version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 586
start: 8 1 117 18 49 35
data:
$ID,574
$MISSION,23
$DIVE,586
$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,40
$R_STBD_OVSHOOT,57
$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
$GPS1,010817,184753,-3344.1697,2716.6169,4,1.3,4,-27.7,0.0,0.0,7,36.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-79.5
$GPS2,010817,184848,-3344.1819,2716.6187,4,1.3,4,-27.7,1.0,169.2,7,36.5
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3349.582,2727.877
$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,-175.2,126,2070,1188,1030,0.0,0.0,0,88,0.00,0.00,-70.12,0.000,16386,0.000,0.000,126,2069,3065,3073,3058,0,0,0,0,0,0,26.52,28.83,26.53
$GC,91,-0.45,-175.2,125,2069,3073,3058,3.7,-5.6,9,110,9.95,2.17,-2.22,0.000,19204,0.222,0.033,2658,624,3181,3200,3163,0,0,0,0,0,0,25.38,24.30,25.57
$GC,224,-0.45,-175.2,2657,623,3207,3161,24.7,-12.9,30,233,0.00,2.20,0.00,0.000,1030,0.000,0.032,2649,2035,3183,3209,3157,0,0,0,0,0,0,26.17,26.13,26.20
$GC,285,-0.45,-175.2,2648,2035,3210,3155,32.8,-13.0,39,294,0.00,2.15,0.00,0.000,260,0.000,0.033,2638,3457,3182,3210,3155,0,0,0,0,0,0,26.55,26.13,26.55
$GC,339,-0.45,-175.2,2637,3457,3210,3155,38.9,-10.4,47,348,0.00,2.15,0.00,0.000,1030,0.000,0.026,2638,2041,3182,3210,3154,0,0,0,0,0,0,26.20,26.17,26.25
$GC,394,-0.45,-175.2,2637,2037,3212,3153,44.9,-11.0,56,402,0.00,2.12,0.00,0.000,516,0.000,0.028,2637,638,3182,3212,3153,0,0,0,0,0,0,26.56,26.17,26.57
$GC,478,-0.45,-175.2,2637,637,3213,3153,53.5,-9.2,71,485,0.12,2.15,0.00,0.000,3078,0.146,0.028,2666,2057,3183,3213,3153,0,0,0,0,0,0,25.90,26.18,26.05
$GC,530,-0.45,-175.2,2665,2056,3213,3153,58.1,-9.7,80,537,0.00,2.12,0.00,0.000,260,0.000,0.034,2656,3461,3182,3212,3152,0,0,0,0,0,0,26.58,26.16,26.60
$GC,564,-0.45,-175.2,2656,3460,3212,3152,61.0,-8.8,85,570,0.00,2.10,0.00,0.000,1030,0.000,0.024,2657,2038,3182,3212,3152,0,0,0,0,0,0,26.29,26.21,26.31
$GC,615,-0.45,-175.2,2656,2034,3213,3151,66.3,-9.3,94,621,0.00,2.08,0.00,0.000,516,0.000,0.028,2656,637,3182,3213,3151,0,0,0,0,0,0,26.59,26.18,26.60
$GC,670,-0.45,-175.2,2656,636,3213,3151,71.4,-9.8,103,676,0.00,2.12,0.00,0.000,1030,0.000,0.027,2646,2051,3182,3213,3151,0,0,0,0,0,0,26.29,26.21,26.31
$GC,721,-0.45,-175.2,2646,2051,3213,3150,77.4,-11.2,112,728,0.00,2.12,0.00,0.000,260,0.000,0.033,2635,3458,3182,3213,3151,0,0,0,0,0,0,26.60,26.17,26.61
$GC,752,-0.45,-175.2,2635,3458,3213,3150,81.0,-11.5,117,759,0.00,2.10,0.00,0.000,1030,0.000,0.024,2636,2038,3182,3213,3151,0,0,0,0,0,0,26.29,26.22,26.32
$GC,802,-0.45,-175.2,2635,2034,3214,3150,87.0,-11.6,126,811,0.00,2.10,0.00,0.000,516,0.000,0.028,2635,646,3182,3213,3151,0,0,0,0,0,0,26.60,26.20,26.62
$GC,845,-0.45,-175.2,2635,646,3214,3150,92.2,-13.6,133,853,0.12,2.12,0.00,0.000,3078,0.154,0.028,2663,2054,3182,3214,3150,0,0,0,0,0,0,25.89,26.21,26.05
$GC,897,-0.45,-175.2,2662,2054,3214,3150,98.2,-10.4,142,903,0.00,2.08,0.00,0.000,260,0.000,0.033,2653,3458,3182,3214,3150,0,0,0,0,0,0,26.61,26.17,26.62
$GC,922,-0.45,-175.2,2652,3458,3214,3151,100.3,-10.8,145,929,0.00,2.08,0.00,0.000,1030,0.000,0.019,2653,2034,3182,3214,3150,0,0,0,0,0,0,26.33,26.27,26.35
$STATE,965,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,965,begin apogee
$GC,971,0.00,0.0,2653,1762,3214,3150,104.6,-7.6,150,1107,0.47,0.00,129.98,0.668,10246,0.117,0.000,2805,1760,2465,2524,2406,0,0,0,0,0,0,25.84,25.06,24.46
$STATE,1108,end apogee,CONTROL_FINISHED_OK
$STATE,1108,begin climb
