version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 617
start: 8 3 117 0 45 3
data:
$ID,574
$MISSION,23
$DIVE,617
$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,22
$R_STBD_OVSHOOT,41
$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
$GPS1,030817,002956,-3343.1477,2722.6868,4,0.8,5,-27.7,0.7,318.4,10,29.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-78.7
$GPS2,030817,004415,-3343.1833,2722.7793,6,0.9,6,-27.7,0.8,55.1,9,-1.0
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3348.583,2734.035
$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,-175.2,124,2064,1379,1257,0.0,0.0,0,80,0.00,0.00,-62.35,0.000,16386,0.000,0.000,124,2064,3069,3072,3066,0,0,0,0,0,0,26.14,28.83,26.15
$GC,84,-0.45,-175.2,124,2064,3073,3066,3.8,-5.5,8,102,10.15,2.17,-2.15,0.000,18692,0.222,0.040,2642,3474,3181,3193,3170,0,0,0,0,0,0,25.07,24.03,25.27
$GC,169,-0.45,-175.2,2641,3474,3204,3161,20.1,-11.4,21,178,0.00,2.22,0.00,0.000,1030,0.000,0.026,2642,2027,3182,3206,3159,0,0,0,0,0,0,25.89,25.85,25.94
$GC,228,-0.45,-175.2,2641,2024,3207,3157,27.6,-13.0,30,237,0.00,2.12,0.00,0.000,516,0.000,0.030,2642,642,3182,3208,3157,0,0,0,0,0,0,26.31,25.87,26.32
$GC,295,-0.45,-175.2,2641,642,3208,3157,36.2,-13.3,40,305,0.08,2.22,0.00,0.000,3078,0.136,0.033,2656,2050,3182,3208,3156,0,0,0,0,0,0,25.67,25.89,25.75
$GC,355,-0.45,-175.2,2655,2050,3209,3155,42.8,-9.8,49,361,0.00,2.15,0.00,0.000,260,0.000,0.033,2646,3474,3182,3209,3155,0,0,0,0,0,0,26.38,25.91,26.39
$GC,427,-0.45,-175.2,2646,3474,3209,3155,50.4,-10.6,62,434,0.00,2.15,0.00,0.000,1030,0.000,0.024,2646,2035,3182,3209,3155,0,0,0,0,0,0,26.08,25.99,26.10
$GC,478,-0.45,-175.2,2646,2030,3210,3154,55.8,-10.2,71,485,0.00,2.08,0.00,0.000,516,0.000,0.028,2647,641,3182,3210,3154,0,0,0,0,0,0,26.43,25.98,26.44
$GC,526,-0.45,-175.2,2646,641,3210,3154,60.8,-11.2,79,533,0.00,2.15,0.00,0.000,1030,0.000,0.028,2636,2055,3182,3210,3154,0,0,0,0,0,0,26.09,26.01,26.12
$GC,577,-0.45,-175.2,2636,2055,3211,3154,67.0,-11.9,88,584,0.00,2.12,0.00,0.000,260,0.000,0.033,2625,3455,3182,3210,3154,0,0,0,0,0,0,26.46,25.98,26.47
$GC,615,-0.45,-175.2,2624,3454,3210,3154,71.1,-11.1,94,622,0.12,2.10,0.00,0.000,3078,0.123,0.025,2666,2046,3182,3210,3154,0,0,0,0,0,0,25.79,26.04,25.91
$GC,669,-0.45,-175.2,2665,2041,3212,3154,76.1,-9.1,103,676,0.00,2.10,0.00,0.000,516,0.000,0.028,2666,634,3182,3212,3153,0,0,0,0,0,0,26.48,26.03,26.50
$GC,726,-0.45,-175.2,2665,634,3212,3153,81.5,-9.1,113,733,0.00,2.15,0.00,0.000,1030,0.000,0.027,2658,2057,3183,3213,3153,0,0,0,0,0,0,26.15,26.06,26.17
