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2052,3182,3213,3151,0,0,0,0,0,0,26.32,26.34,26.34
$GC,306,-0.45,-175.2,2643,2053,3213,3150,35.6,-11.6,42,315,0.00,2.20,0.00,0.000,516,0.000,0.028,2644,630,3181,3212,3151,0,0,0,0,0,0,26.36,25.94,26.37
$GC,358,-0.45,-175.2,2643,629,3213,3152,41.5,-10.4,50,365,0.10,2.17,0.00,0.000,3078,0.148,0.028,2664,2057,3182,3213,3151,0,0,0,0,0,0,25.72,25.98,25.86
$GC,410,-0.45,-175.2,2663,2057,3213,3150,45.7,-7.2,59,417,0.00,2.10,0.00,0.000,260,0.000,0.034,2655,3460,3182,3214,3151,0,0,0,0,0,0,26.41,25.95,26.42
$GC,446,-0.45,-175.2,2654,3460,3213,3150,48.9,-9.8,65,453,0.00,2.12,0.00,0.000,1030,0.000,0.023,2654,2033,3182,3214,3150,0,0,0,0,0,0,26.10,26.03,26.13
$GC,498,-0.45,-175.2,2654,2027,3215,3150,54.7,-11.6,74,505,0.00,2.08,0.00,0.000,516,0.000,0.027,2654,638,3182,3215,3150,0,0,0,0,0,0,26.44,26.01,26.46
$GC,548,-0.45,-175.2,2654,638,3215,3150,60.9,-13.2,83,555,0.00,2.15,0.00,0.000,1030,0.000,0.026,2645,2061,3182,3215,3150,0,0,0,0,0,0,26.12,26.04,26.15
$GC,600,-0.45,-175.2,2644,2061,3215,3150,67.6,-12.0,92,607,0.00,2.12,0.00,0.000,260,0.000,0.034,2634,3460,3183,3216,3150,0,0,0,0,0,0,26.48,26.01,26.48
$GC,632,-0.45,-175.2,2633,3460,3214,3150,71.3,-12.9,97,639,0.10,2.10,0.00,0.000,3078,0.126,0.024,2668,2044,3182,3215,3150,0,0,0,0,0,0,25.86,26.08,25.98
$GC,684,-0.45,-175.2,2667,2039,3217,3149,76.8,-9.3,106,690,0.00,2.08,0.00,0.000,516,0.000,0.027,2668,645,3184,3218,3150,0,0,0,0,0,0,26.49,26.06,26.51
$GC,737,-0.45,-175.2,2667,644,3218,3150,81.5,-9.1,115,744,0.00,2.12,0.00,0.000,1030,0.000,0.027,2659,2054,3184,3218,3150,0,0,0,0,0,0,26.17,26.08,26.19
$GC,788,-0.45,-175.2,2658,2054,3218,3150,86.2,-8.8,124,795,0.00,2.12,0.00,0.000,260,0.000,0.033,2648,3457,3184,3218,3150,0,0,0,0,0,0,26.51,26.03,26.53
$GC,843,-0.45,-175.2,2648,3457,3217,3150,90.7,-8.9,133,849,0.00,2.08,0.00,0.000,1030,0.000,0.023,2648,2050,3183,3217,3150,0,0,0,0,0,0,26.20,26.12,26.22
$GC,894,-0.45,-175.2,2648,2045,3218,3150,96.0,-9.7,142,900,0.00,2.10,0.00,0.000,516,0.000,0.028,2649,634,3184,3219,3150,0,0,0,0,0,0,26.53,26.08,26.55
$GC,951,-0.45,-175.2,2648,634,3218,3150,102.1,-10.8,151,959,0.00,2.15,0.00,0.000,1030,0.000,0.028,2639,2059,3184,3219,3150,0,0,0,0,0,0,26.19,26.10,26.22
$GC,1141,-0.45,-175.2,2638,2059,3219,3150,123.8,-11.9,170,1144,0.00,2.12,0.00,0.000,516,0.000,0.028,2639,643,3184,3219,3150,0,0,0,0,0,0,26.58,26.11,26.58
$GC,1172,-0.45,-175.2,2639,641,3219,3150,127.8,-12.8,173,1182,0.10,2.12,0.00,0.000,3078,0.146,0.028,2660,2050,3184,3219,3150,0,0,0,0,0,0,25.89,26.13,26.00
$GC,1364,-0.45,-175.2,2659,2049,3219,3149,148.0,-10.4,192,1370,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2049,3184,3219,3150,0,0,0,0,0,0,26.60,26.61,26.61
$GC,1553,-0.45,-175.2,2659,2049,3219,3149,165.9,-8.9,211,1556,0.00,2.10,0.00,0.000,516,0.000,0.028,2660,646,3184,3219,3150,0,0,0,0,0,0,26.62,26.14,26.63
