version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 567
start: 8 1 117 6 29 16
data:
$ID,574
$MISSION,23
$DIVE,567
$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,140
$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,330
$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,48
$R_STBD_OVSHOOT,37
$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,1
$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
$GPS1,010817,062147,-3335.1106,2725.0342,5,1.2,5,-27.6,0.0,0.0,7,24.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-79.1
$GPS2,010817,062829,-3335.1821,2724.8601,4,1.2,4,-27.6,0.0,0.0,7,101.7
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3343.455,2733.206
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,167.6,20000,-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,-175.2,125,2025,1177,1028,0.0,0.0,0,95,0.00,0.00,-74.97,0.000,16390,0.000,0.000,125,2026,3181,3189,3174,0,0,0,0,0,0,26.19,24.29,26.20
$GC,98,-0.45,-175.2,125,2026,3189,3173,4.3,-7.2,10,116,9.95,2.08,0.00,0.000,2564,0.220,0.021,2658,629,3182,3194,3171,0,0,0,0,0,0,25.28,25.61,25.46
$GC,189,-0.45,-175.2,2657,629,3204,3162,23.7,-10.0,24,198,0.00,2.22,0.00,0.000,1030,0.000,0.028,2649,2057,3184,3207,3161,0,0,0,0,0,0,25.99,25.96,26.02
$GC,253,-0.45,-175.2,2648,2058,3208,3157,30.1,-10.7,33,261,0.00,2.15,0.00,0.000,260,0.000,0.035,2638,3460,3182,3207,3157,0,0,0,0,0,0,26.34,25.95,26.34
$GC,283,-0.45,-175.2,2637,3460,3207,3157,33.6,-10.4,37,291,0.00,2.15,0.00,0.000,1030,0.000,0.025,2638,2046,3181,3207,3156,0,0,0,0,0,0,26.05,26.02,26.08
$GC,343,-0.45,-175.2,2637,2042,3209,3156,40.1,-11.4,46,350,0.00,2.10,0.00,0.000,516,0.000,0.029,2638,644,3182,3209,3156,0,0,0,0,0,0,26.38,26.01,26.39
$GC,384,-0.45,-175.2,2637,642,3209,3155,45.2,-11.2,53,391,0.12,2.15,0.00,0.000,3078,0.157,0.031,2666,2050,3182,3209,3156,0,0,0,0,0,0,25.75,26.03,25.91
$GC,436,-0.45,-175.2,2666,2050,3209,3155,49.8,-8.3,62,443,0.00,2.10,0.00,0.000,260,0.000,0.034,2657,3459,3182,3209,3155,0,0,0,0,0,0,26.44,26.03,26.44
$GC,479,-0.45,-175.2,2656,3459,3209,3155,53.1,-8.1,69,485,0.00,2.10,0.00,0.000,1030,0.000,0.024,2657,2044,3182,3209,3155,0,0,0,0,0,0,26.17,26.10,26.19
$GC,529,-0.45,-175.2,2656,2039,3211,3154,57.6,-8.3,78,537,0.00,2.12,0.00,0.000,516,0.000,0.027,2656,638,3182,3210,3154,0,0,0,0,0,0,26.46,26.08,26.48
$GC,576,-0.45,-175.2,2656,637,3211,3154,61.9,-8.8,86,583,0.00,2.15,0.00,0.000,1030,0.000,0.030,2647,2052,3182,3211,3154,0,0,0,0,0,0,26.17,26.09,26.20
$GC,627,-0.45,-175.2,2646,2051,3211,3154,66.3,-9.0,95,634,0.00,2.10,0.00,0.000,260,0.000,0.036,2636,3457,3182,3211,3153,0,0,0,0,0,0,26.49,26.07,26.51
$GC,721,-0.45,-175.2,2635,3457,3211,3153,76.2,-12.0,112,728,0.00,2.12,0.00,0.000,1030,0.000,0.025,2636,2055,3181,3210,3153,0,0,0,0,0,0,26.17,26.15,26.21
$GC,774,-0.45,-175.2,2635,2050,3211,3153,82.0,-13.5,121,781,0.00,2.15,0.00,0.000,516,0.000,0.034,2636,644,3182,3212,3153,0,0,0,0,0,0,26.52,26.09,26.53
$GC,852,-0.45,-175.2,2635,643,3212,3153,91.7,-10.0,135,860,0.12,2.12,0.00,0.000,3078,0.171,0.025,2662,2059,3182,3212,3153,0,0,0,0,0,0,25.81,26.17,25.98
$GC,904,-0.45,-175.2,2661,2059,3212,3153,98.4,-15.0,144,912,0.00,2.12,0.00,0.000,260,0.000,0.036,2653,3454,3182,3212,3152,0,0,0,0,0,0,26.55,26.11,26.56
$GC,964,-0.45,-175.2,2652,3454,3211,3153,103.6,-7.9,150,971,0.00,2.10,0.00,0.000,1030,0.000,0.023,2652,2042,3182,3211,3153,0,0,0,0,0,0,26.26,26.18,26.28
$STATE,999,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,999,begin apogee
$GC,1005,0.00,0.0,2652,1766,3212,3152,106.5,-7.2,154,1141,0.47,0.00,129.77,0.670,10246,0.131,0.000,2802,1763,2464,2525,2404,0,0,0,0,0,0,25.79,25.03,24.46
$STATE,1142,end apogee,CONTROL_FINISHED_OK
$STATE,1142,begin climb
