version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 587
start: 8 1 117 19 36 53
data:
$ID,574
$MISSION,23
$DIVE,587
$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,42
$R_STBD_OVSHOOT,44
$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
$GPS1,010817,192657,-3344.1667,2716.8174,4,1.5,4,-27.7,1.0,173.4,6,48.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-78.7
$GPS2,010817,193606,-3344.2542,2716.7371,18,1.0,18,-27.7,0.0,0.0,8,172.2
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3349.654,2727.995
$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,-175.2,126,2026,1183,1025,0.0,0.0,0,88,0.00,0.00,-70.07,0.000,16386,0.000,0.000,126,2027,3043,3051,3036,0,0,0,0,0,0,26.22,28.83,26.23
$GC,91,-0.45,-175.2,126,2027,3053,3036,3.4,-4.3,9,110,9.98,2.20,-2.70,0.000,18692,0.218,0.041,2642,3462,3183,3200,3166,0,0,0,0,0,0,25.16,24.13,25.38
$GC,176,-0.45,-175.2,2641,3465,3207,3161,21.5,-13.1,22,185,0.00,2.15,0.00,0.000,1030,0.000,0.026,2642,2056,3183,3210,3157,0,0,0,0,0,0,26.01,25.97,26.02
$GC,236,-0.45,-175.2,2641,2051,3211,3156,29.4,-14.1,31,247,0.00,2.17,0.00,0.000,516,0.000,0.031,2642,639,3184,3212,3156,0,0,0,0,0,0,26.37,25.96,26.38
$GC,327,-0.45,-175.2,2641,639,3212,3155,41.5,-12.9,45,334,0.10,2.15,0.00,0.000,3078,0.144,0.027,2663,2055,3184,3212,3156,0,0,0,0,0,0,25.81,26.04,25.94
$GC,378,-0.45,-175.2,2662,2054,3213,3154,46.9,-9.6,54,387,0.00,2.12,0.00,0.000,260,0.000,0.031,2653,3459,3183,3213,3154,0,0,0,0,0,0,26.44,26.03,26.46
$GC,394,-0.45,-175.2,2653,3459,3212,3154,48.5,-9.6,56,401,0.00,2.15,0.00,0.000,1030,0.000,0.024,2653,2046,3183,3213,3154,0,0,0,0,0,0,26.10,26.07,26.13
$GC,446,-0.45,-175.2,2653,2042,3213,3152,53.7,-9.7,65,453,0.00,2.10,0.00,0.000,516,0.000,0.029,2653,638,3183,3214,3152,0,0,0,0,0,0,26.47,26.06,26.48
$GC,513,-0.45,-175.2,2653,637,3214,3153,60.9,-11.6,77,520,0.00,2.15,0.00,0.000,1030,0.000,0.031,2645,2044,3183,3214,3153,0,0,0,0,0,0,26.16,26.07,26.19
$GC,564,-0.45,-175.2,2644,2044,3214,3153,66.0,-10.0,86,571,0.00,2.10,0.00,0.000,260,0.000,0.033,2634,3459,3183,3214,3152,0,0,0,0,0,0,26.51,26.07,26.51
$GC,649,-0.45,-175.2,2633,3459,3214,3153,72.7,-8.6,101,657,0.10,2.10,0.00,0.000,3078,0.141,0.024,2665,2039,3183,3214,3153,0,0,0,0,0,0,25.90,26.15,26.03
$GC,702,-0.45,-175.2,2664,2034,3214,3152,77.1,-7.3,110,708,0.00,2.05,0.00,0.000,516,0.000,0.026,2665,642,3183,3214,3152,0,0,0,0,0,0,26.54,26.14,26.55
$GC,752,-0.45,-175.2,2664,641,3215,3152,81.4,-7.5,119,759,0.00,2.15,0.00,0.000,1030,0.000,0.027,2656,2068,3183,3215,3152,0,0,0,0,0,0,26.24,26.16,26.26