$GC,1625,-0.45,-175.2,2660,646,3220,3150,172.6,-9.4,218,1633,0.00,2.12,0.00,0.000,1030,0.000,0.026,2651,2059,3184,3219,3149,0,0,0,0,0,0,26.26,26.18,26.29
$GC,1815,-0.45,-175.2,2651,2059,3219,3150,189.5,-9.5,237,1827,0.00,2.10,0.00,0.000,516,0.000,0.028,2651,640,3184,3219,3150,0,0,0,0,0,0,26.63,26.15,26.64
$GC,1899,-0.45,-175.2,2650,640,3219,3149,198.1,-10.2,245,1908,0.00,2.12,0.00,0.000,1030,0.000,0.028,2642,2049,3184,3219,3149,0,0,0,0,0,0,26.25,26.17,26.28
$STATE,2037,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2037,begin apogee
$GC,2044,0.00,0.0,2641,1751,3219,3149,212.1,-9.9,253,2181,0.52,0.05,132.32,0.747,10246,0.106,0.118,2809,1832,2465,2527,2403,0,0,0,0,0,0,25.77,24.92,24.26
$STATE,2182,end apogee,CONTROL_FINISHED_OK
$STATE,2182,begin climb
$GC,2184,0.45,175.2,2809,1832,2526,2402,220.1,0.0,260,2329,0.38,2.10,135.60,0.738,10500,0.047,0.031,2969,3177,1749,1840,1659,0,0,0,0,0,0,25.15,24.77,24.11
$GC,2399,0.45,175.2,2969,3177,1833,1660,206.4,10.6,271,2403,0.00,2.03,0.00,0.000,1030,0.000,0.028,2978,1855,1746,1833,1659,0,0,0,0,0,0,25.49,25.41,25.51
$GC,2592,0.45,175.2,2977,1854,1830,1659,184.6,11.3,287,2600,0.00,1.98,0.00,0.000,260,0.000,0.028,2978,3180,1743,1829,1658,0,0,0,0,0,0,26.16,25.80,26.17
$GC,2605,0.45,175.2,2978,3180,1829,1659,183.6,11.2,288,2613,0.10,2.03,0.00,0.000,5126,0.167,0.027,2960,1847,1744,1829,1659,0,0,0,0,0,0,25.54,25.82,25.70
$GC,2795,0.45,175.2,2959,1846,1829,1658,163.9,10.3,307,2803,0.00,2.20,0.00,0.000,516,0.000,0.034,2969,400,1741,1827,1656,0,0,0,0,0,0,26.34,25.89,26.34
$GC,2889,0.48,199.9,2969,400,1822,1656,154.7,9.4,316,2916,0.00,2.08,20.42,0.669,9222,0.000,0.024,2969,1776,1648,1738,1559,0,0,0,0,0,0,26.09,26.01,24.91
$GC,3097,0.48,199.9,2969,1776,1734,1557,132.4,10.6,337,3106,0.00,2.10,0.00,0.000,516,0.000,0.032,2979,389,1644,1732,1556,0,0,0,0,0,0,26.32,25.88,26.33
$GC,3179,0.51,227.3,2979,389,1727,1556,124.3,9.3,345,3209,0.00,2.15,22.70,0.657,9222,0.000,0.025,2979,1805,1538,1632,1444,0,0,0,0,0,0,26.08,26.00,24.90
$GC,3390,0.51,227.3,2978,1805,1629,1443,99.6,11.8,366,3399,0.00,2.20,0.00,0.000,516,0.000,0.034,2989,399,1533,1624,1442,0,0,0,0,0,0,26.30,25.86,26.31
$GC,3449,0.51,227.3,2988,399,1622,1441,92.6,11.5,376,3456,0.00,2.17,0.00,0.000,1030,0.000,0.025,2989,1799,1532,1623,1441,0,0,0,0,0,0,26.01,25.98,26.02
$GC,3503,0.51,227.3,2989,1802,1623,1441,86.4,11.8,385,3510,0.00,2.10,0.00,0.000,260,0.000,0.031,2989,3207,1532,1623,1441,0,0,0,0,0,0,26.36,25.95,26.38
$GC,3543,0.51,227.3,2988,3207,1623,1441,80.9,12.4,392,3550,0.00,2.17,0.00,0.000,1030,0.000,0.028,2999,1794,1532,1623,1441,0,0,0,0,0,0,26.03,26.00,26.06
$GC,3597,0.51,227.3,2999,1794,1623,1441,74.0,13.9,401,3604,0.00,2.15,0.00,0.000,516,0.000,0.035,3010,388,1532,1623,1441,0,0,0,0,0,0,26.41,25.94,26.42
