version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 588
start: 8 1 117 20 18 8
data:
$ID,574
$MISSION,23
$DIVE,588
$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,38
$R_STBD_OVSHOOT,79
$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
$GPS1,010817,201623,-3344.2292,2716.9253,6,0.7,6,-27.7,0.0,0.0,11,53.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-80.8
$GPS2,010817,201721,-3344.2231,2716.9265,4,0.7,5,-27.7,0.0,0.0,12,219.2
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3349.623,2728.185
$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,15,-0.45,-175.2,125,2040,1191,1026,0.0,0.0,0,87,0.00,0.00,-69.55,0.000,16386,0.000,0.000,125,2041,3021,3030,3012,0,0,0,0,0,0,26.42,28.83,26.43
$GC,91,-0.45,-175.2,125,2041,3031,3012,3.5,-5.1,9,109,9.85,2.17,-3.15,0.000,19204,0.216,0.039,2657,627,3183,3200,3166,0,0,0,0,0,0,25.32,24.25,25.54
$GC,211,-0.45,-175.2,2657,627,3208,3161,26.2,-12.4,28,220,0.00,2.15,0.00,0.000,1030,0.000,0.029,2648,2008,3183,3209,3158,0,0,0,0,0,0,26.11,26.08,26.14
$GC,273,-0.45,-175.2,2648,2008,3211,3156,34.5,-12.8,37,282,0.00,2.22,0.00,0.000,260,0.000,0.035,2638,3460,3183,3211,3156,0,0,0,0,0,0,26.48,26.06,26.49
$GC,333,-0.45,-175.2,2637,3460,3211,3156,41.0,-9.9,46,339,0.00,2.10,0.00,0.000,1030,0.000,0.023,2638,2039,3183,3211,3156,0,0,0,0,0,0,26.21,26.14,26.23
$GC,386,-0.45,-175.2,2637,2039,3212,3154,46.9,-11.7,55,392,0.00,2.08,0.00,0.000,516,0.000,0.031,2638,647,3183,3213,3154,0,0,0,0,0,0,26.51,26.10,26.52
$GC,453,-0.45,-175.2,2637,647,3213,3155,54.7,-11.7,67,460,0.10,2.15,0.00,0.000,3078,0.145,0.031,2660,2053,3183,3213,3154,0,0,0,0,0,0,25.91,26.13,26.05
$GC,506,-0.45,-175.2,2659,2053,3213,3154,60.3,-9.0,76,513,0.00,2.12,0.00,0.000,260,0.000,0.034,2650,3453,3183,3213,3154,0,0,0,0,0,0,26.51,26.12,26.53
$GC,559,-0.45,-175.2,2649,3453,3213,3154,65.0,-8.3,85,566,0.00,2.08,0.00,0.000,1030,0.000,0.025,2650,2052,3183,3213,3154,0,0,0,0,0,0,26.25,26.17,26.27
$GC,612,-0.45,-175.2,2649,2048,3214,3153,70.4,-10.0,94,618,0.00,2.10,0.00,0.000,516,0.000,0.029,2650,641,3183,3214,3153,0,0,0,0,0,0,26.54,26.14,26.55
$GC,669,-0.45,-175.2,2649,640,3214,3153,77.0,-11.1,104,676,0.00,2.17,0.00,0.000,1030,0.000,0.028,2640,2053,3183,3214,3153,0,0,0,0,0,0,26.22,26.18,26.24
$GC,722,-0.45,-175.2,2639,2053,3214,3153,82.6,-11.1,113,728,0.00,2.08,0.00,0.000,260,0.000,0.032,2629,3460,3183,3214,3153,0,0,0,0,0,0,26.57,26.15,26.58
$GC,747,-0.45,-175.2,2628,3460,3213,3153,85.6,-11.6,117,755,0.10,2.10,0.00,0.000,3078,0.127,0.024,2662,2046,3182,3213,3152,0,0,0,0,0,0,25.99,26.20,26.11
$GC,800,-0.45,-175.2,2662,2042,3215,3152,90.8,-9.3,126,808,0.00,2.12,0.00,0.000,516,0.000,0.027,2662,639,3183,3215,3152,0,0,0,0,0,0,26.57,26.18,26.58
$GC,845,-0.45,-175.2,2662,639,3215,3152,94.7,-9.6,133,852,0.00,2.12,0.00,0.000,1030,0.000,0.028,2654,2049,3183,3215,3152,0,0,0,0,0,0,26.27,26.20,26.29