$GC,803,-0.45,-175.2,2655,2068,3215,3152,86.3,-10.5,128,811,0.00,2.10,0.00,0.000,260,0.000,0.033,2645,3456,3183,3215,3151,0,0,0,0,0,0,26.55,26.13,26.57
$GC,836,-0.45,-175.2,2645,3456,3214,3152,89.6,-11.0,133,845,0.00,2.08,0.00,0.000,1030,0.000,0.025,2645,2051,3182,3214,3151,0,0,0,0,0,0,26.25,26.17,26.27
$GC,889,-0.45,-175.2,2645,2046,3215,3151,95.8,-10.4,142,895,0.00,2.08,0.00,0.000,516,0.000,0.028,2645,644,3183,3216,3151,0,0,0,0,0,0,26.57,26.15,26.58
$GC,920,-0.45,-175.2,2645,644,3216,3151,98.7,-9.0,147,927,0.00,2.12,0.00,0.000,1030,0.000,0.028,2635,2046,3184,3216,3152,0,0,0,0,0,0,26.25,26.17,26.27
$GC,969,-0.45,-175.2,2635,2046,3216,3151,103.7,-10.9,153,978,0.00,2.08,0.00,0.000,260,0.000,0.031,2625,3459,3183,3215,3151,0,0,0,0,0,0,26.58,26.15,26.59
$STATE,999,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,999,begin apogee
$GC,1007,0.00,0.0,2624,1797,3215,3151,106.8,-10.1,156,1141,0.57,0.00,130.35,0.663,10246,0.125,0.000,2805,1795,2464,2524,2405,0,0,0,0,0,0,25.76,25.06,24.46
$STATE,1142,end apogee,CONTROL_FINISHED_OK
$STATE,1142,begin climb
$GC,1145,0.45,175.2,2805,1795,2524,2405,114.4,0.0,170,1287,0.38,2.22,133.12,0.657,10500,0.046,0.028,2967,3216,1749,1842,1656,0,0,0,0,0,0,25.25,24.75,24.37
$GC,1360,0.45,175.2,2966,3215,1839,1655,99.3,12.0,191,1366,0.00,2.17,0.00,0.000,1030,0.000,0.028,2976,1799,1747,1839,1655,0,0,0,0,0,0,25.60,25.53,25.63
$GC,1410,0.45,175.2,2976,1800,1838,1653,92.6,13.5,200,1418,0.00,2.28,0.00,0.000,516,0.000,0.038,2987,390,1744,1835,1653,0,0,0,0,0,0,25.99,25.61,26.01
$GC,1457,0.45,175.2,2987,389,1826,1653,86.3,12.5,208,1465,0.10,2.22,0.00,0.000,5126,0.143,0.028,2958,1807,1740,1828,1653,0,0,0,0,0,0,25.51,25.76,25.60
$GC,1512,0.45,175.2,2958,1809,1830,1653,80.4,11.0,217,1518,0.00,2.12,0.00,0.000,260,0.000,0.030,2958,3218,1741,1830,1653,0,0,0,0,0,0,26.17,25.82,26.18
$GC,1562,0.45,177.8,2958,3218,1831,1653,74.9,9.9,226,1569,0.00,2.15,0.00,0.000,1030,0.000,0.029,2967,1801,1742,1832,1653,0,0,0,0,0,0,25.96,25.89,25.98
$GC,1615,0.45,177.8,2966,1801,1831,1653,69.6,10.6,235,1621,0.00,2.15,0.00,0.000,516,0.000,0.034,2977,392,1741,1830,1653,0,0,0,0,0,0,26.28,25.88,26.29
$GC,1660,0.45,177.8,2977,392,1824,1653,64.5,11.1,243,1667,0.00,2.17,0.00,0.000,1030,0.000,0.025,2978,1810,1739,1825,1653,0,0,0,0,0,0,26.05,25.98,26.08
$GC,1712,0.48,199.0,2977,1809,1826,1653,59.3,9.5,252,1738,0.00,2.12,19.27,0.597,8452,0.000,0.031,2978,3205,1652,1747,1558,0,0,0,0,0,0,26.35,25.44,25.02
