version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 571
start: 8 1 117 9 9 9
data:
$ID,574
$MISSION,23
$DIVE,571
$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,59
$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
$GPS1,010817,090230,-3337.9238,2721.5112,62,0.8,62,-27.6,0.0,0.0,10,7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-77.3
$GPS2,010817,090821,-3337.9741,2721.3621,4,0.8,4,-27.6,0.8,273.4,10,13.3
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3346.247,2729.713
$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,-175.2,127,2011,1183,1027,0.0,0.0,0,88,0.00,0.00,-70.07,0.000,16386,0.000,0.000,127,2011,3011,3019,3003,0,0,0,0,0,0,26.22,28.83,26.23
$GC,91,-0.45,-175.2,127,2011,3019,3003,3.1,-3.6,9,117,10.00,2.22,-3.47,0.000,18692,0.222,0.041,2650,3471,3183,3202,3164,0,0,0,0,0,0,25.25,24.15,25.46
$GC,168,-0.45,-175.2,2649,3471,3207,3161,18.3,-11.7,20,177,0.00,2.15,0.00,0.000,1030,0.000,0.025,2650,2067,3183,3208,3159,0,0,0,0,0,0,25.98,25.96,26.02
$GC,227,-0.45,-175.2,2649,2063,3209,3158,25.7,-12.2,29,236,0.00,2.20,0.00,0.000,516,0.000,0.030,2649,635,3184,3210,3158,0,0,0,0,0,0,26.34,25.96,26.36
$GC,258,-0.45,-175.2,2649,635,3210,3157,29.5,-12.9,33,267,0.00,2.20,0.00,0.000,1030,0.000,0.026,2640,2055,3183,3210,3157,0,0,0,0,0,0,26.03,26.03,26.07
$GC,318,-0.45,-175.2,2639,2054,3210,3157,37.1,-12.8,42,326,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2054,3183,3210,3157,0,0,0,0,0,0,26.39,26.41,26.41
$GC,374,-0.45,-175.2,2639,2054,3211,3157,44.7,-12.0,51,381,0.00,2.12,0.00,0.000,516,0.000,0.027,2640,640,3184,3211,3157,0,0,0,0,0,0,26.42,26.03,26.43
$GC,400,-0.45,-175.2,2639,639,3211,3157,47.9,-12.8,55,408,0.10,2.15,0.00,0.000,3078,0.155,0.031,2661,2047,3184,3211,3157,0,0,0,0,0,0,25.79,26.03,25.94
$GC,452,-0.45,-175.2,2661,2047,3212,3156,53.1,-9.3,64,459,0.00,2.15,0.00,0.000,260,0.000,0.034,2652,3458,3183,3211,3156,0,0,0,0,0,0,26.45,26.03,26.46
$GC,510,-0.45,-175.2,2651,3459,3211,3156,58.0,-8.2,74,517,0.00,2.10,0.00,0.000,1030,0.000,0.024,2652,2038,3183,3211,3156,0,0,0,0,0,0,26.18,26.11,26.20
$GC,562,-0.45,-175.2,2651,2034,3213,3155,62.7,-9.5,83,568,0.00,2.08,0.00,0.000,516,0.000,0.027,2652,637,3184,3213,3155,0,0,0,0,0,0,26.48,26.09,26.49
$GC,610,-0.45,-175.2,2651,636,3213,3155,67.2,-9.2,91,616,0.00,2.15,0.00,0.000,1030,0.000,0.029,2642,2052,3184,3213,3155,0,0,0,0,0,0,26.19,26.10,26.21
$GC,660,-0.45,-175.2,2641,2052,3213,3155,73.3,-11.4,100,668,0.00,2.17,0.00,0.000,260,0.000,0.037,2631,3454,3184,3213,3155,0,0,0,0,0,0,26.51,26.06,26.51
$GC,675,-0.45,-175.2,2631,3454,3213,3155,74.1,-8.0,102,684,0.10,2.12,0.00,0.000,3078,0.155,0.025,2662,2046,3183,3212,3155,0,0,0,0,0,0,25.79,26.14,25.87
$GC,729,-0.45,-175.2,2660,2041,3213,3155,81.2,-13.7,111,735,0.00,2.15,0.00,0.000,260,0.000,0.030,2653,3471,3184,3213,3155,0,0,0,0,0,0,26.51,26.10,26.52
$GC,786,-0.45,-175.2,2652,3471,3213,3155,86.9,-10.3,121,793,0.00,2.10,0.00,0.000,1030,0.000,0.024,2653,2051,3184,3213,3155,0,0,0,0,0,0,26.23,26.16,26.26
$GC,837,-0.45,-175.2,2652,2050,3213,3154,93.4,-13.7,130,844,0.00,2.12,0.00,0.000,516,0.000,0.031,2653,643,3184,3214,3155,0,0,0,0,0,0,26.53,26.12,26.55
$GC,868,-0.45,-175.2,2652,642,3214,3154,96.5,-8.5,135,875,0.00,2.15,0.00,0.000,1030,0.000,0.029,2643,2053,3184,3214,3154,0,0,0,0,0,0,26.22,26.14,26.25
$STATE,907,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,907,begin apogee
$GC,913,0.00,0.0,2643,1723,3214,3154,101.5,-12.8,141,1050,0.50,0.12,130.48,0.662,10246,0.124,0.065,2802,1876,2464,2524,2404,0,0,0,0,0,0,25.78,25.03,24.44