$GC,1110,0.45,175.2,2805,1760,2524,2406,111.2,0.0,164,1253,0.40,2.28,133.40,0.663,10500,0.037,0.030,2995,3206,1748,1838,1659,0,0,0,0,0,0,25.31,24.76,24.37
$GC,1334,0.45,175.2,2994,3206,1834,1658,92.0,13.1,191,1341,0.17,2.10,0.00,0.000,5126,0.151,0.028,2955,1843,1746,1835,1657,0,0,0,0,0,0,25.27,25.56,25.46
$GC,1386,0.53,241.1,2955,1843,1835,1655,86.5,8.3,200,1447,0.00,2.28,52.62,0.640,8708,0.000,0.035,2965,396,1479,1592,1367,0,0,0,0,0,0,26.02,25.18,24.53
$GC,1522,0.53,241.1,2964,395,1578,1367,73.4,10.6,223,1529,0.00,2.15,0.00,0.000,1030,0.000,0.021,2965,1809,1473,1580,1367,0,0,0,0,0,0,25.75,25.68,25.77
$GC,1573,0.53,241.1,2964,1813,1580,1367,67.4,12.2,232,1580,0.00,2.15,0.00,0.000,260,0.000,0.028,2965,3209,1474,1580,1368,0,0,0,0,0,0,26.08,25.77,26.09
$GC,1614,0.53,241.1,2965,3209,1580,1368,63.0,10.9,239,1621,0.00,2.15,0.00,0.000,1030,0.000,0.027,2974,1798,1474,1580,1368,0,0,0,0,0,0,25.90,25.82,25.92
$GC,1666,0.53,241.1,2973,1798,1580,1367,57.4,10.8,248,1673,0.00,2.20,0.00,0.000,516,0.000,0.035,2985,400,1472,1577,1367,0,0,0,0,0,0,26.22,25.83,26.23
$GC,1701,0.53,241.1,2984,398,1573,1368,53.4,11.6,254,1708,0.00,2.12,0.00,0.000,1030,0.000,0.025,2985,1791,1470,1573,1367,0,0,0,0,0,0,25.99,25.92,26.03
$GC,1752,0.53,241.1,2984,1793,1574,1367,47.3,12.7,263,1759,0.00,2.12,0.00,0.000,260,0.000,0.031,2985,3211,1471,1574,1368,0,0,0,0,0,0,26.30,25.94,26.32
$GC,1768,0.53,241.1,2984,3211,1574,1368,45.5,12.9,265,1774,0.00,2.12,0.00,0.000,1030,0.000,0.026,2994,1797,1471,1574,1368,0,0,0,0,0,0,26.04,25.96,26.08
$GC,1818,0.53,241.1,2994,1797,1574,1368,39.9,11.5,274,1827,0.00,2.20,0.00,0.000,516,0.000,0.036,3006,397,1470,1573,1368,0,0,0,0,0,0,26.34,25.93,26.36
$GC,1866,0.53,241.1,3005,396,1569,1368,34.7,11.8,281,1874,0.00,2.17,0.00,0.000,1030,0.000,0.025,3005,1802,1470,1572,1368,0,0,0,0,0,0,26.06,26.04,26.09
$GC,1925,0.53,241.1,3005,1804,1573,1368,27.9,11.4,290,1933,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1804,1470,1573,1368,0,0,0,0,0,0,26.41,26.42,26.41
$GC,1984,0.53,241.1,3005,1804,1573,1368,21.9,10.5,299,1992,0.00,2.20,0.00,0.000,516,0.000,0.034,3015,396,1469,1570,1368,0,0,0,0,0,0,26.44,26.02,26.44
$GC,2007,0.53,241.1,3014,396,1568,1368,19.0,12.0,302,2017,0.10,2.17,0.00,0.000,5126,0.146,0.025,2985,1805,1469,1570,1368,0,0,0,0,0,0,25.80,26.09,25.89
$GC,2068,0.53,241.1,2984,1807,1572,1368,10.6,13.3,311,2076,0.00,2.12,0.00,0.000,260,0.000,0.030,2985,3206,1470,1572,1368,0,0,0,0,0,0,26.46,26.08,26.48
$STATE,2136,end climb,SURFACE_DEPTH_REACHED
$STATE,2136,begin surface coast
$FINISH,1.9,1.026219
$STATE,2144,end surface coast,CONTROL_FINISHED_OK
$STATE,2144,begin surface
$SM_CCo,2162,38.33,0.047,0,0,1118,330.17
$SM_GC,1.39,7.50,1.77,38.33,0.031,0.024,0.047,126,2034,1118,-8.33,0.85,330.17,0,0,0,0,0,0,26.12,26.13,26.03
$IRIDIUM_FIX,-3330.55,2714.48,010817,164852
$TT8_MAMPS,0.025466,0.268891
$HUMID,59.17
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.3,18.6
$24V_AH,24.30,54.355
$10V_AH,10.20,28.167
$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,18.850,68.600,316.000,38.325,0.000,0.000,0.000,0.000,2.250,0.000,11.558,759.263,173.634,451.756,816.429,86.077,0.000,859.857,0.000,803.336,0.000,15.956,0.000
$DEVICE_MAMPS,221.850,35.955,667.845,46.665,0.000,0.000,0.000,0.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,222.241,108.019,474.353,529.223,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343580
$DATA_FILE_SIZE,23791,323
$CAP_FILE_SIZE,54266,0
$CFSIZE,2097086464,2031648768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,010817,192657,-3344.167,2716.817,4,1.5,4,-27.7,1.0,173.4,6,48.4