version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 570
start: 8 1 117 8 27 22
data:
$ID,574
$MISSION,23
$DIVE,570
$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,38
$R_STBD_OVSHOOT,85
$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
$GPS1,010817,082044,-3337.2930,2722.4785,6,0.8,6,-27.6,0.5,252.3,11,304.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-77.0
$GPS2,010817,082634,-3337.3667,2722.3728,6,0.9,6,-27.6,1.2,231.7,10,329.9
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3345.639,2730.722
$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,16,-0.45,-175.2,124,2036,1158,985,0.0,0.0,0,95,0.00,0.00,-76.20,0.000,16390,0.000,0.000,125,2036,3181,3190,3173,0,0,0,0,0,0,26.22,24.30,26.23
$GC,98,-0.45,-175.2,124,2036,3190,3173,4.2,-6.8,10,116,9.98,2.10,0.00,0.000,2308,0.222,0.028,2644,3428,3183,3196,3171,0,0,0,0,0,0,25.26,25.62,25.46
$GC,182,-0.45,-175.2,2644,3428,3205,3162,22.0,-10.3,23,191,0.00,2.12,0.00,0.000,1030,0.000,0.024,2644,2038,3183,3207,3159,0,0,0,0,0,0,26.01,25.98,26.04
$GC,242,-0.45,-175.2,2643,2033,3207,3158,28.6,-11.8,32,250,0.00,2.15,0.00,0.000,516,0.000,0.031,2644,641,3183,3209,3157,0,0,0,0,0,0,26.36,25.97,26.37
$GC,295,-0.45,-175.2,2643,641,3209,3157,35.7,-12.8,40,304,0.00,2.12,0.00,0.000,1030,0.000,0.031,2634,1999,3183,3209,3157,0,0,0,0,0,0,26.04,26.01,26.07
$GC,354,-0.45,-175.2,2633,1998,3209,3156,43.9,-15.5,49,361,0.08,2.15,0.00,0.000,2308,0.204,0.032,2652,3424,3182,3209,3156,0,0,0,0,0,0,25.86,25.98,25.92
$GC,416,-0.45,-175.2,2652,3424,3209,3156,53.3,-14.0,60,425,0.00,2.10,0.00,0.000,1030,0.000,0.028,2652,2060,3182,3209,3156,0,0,0,0,0,0,26.08,26.04,26.12
$GC,472,-0.45,-175.2,2652,2054,3211,3154,60.6,-13.1,69,479,0.00,2.12,0.00,0.000,516,0.000,0.027,2652,631,3183,3211,3155,0,0,0,0,0,0,26.44,26.07,26.45
$GC,520,-0.45,-175.2,2652,631,3212,3155,66.2,-11.1,77,527,0.00,2.10,0.00,0.000,1030,0.000,0.028,2643,2014,3182,3211,3154,0,0,0,0,0,0,26.17,26.08,26.19
$GC,571,-0.45,-175.2,2643,2014,3212,3154,71.3,-9.1,86,578,0.00,2.15,0.00,0.000,260,0.000,0.034,2633,3457,3183,3212,3154,0,0,0,0,0,0,26.48,26.06,26.49
$GC,655,-0.45,-175.2,2632,3460,3211,3154,79.8,-9.7,101,665,0.10,2.12,0.00,0.000,3078,0.144,0.028,2663,2037,3182,3211,3154,0,0,0,0,0,0,25.90,26.12,26.03
$GC,710,-0.45,-175.2,2663,2031,3213,3154,84.8,-8.5,110,716,0.00,2.08,0.00,0.000,516,0.000,0.025,2663,631,3183,3213,3154,0,0,0,0,0,0,26.52,26.13,26.53
$GC,755,-0.45,-175.2,2663,631,3213,3153,89.0,-8.7,118,762,0.00,2.15,0.00,0.000,1030,0.000,0.028,2654,2054,3183,3213,3154,0,0,0,0,0,0,26.22,26.15,26.25
$GC,809,-0.45,-175.2,2654,2057,3213,3153,95.9,-13.2,127,815,0.00,2.08,0.00,0.000,260,0.000,0.033,2644,3455,3183,3213,3153,0,0,0,0,0,0,26.53,26.11,26.54
$GC,833,-0.45,-175.2,2643,3456,3211,3153,98.6,-10.9,131,840,0.00,2.10,0.00,0.000,1030,0.000,0.025,2644,2040,3182,3212,3153,0,0,0,0,0,0,26.23,26.15,26.26
$STATE,850,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,850,begin apogee
$GC,856,0.00,0.0,2644,1768,3213,3153,100.1,-10.1,133,990,0.50,0.00,130.10,0.669,10246,0.135,0.000,2800,1765,2464,2524,2405,0,0,0,0,0,0,25.73,25.02,24.44
$STATE,991,end apogee,CONTROL_FINISHED_OK
$STATE,991,begin climb
$GC,994,0.45,175.2,2800,1765,2524,2405,104.4,0.0,147,1140,0.43,2.30,133.18,0.664,10500,0.033,0.028,3021,3211,1748,1833,1664,0,0,0,0,0,0,25.28,24.90,24.32