$STATE,1051,end apogee,CONTROL_FINISHED_OK
$STATE,1051,begin climb
$GC,1053,0.45,175.2,2802,1876,2524,2404,110.2,0.0,155,1201,0.40,2.38,133.38,0.657,10756,0.055,0.030,2978,405,1745,1836,1655,0,0,0,0,0,0,25.19,24.72,24.32
$GC,1246,0.58,283.7,2977,405,1829,1656,102.9,7.2,174,1343,0.00,2.17,86.93,0.644,9222,0.000,0.024,2978,1810,1306,1430,1182,0,0,0,0,0,0,25.48,25.41,24.33
$GC,1388,0.58,283.7,2977,1813,1426,1181,85.7,12.2,196,1395,0.00,2.15,0.00,0.000,260,0.000,0.027,2978,3205,1303,1426,1181,0,0,0,0,0,0,25.70,25.42,25.70
$GC,1410,0.58,283.7,2977,3210,1425,1181,82.3,16.8,199,1417,0.00,2.17,0.00,0.000,1030,0.000,0.034,2987,1814,1303,1425,1181,0,0,0,0,0,0,25.56,25.47,25.58
$GC,1461,0.58,283.7,2987,1814,1423,1181,74.1,16.8,208,1468,0.00,2.28,0.00,0.000,516,0.000,0.037,2998,385,1300,1420,1181,0,0,0,0,0,0,25.95,25.59,25.96
$GC,1483,0.58,283.7,2998,384,1415,1182,70.9,15.6,211,1489,0.00,2.20,0.00,0.000,1030,0.000,0.028,2999,1803,1298,1415,1181,0,0,0,0,0,0,25.76,25.68,25.79
$GC,1533,0.58,283.7,2998,1806,1415,1182,62.1,18.5,220,1541,0.00,2.17,0.00,0.000,260,0.000,0.031,2999,3209,1298,1415,1181,0,0,0,0,0,0,26.09,25.75,26.10
$GC,1580,0.58,283.7,2998,3209,1415,1181,54.4,14.8,228,1589,0.00,2.20,0.00,0.000,1030,0.000,0.031,3008,1799,1298,1415,1181,0,0,0,0,0,0,25.86,25.82,25.89
$GC,1634,0.58,283.7,3008,1799,1415,1181,47.0,14.4,237,1641,0.00,2.20,0.00,0.000,516,0.000,0.036,3019,383,1298,1415,1181,0,0,0,0,0,0,26.22,25.83,26.23
$GC,1674,0.58,283.7,3019,382,1410,1182,41.3,13.3,244,1681,0.00,2.20,0.00,0.000,1030,0.000,0.024,3019,1800,1295,1410,1181,0,0,0,0,0,0,25.97,25.94,25.99
$GC,1732,0.58,283.7,3019,1804,1410,1182,33.4,15.1,253,1740,0.00,2.15,0.00,0.000,260,0.000,0.030,3019,3208,1296,1410,1182,0,0,0,0,0,0,26.30,25.95,26.31
$GC,1749,0.58,283.7,3019,3210,1410,1182,30.3,16.3,255,1758,0.00,2.20,0.00,0.000,1030,0.000,0.034,3024,1801,1295,1410,1181,0,0,0,0,0,0,25.98,25.93,26.01
$GC,1809,0.58,283.7,3024,1801,1410,1181,22.0,14.9,264,1817,0.00,2.22,0.00,0.000,516,0.000,0.036,3035,386,1295,1410,1181,0,0,0,0,0,0,26.34,25.94,26.36
$GC,1891,0.58,283.7,3035,385,1406,1182,11.0,12.3,277,1900,0.10,2.20,0.00,0.000,5126,0.166,0.027,3005,1803,1294,1407,1182,0,0,0,0,0,0,25.73,26.03,25.81
$GC,1951,0.58,283.7,3004,1809,1407,1181,3.8,11.7,286,1960,0.00,2.12,0.00,0.000,260,0.000,0.028,3005,3204,1294,1407,1181,0,0,0,0,0,0,26.42,26.06,26.43
$STATE,1968,end climb,SURFACE_DEPTH_REACHED
$STATE,1968,begin surface coast
$FINISH,0.4,1.009730
$STATE,1993,end surface coast,CONTROL_FINISHED_OK
$STATE,1994,begin surface
$SM_CCo,2012,19.80,0.048,0,0,1118,330.17
$SM_GC,1.63,7.43,1.75,19.80,0.024,0.019,0.048,125,2034,1118,-8.33,1.05,330.17,0,0,0,0,0,0,26.12,26.13,25.99
$IRIDIUM_FIX,-3322.80,2720.20,010817,082216
$TT8_MAMPS,0.025466,0.271887
$HUMID,59.49
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,15.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.2,15.9
$24V_AH,24.15,53.240
$10V_AH,10.16,27.605
$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,18.625,69.625,350.775,19.800,0.000,22.639,18.596,201.064,2.250,0.000,12.584,686.434,139.104,459.342,1008.306,122.310,0.000,876.576,0.000,744.095,0.000,15.929,0.000
$DEVICE_MAMPS,221.850,65.025,662.490,48.195,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,199.436,93.819,430.290,485.399,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343392
$DATA_FILE_SIZE,20470,292
$CAP_FILE_SIZE,58768,0
$CFSIZE,2097086464,2033123328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,010817,094343,-3338.588,2720.782,5,0.9,5,-27.6,0.9,209.7,10,70.3