$GC,1777,0.48,199.0,2977,3205,1745,1559,52.2,11.5,263,1784,0.00,2.12,0.00,0.000,1030,0.000,0.028,2987,1799,1652,1746,1558,0,0,0,0,0,0,25.95,25.87,25.97
$GC,1829,0.48,199.0,2987,1799,1743,1557,46.3,11.9,272,1836,0.00,2.22,0.00,0.000,516,0.000,0.034,2999,391,1649,1741,1557,0,0,0,0,0,0,26.26,25.86,26.27
$GC,1864,0.48,199.0,2998,390,1735,1557,42.3,11.2,278,1872,0.10,2.15,0.00,0.000,5126,0.154,0.026,2970,1802,1646,1735,1557,0,0,0,0,0,0,25.70,25.96,25.85
$GC,1920,0.50,216.9,2969,1803,1738,1557,36.9,9.6,287,1945,0.00,2.22,15.65,0.577,8708,0.000,0.032,2978,396,1576,1673,1479,0,0,0,0,0,0,26.34,25.45,25.03
$GC,1966,0.55,260.9,2978,396,1668,1479,32.9,8.9,293,2006,0.00,2.17,30.70,0.588,9222,0.000,0.024,2979,1795,1401,1519,1283,0,0,0,0,0,0,25.93,25.90,24.84
$GC,2058,0.57,269.8,2978,1797,1515,1281,24.2,9.8,306,2068,0.00,2.25,4.28,0.399,8708,0.000,0.033,2988,389,1363,1484,1243,0,0,0,0,0,0,26.06,25.48,24.72
$GC,2084,0.57,269.8,2988,388,1475,1244,21.4,10.6,309,2093,0.00,2.22,0.00,0.000,1030,0.000,0.027,2988,1798,1358,1474,1243,0,0,0,0,0,0,25.79,25.75,25.82
$GC,2143,0.57,269.8,2988,1799,1475,1244,14.9,11.6,318,2152,0.00,2.17,0.00,0.000,260,0.000,0.032,2989,3214,1359,1475,1244,0,0,0,0,0,0,26.18,25.82,26.19
$GC,2220,0.57,269.8,2988,3214,1475,1244,7.0,10.4,330,2229,0.00,2.17,0.00,0.000,1030,0.000,0.028,2999,1805,1359,1474,1244,0,0,0,0,0,0,25.96,25.92,26.00
$STATE,2253,end climb,SURFACE_DEPTH_REACHED
$STATE,2253,begin surface coast
$FINISH,0.7,1.000330
$STATE,2285,end surface coast,CONTROL_FINISHED_OK
$STATE,2285,begin surface
$SM_CCo,2302,26.25,0.048,0,0,1118,330.17
$SM_GC,1.78,7.55,0.38,26.25,0.031,0.029,0.048,125,2097,1118,-8.35,-1.02,330.17,0,0,0,0,0,0,26.01,26.11,25.90
$IRIDIUM_FIX,-3330.55,2713.30,010817,180346
$TT8_MAMPS,0.025466,0.26215
$HUMID,59.33
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,16.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.3,21.3
$24V_AH,24.13,54.440
$10V_AH,10.17,28.212
$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,18.875,78.300,333.375,26.250,0.000,21.435,34.475,346.182,2.250,0.000,25.941,807.740,209.065,450.245,1288.066,154.169,0.000,901.242,0.000,855.497,0.000,15.946,0.000
$DEVICE_MAMPS,218.025,41.310,663.255,48.195,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,233.480,110.779,495.283,552.175,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343440
$DATA_FILE_SIZE,23781,340
$CAP_FILE_SIZE,67945,0
$CFSIZE,2097086464,2031517696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,010817,201623,-3344.229,2716.925,6,0.7,6,-27.7,0.0,0.0,11,53.3