version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 582
start: 8 1 117 16 6 21
data:
$ID,574
$MISSION,23
$DIVE,582
$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,120
$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,42
$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
$GPS1,010817,160440,-3343.2000,2716.6040,4,1.0,4,-27.7,0.0,0.0,7,39.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-79.3
$GPS2,010817,160534,-3343.2129,2716.5786,5,1.0,5,-27.7,0.7,278.1,7,23.2
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3348.613,2727.834
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,147.7,20000,-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,-175.2,125,2033,1184,1028,0.0,0.0,0,88,0.00,0.00,-70.18,0.000,16386,0.000,0.000,125,2034,3084,3092,3077,0,0,0,0,0,0,26.47,28.83,26.48
$GC,92,-0.45,-175.2,125,2034,3093,3077,4.0,-6.8,9,110,9.60,2.15,-1.80,0.000,18692,0.209,0.031,2642,3501,3182,3195,3170,0,0,0,0,0,0,25.41,24.30,25.61
$GC,149,-0.45,-175.2,2641,3501,3205,3161,17.9,-11.8,17,158,0.00,2.20,0.00,0.000,1030,0.000,0.025,2642,2055,3182,3207,3158,0,0,0,0,0,0,26.15,26.12,26.17
$GC,208,-0.45,-175.2,2641,2053,3208,3156,25.4,-12.9,26,217,0.00,2.15,0.00,0.000,516,0.000,0.029,2642,642,3182,3209,3156,0,0,0,0,0,0,26.49,26.10,26.51
$GC,279,-0.45,-175.2,2641,642,3209,3156,34.7,-13.1,37,289,0.08,2.17,0.00,0.000,3078,0.151,0.028,2656,2048,3182,3209,3156,0,0,0,0,0,0,25.89,26.14,25.97
$GC,337,-0.45,-175.2,2655,2049,3210,3154,41.9,-12.4,46,344,0.00,2.10,0.00,0.000,516,0.000,0.028,2656,643,3181,3210,3153,0,0,0,0,0,0,26.52,26.14,26.53
$GC,372,-0.45,-175.2,2655,643,3210,3154,46.2,-12.5,52,380,0.00,2.17,0.00,0.000,1030,0.000,0.028,2647,2055,3182,3210,3154,0,0,0,0,0,0,26.20,26.16,26.22
$GC,428,-0.45,-175.2,2646,2055,3211,3154,52.1,-11.8,61,434,0.00,2.08,0.00,0.000,260,0.000,0.032,2636,3458,3182,3210,3154,0,0,0,0,0,0,26.54,26.15,26.55
$GC,447,-0.45,-175.2,2635,3458,3210,3154,54.8,-11.6,64,454,0.00,2.12,0.00,0.000,1030,0.000,0.025,2636,2053,3181,3210,3153,0,0,0,0,0,0,26.22,26.18,26.25
$GC,500,-0.45,-175.2,2635,2049,3211,3152,61.1,-11.8,73,507,0.00,2.10,0.00,0.000,516,0.000,0.028,2636,633,3182,3212,3152,0,0,0,0,0,0,26.55,26.17,26.56
$GC,561,-0.45,-175.2,2635,632,3212,3152,68.7,-12.5,84,571,0.10,2.17,0.00,0.000,3078,0.148,0.027,2656,2050,3182,3212,3153,0,0,0,0,0,0,25.89,26.20,25.98
$GC,618,-0.45,-175.2,2656,2049,3212,3152,74.6,-10.2,93,624,0.00,2.12,0.00,0.000,260,0.000,0.034,2647,3463,3182,3212,3152,0,0,0,0,0,0,26.57,26.16,26.58
$GC,677,-0.45,-175.2,2646,3463,3212,3152,80.6,-9.6,103,683,0.00,2.10,0.00,0.000,1030,0.000,0.024,2647,2040,3182,3212,3152,0,0,0,0,0,0,26.29,26.21,26.31
$GC,728,-0.45,-175.2,2646,2036,3213,3151,85.8,-10.3,112,736,0.00,2.10,0.00,0.000,516,0.000,0.028,2647,649,3182,3213,3151,0,0,0,0,0,0,26.59,26.19,26.60
$STATE,741,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,741,begin apogee
$GC,748,0.00,0.0,2639,1801,3213,3151,87.6,-10.9,114,882,0.50,0.00,128.75,0.654,10246,0.112,0.000,2802,1802,2464,2522,2407,0,0,0,0,0,0,25.88,25.08,24.50
$STATE,883,end apogee,CONTROL_FINISHED_OK
$STATE,883,begin climb
$GC,885,0.45,175.2,2802,1802,2521,2407,93.3,0.0,136,1026,0.40,2.22,132.43,0.650,11012,0.048,0.029,2969,3203,1749,1841,1658,0,0,0,0,0,0,25.27,24.98,24.40
$GC,1041,0.45,175.2,2968,3203,1839,1658,82.7,13.2,161,1048,0.00,2.17,0.00,0.000,1030,0.000,0.027,2979,1798,1748,1839,1658,0,0,0,0,0,0,25.35,25.29,25.37