$GC,1144,0.45,175.2,2802,1763,2525,2403,114.1,0.0,168,1286,0.45,2.08,133.02,0.662,10756,0.071,0.023,2980,432,1749,1841,1658,0,0,0,0,0,0,25.19,24.72,24.34
$GC,1341,0.45,175.2,2980,431,1828,1658,105.1,11.3,187,1349,0.00,2.12,0.00,0.000,1030,0.000,0.024,2981,1803,1743,1829,1658,0,0,0,0,0,0,25.51,25.44,25.53
$GC,1539,0.45,175.2,2980,1809,1828,1657,79.4,11.4,221,1546,0.00,2.12,0.00,0.000,516,0.000,0.033,2991,429,1742,1828,1657,0,0,0,0,0,0,26.17,25.80,26.19
$GC,1555,0.45,175.2,2990,429,1826,1657,77.4,12.6,223,1562,0.12,2.10,0.00,0.000,5126,0.174,0.026,2957,1807,1741,1825,1657,0,0,0,0,0,0,25.54,25.86,25.76
$GC,1606,0.50,213.0,2956,1812,1827,1657,71.9,9.0,232,1645,0.00,2.12,30.48,0.621,8452,0.000,0.029,2957,3212,1594,1698,1491,0,0,0,0,0,0,26.25,25.50,24.85
$GC,1652,0.50,213.0,2956,3212,1697,1491,67.2,10.2,239,1658,0.00,2.10,0.00,0.000,1030,0.000,0.026,2965,1829,1594,1697,1492,0,0,0,0,0,0,25.72,25.66,25.75
$GC,1703,0.50,213.0,2964,1829,1695,1490,61.7,10.5,248,1710,0.00,2.25,0.00,0.000,516,0.000,0.034,2976,401,1591,1692,1490,0,0,0,0,0,0,26.06,25.70,26.08
$GC,1719,0.50,213.0,2975,401,1687,1490,60.2,10.6,250,1725,0.00,2.15,0.00,0.000,1030,0.000,0.025,2976,1803,1589,1687,1491,0,0,0,0,0,0,25.86,25.79,25.87
$GC,1772,0.50,213.0,2975,1806,1689,1490,53.6,13.1,259,1778,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,1806,1590,1689,1491,0,0,0,0,0,0,26.17,26.18,26.18
$GC,1822,0.50,213.0,2975,1806,1688,1491,47.3,12.1,268,1829,0.00,2.15,0.00,0.000,260,0.000,0.031,2976,3211,1590,1689,1491,0,0,0,0,0,0,26.23,25.90,26.24
$GC,1847,0.50,213.0,2975,3210,1688,1491,44.2,11.9,272,1855,0.00,2.17,0.00,0.000,1030,0.000,0.027,2986,1797,1590,1689,1491,0,0,0,0,0,0,25.96,25.91,25.98
$GC,1902,0.50,213.0,2985,1797,1688,1491,38.3,11.6,281,1910,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,1797,1589,1688,1490,0,0,0,0,0,0,26.29,26.31,26.31
$GC,1960,0.50,213.0,2986,1797,1688,1490,31.5,11.8,290,1969,0.00,2.15,0.00,0.000,260,0.000,0.029,2986,3217,1589,1688,1491,0,0,0,0,0,0,26.34,26.01,26.34
$GC,1979,0.50,213.0,2985,3218,1687,1491,29.3,11.9,292,1988,0.00,2.17,0.00,0.000,1030,0.000,0.030,2996,1807,1589,1688,1491,0,0,0,0,0,0,26.02,25.98,26.05
$GC,2039,0.50,213.0,2995,1807,1687,1490,22.2,11.7,301,2047,0.00,2.20,0.00,0.000,516,0.000,0.037,3007,396,1587,1684,1490,0,0,0,0,0,0,26.38,25.96,26.39
$GC,2143,0.50,213.0,3006,396,1677,1491,9.9,11.5,318,2153,0.10,2.17,0.00,0.000,5126,0.151,0.027,2976,1804,1584,1679,1490,0,0,0,0,0,0,25.79,26.07,25.87
$GC,2203,0.50,213.6,2976,1808,1681,1491,4.0,10.0,327,2212,0.00,2.12,0.00,0.000,260,0.000,0.031,2976,3202,1586,1682,1491,0,0,0,0,0,0,26.45,26.08,26.46
$STATE,2219,end climb,SURFACE_DEPTH_REACHED
$STATE,2219,begin surface coast
$FINISH,0.5,1.015382
$STATE,2251,end surface coast,CONTROL_FINISHED_OK
$STATE,2251,begin surface
$SM_CCo,2269,50.38,0.047,0,0,1118,330.17
$SM_GC,1.65,7.32,1.75,50.38,0.022,0.023,0.047,125,2047,1118,-8.32,1.13,330.17,0,0,0,0,0,0,26.11,26.09,26.00
$IRIDIUM_FIX,-3322.80,2730.58,010817,053428
$TT8_MAMPS,0.025466,0.273385
$HUMID,59.64
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,15.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.3,21.2
$24V_AH,24.29,52.930
$10V_AH,10.19,27.457
$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,18.675,68.325,293.275,50.375,0.000,25.465,22.105,235.074,2.500,0.000,11.553,798.710,223.288,449.313,1150.051,137.614,0.000,881.495,0.000,843.275,0.000,18.775,0.000
$DEVICE_MAMPS,219.555,36.720,670.140,46.665,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,233.111,109.291,484.340,550.277,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343452
$DATA_FILE_SIZE,23620,334
$CAP_FILE_SIZE,62932,0
$CFSIZE,2097086464,2033516544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,010817,070837,-3335.935,2723.951,4,1.2,4,-27.6,0.0,0.0,7,19.2