version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 574
start: 8 1 117 11 6 43
data:
$ID,574
$MISSION,23
$DIVE,574
$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,100
$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,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
$GPS1,010817,110503,-3339.7319,2719.6597,4,1.1,4,-27.6,0.5,278.5,8,16.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-79.9
$GPS2,010817,110556,-3339.7417,2719.6440,4,1.1,4,-27.6,0.0,0.0,8,17.0
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3341.617,2732.426
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,127.6,20000,-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,-175.2,125,2035,1195,1029,0.0,0.0,0,88,0.00,0.00,-69.93,0.000,16386,0.000,0.000,125,2035,3040,3047,3034,0,0,0,0,0,0,26.44,28.83,26.46
$GC,91,-0.45,-175.2,125,2035,3047,3034,3.5,-5.3,9,110,9.88,2.20,-2.75,0.000,18692,0.220,0.041,2648,3467,3183,3199,3168,0,0,0,0,0,0,25.40,24.29,25.60
$GC,165,-0.45,-175.2,2647,3467,3207,3161,19.1,-12.3,20,174,0.00,2.15,0.00,0.000,1030,0.000,0.024,2648,2052,3183,3209,3158,0,0,0,0,0,0,26.14,26.10,26.16
$GC,224,-0.45,-175.2,2648,2046,3210,3156,26.5,-12.1,29,233,0.00,2.12,0.00,0.000,516,0.000,0.028,2648,653,3183,3210,3156,0,0,0,0,0,0,26.47,26.08,26.48
$GC,249,-0.45,-175.2,2648,652,3210,3156,29.5,-12.6,32,259,0.00,2.15,0.00,0.000,1030,0.000,0.027,2638,2045,3183,3211,3156,0,0,0,0,0,0,26.14,26.11,26.17
$GC,310,-0.45,-175.2,2637,2045,3211,3156,37.1,-13.0,41,318,0.00,2.15,0.00,0.000,260,0.000,0.034,2627,3456,3183,3211,3155,0,0,0,0,0,0,26.49,26.08,26.50
$GC,327,-0.45,-175.2,2626,3456,3211,3156,39.6,-12.6,43,340,0.10,2.15,0.00,0.000,3078,0.125,0.029,2663,2052,3183,3212,3155,0,0,0,0,0,0,25.89,26.11,25.96
$GC,386,-0.45,-175.2,2662,2048,3213,3155,45.5,-9.4,52,393,0.00,2.15,0.00,0.000,516,0.000,0.029,2663,637,3183,3213,3154,0,0,0,0,0,0,26.51,26.12,26.52
$GC,435,-0.45,-175.2,2663,638,3220,3149,50.2,-10.3,60,443,0.00,2.17,0.00,0.000,1030,0.000,0.028,2655,2046,3184,3224,3144,0,0,0,0,0,0,26.19,26.17,26.21
$GC,488,-0.45,-175.2,2654,2046,3226,3142,55.1,-8.8,69,495,0.00,2.12,0.00,0.000,260,0.000,0.034,2644,3454,3184,3226,3142,0,0,0,0,0,0,26.53,26.11,26.53
$GC,550,-0.45,-175.2,2643,3454,3227,3141,61.8,-9.7,80,558,0.00,2.15,0.00,0.000,1030,0.000,0.026,2644,2039,3184,3228,3140,0,0,0,0,0,0,26.20,26.16,26.22
$GC,602,-0.45,-175.2,2643,2036,3229,3138,67.8,-12.6,89,609,0.00,2.08,0.00,0.000,516,0.000,0.029,2644,641,3183,3229,3138,0,0,0,0,0,0,26.55,26.15,26.55
$GC,653,-0.45,-175.2,2643,641,3229,3138,73.9,-11.5,98,660,0.10,2.15,0.00,0.000,3078,0.167,0.030,2664,2056,3183,3229,3138,0,0,0,0,0,0,25.91,26.16,26.06
$GC,705,-0.45,-175.2,2663,2056,3230,3138,79.5,-9.8,107,716,0.00,2.08,0.00,0.000,260,0.000,0.033,2655,3459,3183,3229,3138,0,0,0,0,0,0,26.56,26.15,26.57
$GC,739,-0.45,-175.2,2654,3459,3230,3138,83.5,-12.6,112,747,0.00,2.12,0.00,0.000,1030,0.000,0.024,2654,2049,3184,3231,3138,0,0,0,0,0,0,26.21,26.20,26.25
$STATE,763,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,763,begin apogee
$GC,769,0.00,0.0,2655,1747,3232,3136,86.9,-13.0,116,910,0.45,0.05,129.57,0.660,10246,0.119,0.054,2800,1843,2465,2529,2402,0,0,0,0,0,0,25.86,24.83,24.45
$STATE,912,end apogee,CONTROL_FINISHED_OK
$STATE,912,begin climb