$GC,1092,0.45,175.2,2978,1798,1838,1655,75.3,13.2,170,1099,0.00,2.12,0.00,0.000,260,0.000,0.028,2979,3208,1746,1838,1655,0,0,0,0,0,0,25.82,25.53,25.83
$GC,1116,0.45,175.2,2978,3207,1837,1655,72.5,11.7,174,1125,0.10,2.17,0.00,0.000,5126,0.164,0.025,2961,1802,1745,1837,1654,0,0,0,0,0,0,25.34,25.61,25.44
$GC,1169,0.45,175.2,2961,1802,1836,1654,66.8,10.0,183,1176,0.00,2.12,0.00,0.000,260,0.000,0.028,2961,3213,1745,1837,1654,0,0,0,0,0,0,26.05,25.73,26.06
$GC,1199,0.45,175.2,2961,3213,1836,1653,63.8,10.7,188,1207,0.00,2.20,0.00,0.000,1030,0.000,0.028,2970,1798,1745,1836,1654,0,0,0,0,0,0,25.83,25.78,25.84
$GC,1254,0.48,204.1,2969,1797,1835,1653,58.8,9.3,197,1286,0.00,2.22,23.65,0.604,8708,0.000,0.034,2980,395,1629,1727,1531,0,0,0,0,0,0,26.19,25.51,24.85
$GC,1357,0.50,216.8,2980,393,1716,1532,48.8,9.7,215,1372,0.00,2.15,10.85,0.560,9222,0.000,0.024,2980,1801,1581,1679,1483,0,0,0,0,0,0,25.89,25.82,24.85
$GC,1418,0.50,216.8,2980,1802,1678,1482,42.4,10.3,225,1424,0.00,2.17,0.00,0.000,516,0.000,0.031,2990,392,1579,1676,1482,0,0,0,0,0,0,26.12,25.77,26.13
$GC,1467,0.50,216.8,2990,392,1669,1482,37.4,11.0,233,1476,0.00,2.20,0.00,0.000,1030,0.000,0.025,2990,1799,1576,1670,1482,0,0,0,0,0,0,25.92,25.88,25.94
$GC,1526,0.50,216.8,2990,1800,1670,1482,31.0,11.3,242,1534,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,1800,1576,1670,1482,0,0,0,0,0,0,26.27,26.27,26.27
$GC,1584,0.50,216.8,2990,1800,1670,1482,24.8,10.4,251,1593,0.00,2.22,0.00,0.000,516,0.000,0.033,3001,392,1575,1668,1482,0,0,0,0,0,0,26.32,25.93,26.33
$GC,1620,0.50,216.8,3000,392,1666,1482,20.9,10.3,256,1629,0.00,2.17,0.00,0.000,1030,0.000,0.026,3000,1795,1574,1666,1482,0,0,0,0,0,0,26.04,26.02,26.08
$GC,1678,0.50,216.8,3000,1795,1668,1482,14.3,11.4,265,1687,0.00,2.15,0.00,0.000,260,0.000,0.031,3000,3209,1575,1668,1482,0,0,0,0,0,0,26.38,26.01,26.39
$GC,1708,0.50,216.8,3000,3209,1668,1482,11.0,11.3,269,1718,0.10,2.17,0.00,0.000,5126,0.144,0.028,2978,1791,1575,1668,1482,0,0,0,0,0,0,25.77,26.04,25.87
$GC,1767,0.52,232.7,2978,1791,1668,1482,5.3,9.6,278,1784,0.00,2.20,6.78,0.435,8708,0.000,0.036,2987,387,1513,1614,1412,0,0,0,0,0,0,26.42,25.78,25.06
$STATE,1791,end climb,SURFACE_DEPTH_REACHED
$STATE,1791,begin surface coast
$FINISH,0.5,1.026516
$STATE,1828,end surface coast,CONTROL_FINISHED_OK
$STATE,1828,begin surface
$SM_CCo,1847,42.35,0.048,0,0,1118,330.17
$SM_GC,1.54,7.40,2.60,42.35,0.025,0.025,0.048,125,2064,1118,-8.34,-1.13,330.17,0,0,0,0,0,0,26.04,26.06,25.96
$IRIDIUM_FIX,-3327.96,2715.60,010817,141621
$TT8_MAMPS,0.024717,0.266644
$HUMID,58.54
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,21.3
$24V_AH,24.30,54.072
$10V_AH,10.20,28.005
$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,18.275,64.800,302.450,42.350,0.000,0.000,0.000,0.000,1.750,0.000,11.576,641.022,109.587,403.740,745.745,76.107,0.000,804.115,0.000,735.132,0.000,12.973,0.000
$DEVICE_MAMPS,208.845,35.955,654.075,48.195,0.000,0.000,0.000,0.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,195.779,100.029,486.505,490.070,0.000,0.000,0.000,0.000,0.000,0.000
$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,20374,287
$CAP_FILE_SIZE,49148,0
$CFSIZE,2097086464,2032041984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,010817,163833,-3343.481,2716.645,5,0.8,5,-27.7,0.0,0.0,11,326.0