$GC,1237,0.45,175.2,3021,3217,1831,1661,80.0,13.0,182,1244,0.25,2.15,0.00,0.000,5126,0.164,0.036,2962,1843,1746,1831,1661,0,0,0,0,0,0,25.25,25.55,25.46
$GC,1288,0.45,175.2,2961,1842,1831,1658,73.6,12.7,191,1295,0.00,2.25,0.00,0.000,516,0.000,0.035,2970,390,1744,1831,1657,0,0,0,0,0,0,26.01,25.63,26.02
$GC,1308,0.45,175.2,2970,390,1827,1657,71.7,10.2,194,1314,0.00,2.15,0.00,0.000,1030,0.000,0.023,2971,1802,1742,1827,1657,0,0,0,0,0,0,25.81,25.75,25.84
$GC,1359,0.46,186.6,2971,1808,1828,1657,66.7,9.7,203,1374,0.00,2.17,9.68,0.567,8452,0.000,0.027,2971,3215,1704,1796,1612,0,0,0,0,0,0,26.13,25.57,24.86
$GC,1387,0.50,218.0,2970,3215,1795,1612,64.1,9.2,207,1420,0.00,2.17,26.73,0.615,9222,0.000,0.031,2981,1797,1575,1679,1472,0,0,0,0,0,0,25.83,25.75,24.71
$GC,1464,0.50,218.0,2980,1797,1677,1469,55.7,10.9,220,1471,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,1797,1573,1677,1469,0,0,0,0,0,0,25.96,25.96,25.96
$GC,1517,0.54,245.5,2980,1797,1675,1468,50.5,9.3,229,1548,0.00,2.20,23.05,0.604,8708,0.000,0.034,2992,392,1462,1573,1351,0,0,0,0,0,0,26.07,25.17,24.75
$GC,1588,0.57,270.0,2991,392,1563,1352,43.5,9.4,241,1619,0.00,2.17,20.88,0.591,9222,0.000,0.026,2992,1801,1363,1479,1247,0,0,0,0,0,0,25.75,25.68,24.69
$GC,1669,0.57,270.0,2991,1804,1478,1246,34.7,11.9,254,1678,0.00,2.17,0.00,0.000,260,0.000,0.029,2992,3214,1361,1476,1246,0,0,0,0,0,0,25.98,25.67,25.98
$GC,1699,0.57,270.0,2991,3214,1476,1246,31.5,10.3,258,1708,0.00,2.20,0.00,0.000,1030,0.000,0.031,3002,1810,1361,1476,1246,0,0,0,0,0,0,25.77,25.72,25.80
$GC,1759,0.57,270.0,3001,1810,1475,1245,25.5,11.1,267,1767,0.00,2.22,0.00,0.000,516,0.000,0.036,3013,396,1359,1473,1246,0,0,0,0,0,0,26.14,25.77,26.15
$GC,1853,0.57,270.0,3012,396,1465,1246,14.5,10.5,282,1862,0.00,2.20,0.00,0.000,1030,0.000,0.027,3013,1803,1355,1465,1246,0,0,0,0,0,0,25.94,25.92,25.98
$GC,1911,0.57,270.0,3012,1804,1465,1246,6.9,14.5,291,1920,0.00,2.15,0.00,0.000,260,0.000,0.030,3013,3208,1355,1465,1246,0,0,0,0,0,0,26.29,25.95,26.31
$STATE,1939,end climb,SURFACE_DEPTH_REACHED
$STATE,1939,begin surface coast
$FINISH,0.5,1.026507
$STATE,1964,end surface coast,CONTROL_FINISHED_OK
$STATE,1964,begin surface
$SM_CCo,1982,26.35,0.047,0,0,1118,330.17
$SM_GC,1.55,7.47,1.77,26.35,0.026,0.020,0.047,127,2017,1118,-8.31,0.88,330.17,0,0,0,0,0,0,26.01,26.03,25.92
$IRIDIUM_FIX,-3320.21,2727.09,010817,074124
$TT8_MAMPS,0.025466,0.290612
$HUMID,59.72
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,15.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.1,14.6
$24V_AH,24.30,53.160
$10V_AH,10.11,27.565
$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,18.800,60.350,343.600,26.350,0.000,26.464,19.340,194.818,2.250,0.000,13.580,689.170,128.876,442.151,1022.000,110.398,0.000,840.812,0.000,758.568,0.000,15.921,0.000
$DEVICE_MAMPS,221.850,87.975,668.610,47.430,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,204.902,102.074,462.466,503.810,0.000,0.000,0.000,0.000,0.000,0.000
$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,20411,299
$CAP_FILE_SIZE,55498,0
$CFSIZE,2097086464,2033221632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,010817,090230,-3337.924,2721.511,62,0.8,62,-27.6,0.0,0.0,10,7.1