version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 569
start: 8 1 117 7 48 28
data:
$ID,574
$MISSION,23
$DIVE,569
$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,1
$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
$GPS1,010817,073932,-3336.6316,2723.2488,4,1.7,4,-27.6,1.0,142.3,5,292.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-78.6
$GPS2,010817,074741,-3336.7085,2723.0552,6,0.9,6,-27.6,1.2,228.7,9,323.8
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3344.981,2731.404
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.45,-175.2,126,2030,1183,1024,0.0,0.0,0,95,0.00,0.00,-74.97,0.000,16390,0.000,0.000,126,2030,3181,3188,3175,0,0,0,0,0,0,26.15,24.24,26.17
$GC,98,-0.45,-175.2,126,2030,3188,3175,4.4,-7.9,10,116,9.90,2.10,0.00,0.000,2564,0.218,0.021,2657,630,3183,3194,3172,0,0,0,0,0,0,25.25,25.58,25.43
$GC,182,-0.45,-175.2,2657,629,3204,3162,22.7,-10.8,23,191,0.00,2.22,0.00,0.000,1030,0.000,0.028,2648,2055,3184,3207,3161,0,0,0,0,0,0,25.96,25.93,25.98
$GC,242,-0.45,-175.2,2647,2055,3208,3159,29.1,-10.1,32,253,0.00,2.15,0.00,0.000,260,0.000,0.034,2637,3461,3182,3207,3158,0,0,0,0,0,0,26.33,25.93,26.34
$GC,263,-0.45,-175.2,2637,3460,3207,3158,31.6,-11.3,34,271,0.00,2.15,0.00,0.000,1030,0.000,0.025,2637,2054,3182,3208,3157,0,0,0,0,0,0,26.01,25.98,26.04
$GC,321,-0.45,-175.2,2637,2053,3209,3156,38.3,-11.4,43,330,0.00,2.15,0.00,0.000,516,0.000,0.029,2637,644,3182,3209,3156,0,0,0,0,0,0,26.37,25.98,26.39
$GC,349,-0.45,-175.2,2637,644,3209,3156,42.0,-12.5,47,356,0.12,2.17,0.00,0.000,3078,0.154,0.031,2666,2060,3183,3210,3156,0,0,0,0,0,0,25.72,25.99,25.88
$GC,401,-0.45,-175.2,2666,2062,3210,3156,48.3,-11.3,56,408,0.00,2.12,0.00,0.000,260,0.000,0.033,2656,3460,3183,3210,3156,0,0,0,0,0,0,26.41,26.01,26.42
$GC,417,-0.45,-175.2,2656,3460,3210,3156,49.8,-10.7,58,424,0.00,2.12,0.00,0.000,1030,0.000,0.029,2656,2049,3182,3209,3155,0,0,0,0,0,0,26.11,26.02,26.13
$GC,471,-0.45,-175.2,2656,2044,3211,3155,54.9,-9.3,67,478,0.00,2.10,0.00,0.000,516,0.000,0.027,2656,637,3183,3211,3155,0,0,0,0,0,0,26.44,26.04,26.44
$GC,509,-0.45,-175.2,2656,636,3211,3156,58.4,-9.7,73,516,0.00,2.17,0.00,0.000,1030,0.000,0.030,2646,2058,3183,3211,3155,0,0,0,0,0,0,26.14,26.05,26.16
$GC,560,-0.45,-175.2,2646,2058,3211,3155,63.8,-10.3,82,566,0.00,2.10,0.00,0.000,260,0.000,0.034,2635,3471,3183,3211,3155,0,0,0,0,0,0,26.46,26.05,26.47
$GC,648,-0.45,-175.2,2635,3477,3211,3155,72.3,-7.4,97,655,0.00,2.15,0.00,0.000,1030,0.000,0.028,2635,2039,3183,3211,3155,0,0,0,0,0,0,26.17,26.09,26.20
$GC,698,-0.45,-175.2,2635,2034,3212,3154,78.3,-12.1,106,705,0.00,2.08,0.00,0.000,516,0.000,0.027,2635,635,3183,3212,3154,0,0,0,0,0,0,26.50,26.10,26.51
$GC,744,-0.45,-175.2,2635,635,3212,3154,83.8,-11.8,114,753,0.10,2.20,0.00,0.000,3078,0.159,0.030,2657,2051,3183,3212,3155,0,0,0,0,0,0,25.79,26.10,25.88
$GC,798,-0.45,-175.2,2657,2051,3213,3154,89.6,-11.2,123,805,0.00,2.10,0.00,0.000,260,0.000,0.034,2648,3461,3183,3212,3154,0,0,0,0,0,0,26.52,26.09,26.53
$GC,825,-0.45,-175.2,2647,3460,3212,3154,92.1,-10.6,127,832,0.00,2.10,0.00,0.000,1030,0.000,0.025,2648,2048,3183,3212,3154,0,0,0,0,0,0,26.21,26.13,26.24
$GC,876,-0.45,-175.2,2647,2042,3213,3154,98.4,-13.2,136,883,0.00,2.10,0.00,0.000,516,0.000,0.023,2648,640,3183,3213,3154,0,0,0,0,0,0,26.53,26.16,26.54