$GC,915,0.45,175.2,2800,1844,2529,2401,95.3,0.0,139,1061,0.40,2.10,133.85,0.657,10500,0.047,0.029,2975,3174,1748,1841,1656,0,0,0,0,0,0,25.30,24.91,24.34
$GC,1106,0.45,175.2,2974,3174,1840,1656,82.3,14.1,171,1113,0.00,2.12,0.00,0.000,1030,0.000,0.028,2985,1801,1747,1839,1655,0,0,0,0,0,0,25.48,25.40,25.50
$GC,1158,0.45,175.2,2984,1801,1838,1653,75.9,13.3,180,1167,0.00,2.22,0.00,0.000,516,0.000,0.032,2996,391,1743,1832,1654,0,0,0,0,0,0,25.89,25.55,25.89
$GC,1179,0.45,175.2,2995,392,1828,1654,72.7,14.9,183,1187,0.12,2.12,0.00,0.000,5126,0.164,0.025,2961,1767,1742,1830,1654,0,0,0,0,0,0,25.37,25.65,25.57
$GC,1230,0.45,175.2,2960,1770,1832,1653,66.3,12.1,192,1239,0.00,2.22,0.00,0.000,260,0.000,0.030,2960,3212,1743,1832,1654,0,0,0,0,0,0,26.06,25.72,26.06
$GC,1274,0.51,225.5,2960,3214,1832,1654,61.9,8.7,199,1324,0.00,2.15,40.35,0.622,9222,0.000,0.029,2968,1801,1543,1651,1436,0,0,0,0,0,0,25.86,25.79,24.68
$GC,1368,0.51,225.5,2968,1801,1648,1435,51.4,11.3,215,1373,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,1801,1541,1647,1435,0,0,0,0,0,0,25.92,25.93,25.93
$GC,1418,0.51,225.5,2968,1801,1647,1434,45.5,12.1,224,1425,0.00,2.22,0.00,0.000,516,0.000,0.037,2979,396,1538,1644,1433,0,0,0,0,0,0,26.04,25.67,26.06
$GC,1459,0.51,225.5,2978,395,1637,1434,40.8,11.1,231,1466,0.00,2.15,0.00,0.000,1030,0.000,0.024,2979,1801,1535,1637,1433,0,0,0,0,0,0,25.88,25.81,25.91
$GC,1515,0.51,225.5,2978,1803,1637,1434,35.3,10.1,240,1524,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,1804,1535,1637,1433,0,0,0,0,0,0,26.19,26.20,26.20
$GC,1574,0.51,225.5,2979,1805,1637,1434,29.2,10.4,249,1582,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,1805,1535,1637,1434,0,0,0,0,0,0,26.25,26.27,26.26
$GC,1633,0.51,225.5,2978,1805,1638,1434,22.8,10.9,258,1642,0.00,2.22,0.00,0.000,516,0.000,0.034,2989,393,1535,1636,1434,0,0,0,0,0,0,26.30,25.90,26.31
$GC,1704,0.51,225.8,2989,392,1631,1434,15.3,10.0,269,1713,0.00,2.20,0.00,0.000,1030,0.000,0.026,2989,1804,1533,1633,1434,0,0,0,0,0,0,26.04,26.01,26.05
$GC,1763,0.51,225.8,2989,1805,1634,1434,9.3,10.1,278,1772,0.00,2.15,0.00,0.000,260,0.000,0.031,2989,3211,1533,1633,1434,0,0,0,0,0,0,26.38,26.01,26.39
$STATE,1820,end climb,SURFACE_DEPTH_REACHED
$STATE,1820,begin surface coast
$FINISH,1.0,1.026407
$STATE,1833,end surface coast,CONTROL_FINISHED_OK
$STATE,1833,begin surface
$SM_CCo,1852,45.12,0.047,0,0,1117,330.17
$SM_GC,1.51,7.50,1.75,45.12,0.031,0.018,0.047,125,2028,1117,-8.34,1.22,330.17,0,0,0,0,0,0,26.06,26.10,25.97
$IRIDIUM_FIX,-3327.96,2357.22,010817,094918
$TT8_MAMPS,0.025466,0.268891
$HUMID,59.33
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,15.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.1,21.7
$24V_AH,24.29,53.466
$10V_AH,10.17,27.716
$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,18.550,56.000,303.775,45.125,0.000,0.000,0.000,0.000,1.750,0.000,11.542,635.378,110.612,416.115,745.828,75.979,0.000,820.740,0.000,736.631,0.000,12.928,0.000
$DEVICE_MAMPS,219.555,53.550,660.195,46.665,0.000,0.000,0.000,0.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,196.551,99.511,483.992,484.613,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343584
$DATA_FILE_SIZE,20448,289
$CAP_FILE_SIZE,47689,0
$CFSIZE,2097086464,2032828416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,010817,113903,-3340.193,2719.364,5,0.8,5,-27.6,0.7,236.5,10,130.5