$GC,777,-0.45,-175.2,2657,2057,3213,3153,86.0,-8.6,122,784,0.00,2.08,0.00,0.000,260,0.000,0.031,2647,3460,3182,3212,3153,0,0,0,0,0,0,26.51,26.03,26.52
$GC,823,-0.45,-175.2,2646,3460,3211,3154,90.0,-8.6,130,831,0.00,2.10,0.00,0.000,1030,0.000,0.024,2647,2041,3182,3211,3153,0,0,0,0,0,0,26.17,26.10,26.20
$GC,878,-0.45,-175.2,2646,2036,3213,3153,94.9,-9.1,139,884,0.00,2.08,0.00,0.000,516,0.000,0.028,2647,640,3183,3213,3153,0,0,0,0,0,0,26.53,26.07,26.54
$GC,928,-0.45,-175.2,2646,640,3213,3153,100.1,-10.1,148,935,0.00,2.15,0.00,0.000,1030,0.000,0.027,2637,2060,3183,3213,3153,0,0,0,0,0,0,26.17,26.09,26.20
$GC,1114,-0.45,-175.2,2636,2059,3213,3153,117.9,-9.8,167,1123,0.00,2.12,0.00,0.000,516,0.000,0.029,2637,645,3183,3213,3153,0,0,0,0,0,0,26.57,26.08,26.58
$GC,1165,-0.45,-175.2,2636,645,3213,3153,123.5,-10.6,172,1175,0.12,2.12,0.00,0.000,3078,0.138,0.028,2666,2049,3183,3213,3153,0,0,0,0,0,0,25.82,26.11,25.96
$GC,1360,-0.45,-175.2,2665,2048,3213,3152,140.5,-7.8,191,1368,0.00,2.08,0.00,0.000,516,0.000,0.028,2665,650,3183,3213,3153,0,0,0,0,0,0,26.58,26.11,26.59
$GC,1391,-0.45,-175.2,2665,650,3213,3153,143.4,-8.0,194,1400,0.00,2.12,0.00,0.000,1030,0.000,0.026,2657,2061,3182,3213,3152,0,0,0,0,0,0,26.23,26.15,26.26
$GC,1583,-0.45,-175.2,2656,2061,3213,3152,161.1,-8.6,213,1591,0.00,2.10,0.00,0.000,516,0.000,0.028,2657,646,3183,3213,3153,0,0,0,0,0,0,26.61,26.13,26.63
$GC,1677,-0.45,-175.2,2656,647,3213,3152,170.1,-9.8,222,1683,0.00,2.12,0.00,0.000,1030,0.000,0.027,2646,2057,3182,3213,3152,0,0,0,0,0,0,26.24,26.15,26.27
$GC,1864,-0.45,-175.2,2646,2057,3213,3151,188.8,-9.5,241,1873,0.00,2.12,0.00,0.000,516,0.000,0.028,2646,645,3182,3213,3151,0,0,0,0,0,0,26.63,26.14,26.64
$GC,1929,-0.45,-175.2,2646,645,3213,3152,195.0,-10.3,247,1936,0.00,2.12,0.00,0.000,1030,0.000,0.028,2637,2051,3182,3213,3151,0,0,0,0,0,0,26.24,26.15,26.27
$GC,2126,-0.45,-175.2,2636,2050,3213,3151,214.6,-9.6,260,2132,0.00,2.10,0.00,0.000,516,0.000,0.028,2637,646,3182,3213,3151,0,0,0,0,0,0,26.64,26.13,26.65
$GC,2146,-0.45,-175.2,2636,646,3213,3151,216.7,-9.8,261,2153,0.10,2.12,0.00,0.000,3078,0.127,0.028,2660,2059,3182,3213,3151,0,0,0,0,0,0,25.87,26.15,25.94
$GC,2346,-0.45,-175.2,2660,2060,3213,3150,234.9,-9.1,271,2352,0.00,2.12,0.00,0.000,516,0.000,0.029,2660,643,3181,3213,3150,0,0,0,0,0,0,26.65,26.13,26.65
$GC,2374,-0.45,-175.2,2660,644,3213,3150,236.7,-9.1,272,2379,0.00,2.12,0.00,0.000,1030,0.000,0.027,2652,2059,3181,3213,3150,0,0,0,0,0,0,26.26,26.17,26.28