$GC,902,-0.45,-175.2,2647,639,3213,3154,102.5,-15.9,139,911,0.00,2.15,0.00,0.000,1030,0.000,0.031,2639,2051,3183,3213,3154,0,0,0,0,0,0,26.21,26.12,26.24
$STATE,920,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,920,begin apogee
$GC,926,0.00,0.0,2639,1704,3213,3154,106.2,-17.4,141,1063,0.52,0.15,130.10,0.667,10246,0.125,0.057,2806,1862,2465,2525,2406,0,0,0,0,0,0,25.72,25.03,24.45
$STATE,1064,end apogee,CONTROL_FINISHED_OK
$STATE,1064,begin climb
$GC,1066,0.45,175.2,2805,1862,2524,2405,116.7,0.0,155,1214,0.43,2.38,133.48,0.659,10756,0.070,0.035,2975,401,1745,1842,1649,0,0,0,0,0,0,25.19,24.72,24.33
$GC,1230,0.65,337.0,2975,401,1836,1650,112.4,5.9,171,1371,0.15,2.20,130.68,0.652,11270,0.070,0.024,3052,1809,1089,1215,964,0,0,0,0,0,0,25.25,25.26,24.32
$GC,1414,0.65,337.0,3051,1807,1208,963,74.0,22.5,198,1424,0.08,2.25,0.00,0.000,4612,0.203,0.028,3036,401,1083,1204,963,0,0,0,0,0,0,25.15,25.32,25.24
$GC,1451,0.65,337.0,3036,401,1200,963,66.3,21.4,204,1460,0.00,2.20,0.00,0.000,1030,0.000,0.022,3036,1802,1080,1199,962,0,0,0,0,0,0,25.56,25.53,25.58
$GC,1505,0.65,337.0,3035,1806,1200,962,54.8,20.6,213,1512,0.00,2.12,0.00,0.000,260,0.000,0.027,3036,3205,1081,1200,962,0,0,0,0,0,0,25.96,25.65,25.97
$GC,1535,0.65,337.0,3035,3209,1199,962,48.2,21.2,218,1542,0.00,2.15,0.00,0.000,1030,0.000,0.031,3046,1807,1080,1199,962,0,0,0,0,0,0,25.77,25.69,25.80
$GC,1586,0.65,337.0,3045,1808,1200,962,38.9,20.5,227,1595,0.00,2.25,0.00,0.000,516,0.000,0.038,3057,397,1080,1199,962,0,0,0,0,0,0,26.11,25.73,26.13
$GC,1633,0.65,337.0,3056,396,1193,962,29.9,18.3,234,1643,0.10,2.17,0.00,0.000,5126,0.166,0.024,3027,1797,1077,1193,962,0,0,0,0,0,0,25.57,25.86,25.70
$GC,1693,0.65,337.0,3027,1800,1193,961,18.2,21.0,243,1702,0.00,2.17,0.00,0.000,260,0.000,0.031,3028,3211,1076,1192,961,0,0,0,0,0,0,26.23,25.89,26.25
$GC,1764,0.65,337.0,3027,3212,1192,961,7.4,13.0,254,1773,0.00,2.20,0.00,0.000,1030,0.000,0.031,3037,1796,1076,1192,961,0,0,0,0,0,0,25.98,25.94,26.01
$STATE,1798,end climb,SURFACE_DEPTH_REACHED
$STATE,1798,begin surface coast
$FINISH,0.4,1.026514
$STATE,1817,end surface coast,CONTROL_FINISHED_OK
$STATE,1818,begin surface
$SM_CCo,1895,0.00,0.000,0,0,1074,341.21
$SM_GC,1.46,7.57,0.38,0.00,0.027,0.032,0.000,124,2092,1074,-8.35,-1.33,341.21,0,0,0,0,0,0,25.99,26.09,26.06
$IRIDIUM_FIX,-3320.21,2727.09,010817,062329
$TT8_MAMPS,0.025466,0.271887
$HUMID,60.08
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,15.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.7,17.6
$24V_AH,24.24,53.082
$10V_AH,10.17,27.526
$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,18.975,61.450,394.250,0.000,0.000,27.732,22.772,314.323,2.250,0.000,12.558,598.077,178.147,455.154,1052.140,133.492,0.000,854.006,0.000,668.812,0.000,15.920,0.000
$DEVICE_MAMPS,218.025,57.375,667.080,0.000,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,177.775,80.932,377.612,433.234,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343388
$DATA_FILE_SIZE,20441,262
$CAP_FILE_SIZE,55001,0
$CFSIZE,2097086464,2033319936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,010817,082044,-3337.293,2722.479,6,0.8,6,-27.6,0.5,252.3,11,304.1