$GC,3623,0.51,227.3,3010,387,1618,1441,70.6,12.4,405,3630,0.10,2.17,0.00,0.000,5126,0.149,0.028,2981,1807,1530,1620,1441,0,0,0,0,0,0,25.77,26.02,25.93
$GC,3674,0.51,227.3,2980,1808,1621,1441,64.7,10.5,414,3682,0.00,2.12,0.00,0.000,260,0.000,0.032,2980,3204,1531,1621,1441,0,0,0,0,0,0,26.44,26.01,26.45
$GC,3732,0.51,227.3,2980,3204,1621,1440,58.6,10.2,424,3739,0.00,2.15,0.00,0.000,1030,0.000,0.030,2989,1807,1531,1621,1441,0,0,0,0,0,0,26.08,26.03,26.10
$GC,3787,0.51,227.3,2989,1807,1621,1441,53.1,10.1,433,3794,0.00,2.17,0.00,0.000,516,0.000,0.037,3000,387,1531,1621,1441,0,0,0,0,0,0,26.47,25.97,26.48
$GC,3876,0.53,240.3,3000,387,1617,1441,42.7,9.7,449,3897,0.00,2.15,11.23,0.585,9222,0.000,0.025,3000,1811,1485,1576,1394,0,0,0,0,0,0,26.17,26.10,25.05
$GC,3947,0.53,240.3,3000,1811,1575,1393,34.9,12.5,460,3955,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,1811,1483,1575,1392,0,0,0,0,0,0,26.39,26.41,26.40
$GC,4005,0.53,240.3,3000,1811,1574,1393,28.0,11.6,469,4014,0.00,2.22,0.00,0.000,516,0.000,0.034,3010,389,1482,1572,1393,0,0,0,0,0,0,26.42,25.95,26.43
$GC,4030,0.53,240.3,3010,389,1571,1392,25.2,11.7,472,4039,0.00,2.17,0.00,0.000,1030,0.000,0.026,3010,1787,1481,1571,1391,0,0,0,0,0,0,26.08,26.04,26.10
$GC,4089,0.53,240.3,3010,1790,1572,1391,17.5,13.0,481,4098,0.00,2.17,0.00,0.000,260,0.000,0.031,3011,3215,1481,1572,1391,0,0,0,0,0,0,26.45,26.02,26.46
$GC,4132,0.53,240.3,3010,3215,1572,1391,12.7,11.5,487,4141,0.12,2.20,0.00,0.000,5126,0.152,0.031,2984,1795,1481,1572,1391,0,0,0,0,0,0,25.68,26.04,25.77
$GC,4192,0.53,240.3,2983,1794,1572,1391,6.0,10.3,496,4201,0.00,2.17,0.00,0.000,516,0.000,0.035,2993,398,1481,1571,1391,0,0,0,0,0,0,26.48,25.98,26.49
$STATE,4221,end climb,SURFACE_DEPTH_REACHED
$STATE,4221,begin surface coast
$FINISH,0.7,1.026436
$STATE,4252,end surface coast,CONTROL_FINISHED_OK
$STATE,4252,begin surface
$SM_CCo,4272,12.68,0.051,0,0,1363,270.07
$SM_GC,2.16,7.50,2.55,12.68,0.031,0.019,0.051,124,2079,1363,-8.34,-1.07,270.07,0,0,0,0,0,0,26.09,26.15,25.96
$IRIDIUM_FIX,-3327.96,2721.39,020817,192722
$TT8_MAMPS,0.025466,0.290612
$HUMID,60.67
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,210.1,16.5
$24V_AH,24.02,56.660
$10V_AH,10.06,29.535
$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,19.125,98.925,322.275,12.675,0.000,23.427,23.916,399.551,5.000,0.000,12.575,1251.247,1305.908,488.798,1658.704,194.510,0.000,1098.120,0.000,1184.387,0.000,32.409,0.000
$DEVICE_MAMPS,220.320,117.810,746.640,51.255,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,346.661,110.106,484.865,785.945,0.000,0.000,0.000,0.000,0.000,0.000
$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,37102,505
$CAP_FILE_SIZE,91285,0
$CFSIZE,2097086464,2028732416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,020817,231007,-3343.141,2722.144,4,1.0,6,-27.7,0.0,0.0,9,21.7