$STATE,2439,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2439,begin apogee
$GC,2445,0.00,0.0,2652,1753,3214,3150,243.3,-8.7,275,2583,0.47,0.05,133.38,0.800,10246,0.103,0.120,2806,1828,2465,2526,2404,0,0,0,0,0,0,25.78,24.86,24.14
$STATE,2584,end apogee,CONTROL_FINISHED_OK
$STATE,2584,begin climb
$GC,2586,0.45,175.2,2805,1828,2525,2403,250.5,0.0,282,2735,0.38,2.28,138.60,0.855,10756,0.044,0.034,2978,455,1749,1839,1659,0,0,0,0,0,0,25.10,24.63,23.91
$GC,2803,0.45,175.2,2977,454,1828,1657,235.9,10.9,293,2808,0.00,2.05,0.00,0.000,1030,0.000,0.026,2978,1768,1742,1828,1657,0,0,0,0,0,0,25.41,25.34,25.44
$GC,3003,0.45,175.2,2977,1768,1829,1656,211.5,12.5,303,3008,0.00,2.05,0.00,0.000,516,0.000,0.032,2987,443,1742,1828,1656,0,0,0,0,0,0,26.14,25.74,26.15
$GC,3063,0.45,175.2,2987,443,1824,1656,204.6,11.9,306,3069,0.10,2.10,0.00,0.000,5126,0.157,0.027,2959,1809,1740,1824,1656,0,0,0,0,0,0,25.59,25.85,25.76
$GC,3255,0.48,199.5,2959,1813,1825,1656,185.2,9.4,322,3283,0.00,2.12,20.08,0.768,8452,0.000,0.030,2959,3211,1650,1740,1561,0,0,0,0,0,0,26.36,25.59,24.79
$GC,3367,0.52,236.3,2959,3211,1737,1561,174.5,9.1,333,3406,0.00,2.05,31.38,0.760,9222,0.000,0.028,2967,1849,1500,1597,1404,0,0,0,0,0,0,25.89,25.83,24.60
$GC,3585,0.52,236.3,2967,1850,1590,1403,149.9,12.0,355,3594,0.00,2.03,0.00,0.000,260,0.000,0.028,2967,3210,1496,1590,1403,0,0,0,0,0,0,26.18,25.82,26.20
$GC,3667,0.52,236.3,2967,3210,1589,1403,140.2,12.1,363,3676,0.00,2.15,0.00,0.000,1030,0.000,0.029,2977,1798,1496,1589,1403,0,0,0,0,0,0,25.97,25.89,26.00
$GC,3857,0.52,236.3,2977,1798,1587,1403,115.2,12.6,382,3866,0.00,2.17,0.00,0.000,516,0.000,0.037,2988,385,1492,1582,1403,0,0,0,0,0,0,26.39,25.91,26.40
$GC,3939,0.52,236.3,2987,385,1581,1401,104.9,11.9,390,3943,0.00,2.17,0.00,0.000,1030,0.000,0.025,2988,1807,1491,1581,1401,0,0,0,0,0,0,26.12,26.03,26.15
$GC,4132,0.52,236.3,2987,1811,1582,1401,78.4,13.8,423,4139,0.00,2.10,0.00,0.000,260,0.000,0.031,2988,3210,1491,1582,1401,0,0,0,0,0,0,26.48,26.05,26.50
$GC,4210,0.52,236.3,2987,3209,1581,1401,68.5,12.4,437,4217,0.00,2.12,0.00,0.000,1030,0.000,0.031,2998,1801,1491,1582,1401,0,0,0,0,0,0,26.15,26.06,26.20
$GC,4261,0.52,236.3,2998,1801,1582,1401,62.2,13.1,446,4267,0.00,2.17,0.00,0.000,516,0.000,0.036,3009,382,1491,1581,1401,0,0,0,0,0,0,26.51,26.01,26.52
$GC,4317,0.52,236.3,3008,382,1579,1401,55.3,12.9,456,4326,0.00,2.20,0.00,0.000,1030,0.000,0.028,3010,1795,1490,1580,1401,0,0,0,0,0,0,26.13,26.10,26.17
$GC,4371,0.52,236.3,3008,1795,1580,1401,48.4,13.1,465,4377,0.00,2.15,0.00,0.000,260,0.000,0.033,3009,3222,1490,1580,1401,0,0,0,0,0,0,26.53,26.06,26.54
$GC,4406,0.52,236.3,3008,3222,1580,1401,43.9,10.7,471,4414,0.12,2.15,0.00,0.000,5126,0.158,0.029,2983,1799,1490,1580,1401,0,0,0,0,0,0,25.76,26.09,25.95
$GC,4463,0.52,236.3,2982,1799,1581,1401,38.3,10.2,480,4471,0.00,2.15,0.00,0.000,260,0.000,0.028,2982,3217,1490,1580,1401,0,0,0,0,0,0,26.54,26.12,26.55
$GC,4516,0.54,246.1,2982,3216,1580,1401,33.0,9.8,488,4533,0.00,2.17,7.97,0.585,9222,0.000,0.028,2991,1800,1462,1554,1370,0,0,0,0,0,0,26.15,26.11,24.94
$GC,4584,0.54,246.1,2991,1799,1552,1370,26.3,10.7,498,4592,0.00,2.22,0.00,0.000,516,0.000,0.036,3002,387,1459,1549,1370,0,0,0,0,0,0,26.47,26.00,26.48
$GC,4614,0.54,246.1,3002,387,1548,1369,22.9,10.9,502,4623,0.00,2.20,0.00,0.000,1030,0.000,0.025,3002,1812,1458,1549,1368,0,0,0,0,0,0,26.13,26.10,26.15
$GC,4673,0.54,246.1,3002,1815,1549,1368,16.3,11.9,511,4682,0.00,2.12,0.00,0.000,260,0.000,0.031,3002,3211,1458,1549,1368,0,0,0,0,0,0,26.50,26.06,26.51
$GC,4715,0.54,246.1,3002,3211,1548,1368,10.7,12.8,517,4724,0.00,2.17,0.00,0.000,1030,0.000,0.028,3013,1796,1458,1549,1368,0,0,0,0,0,0,26.11,26.08,26.15
$GC,4774,0.54,246.1,3012,1796,1548,1368,3.3,12.1,526,4783,0.00,2.20,0.00,0.000,516,0.000,0.037,3023,390,1456,1545,1368,0,0,0,0,0,0,26.52,25.99,26.53
$STATE,4790,end climb,SURFACE_DEPTH_REACHED
$STATE,4790,begin surface coast
$FINISH,0.7,1.012778
$STATE,4815,end surface coast,CONTROL_FINISHED_OK
$STATE,4816,begin surface
$SM_CCo,4835,10.15,0.052,0,0,1364,270.07
$SM_GC,1.89,7.47,2.55,10.15,0.025,0.019,0.052,126,2052,1364,-8.31,-1.27,270.07,0,0,0,0,0,0,26.03,26.14,25.98
$IRIDIUM_FIX,-3333.14,2722.58,030817,003208
$TT8_MAMPS,0.025466,0.290612
$HUMID,60.90
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,15.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,241.4,16.4
$24V_AH,23.91,56.844
$10V_AH,10.06,29.653
$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,19.125,111.975,331.400,10.150,0.000,57.549,34.153,532.223,5.750,0.000,12.554,1344.893,1734.532,485.117,1950.743,216.007,0.000,1143.716,0.000,1273.532,0.000,38.369,0.000
$DEVICE_MAMPS,221.850,120.105,854.505,52.020,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,368.377,110.543,478.255,822.578,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343408
$DATA_FILE_SIZE,37064,532
$CAP_FILE_SIZE,102905,0
$CFSIZE,2097086464,2028503040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,030817,020702,-3343.194,2723.271,37,0.9,37,-27.7,0.5,120.4,9,7.6