$GC,900,-0.45,-175.2,2653,2049,3215,3152,101.3,-11.0,142,909,0.00,2.08,0.00,0.000,260,0.000,0.033,2643,3456,3183,3215,3152,0,0,0,0,0,0,26.59,26.16,26.60
$GC,942,-0.45,-175.2,2643,3456,3214,3151,105.8,-11.0,146,951,0.00,2.08,0.00,0.000,1030,0.000,0.024,2643,2051,3182,3214,3151,0,0,0,0,0,0,26.28,26.20,26.31
$STATE,984,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,984,begin apogee
$GC,990,0.00,0.0,2643,1754,3215,3152,110.3,-11.3,150,1125,0.50,0.00,130.45,0.669,10246,0.122,0.000,2803,1753,2464,2524,2404,0,0,0,0,0,0,25.81,25.06,24.46
$STATE,1126,end apogee,CONTROL_FINISHED_OK
$STATE,1126,begin climb
$GC,1128,0.45,175.2,2802,1753,2524,2405,118.4,0.0,164,1274,0.38,2.33,133.32,0.656,10500,0.048,0.034,2961,3196,1748,1842,1655,0,0,0,0,0,0,25.25,24.95,24.37
$GC,1367,0.45,175.2,2961,3195,1841,1652,101.1,10.3,188,1376,0.00,2.08,0.00,0.000,1030,0.000,0.028,2971,1839,1745,1840,1650,0,0,0,0,0,0,25.67,25.60,25.70
$GC,1567,0.46,188.1,2970,1839,1838,1649,79.3,9.7,224,1586,0.00,2.28,10.65,0.568,8708,0.000,0.035,2982,396,1696,1791,1602,0,0,0,0,0,0,26.25,25.67,24.95
$GC,1656,0.46,188.1,2981,394,1781,1602,68.9,11.6,240,1665,0.00,2.17,0.00,0.000,1030,0.000,0.027,2982,1790,1693,1784,1602,0,0,0,0,0,0,25.95,25.92,25.98
$GC,1712,0.46,188.1,2981,1790,1785,1602,62.4,12.4,249,1719,0.00,2.15,0.00,0.000,260,0.000,0.032,2982,3217,1693,1785,1602,0,0,0,0,0,0,26.30,25.93,26.31
$GC,1738,0.46,188.1,2981,3217,1785,1602,59.0,13.3,253,1745,0.10,2.15,0.00,0.000,5126,0.158,0.028,2964,1794,1694,1786,1602,0,0,0,0,0,0,25.72,25.96,25.87
$GC,1789,0.46,188.1,2963,1794,1785,1603,53.3,10.5,262,1795,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,1794,1693,1785,1602,0,0,0,0,0,0,26.35,26.36,26.36
$GC,1842,0.48,201.9,2963,1793,1785,1602,48.3,9.7,271,1861,0.00,2.15,12.35,0.570,8452,0.000,0.026,2964,3214,1641,1737,1545,0,0,0,0,0,0,26.38,25.48,25.05
$GC,1868,0.48,201.9,2963,3214,1737,1545,45.4,10.0,275,1875,0.00,2.15,0.00,0.000,1030,0.000,0.028,2972,1791,1641,1737,1545,0,0,0,0,0,0,26.01,25.93,26.03
$GC,1919,0.50,216.8,2971,1791,1736,1545,40.4,9.6,284,1943,0.00,2.20,13.52,0.566,8708,0.000,0.035,2982,393,1578,1678,1478,0,0,0,0,0,0,26.30,25.68,24.98
$GC,1987,0.55,260.8,2982,393,1672,1477,34.3,8.9,294,2035,0.00,2.17,36.20,0.596,9222,0.000,0.023,2982,1804,1399,1519,1280,0,0,0,0,0,0,25.96,25.92,24.80
$GC,2086,0.56,264.9,2982,1805,1514,1279,25.3,9.9,308,2096,0.00,2.22,1.40,0.106,8708,0.000,0.033,2992,390,1384,1503,1266,0,0,0,0,0,0,26.04,25.60,25.51
$GC,2124,0.61,309.1,2992,390,1495,1267,21.9,8.9,313,2156,0.00,2.20,22.42,0.549,9222,0.000,0.024,2992,1795,1203,1337,1069,0,0,0,0,0,0,25.82,25.79,24.83
$GC,2208,0.64,333.4,2992,1795,1332,1067,13.6,9.4,325,2225,0.00,2.22,11.50,0.497,8452,0.000,0.030,2992,3218,1104,1243,966,0,0,0,0,0,0,26.07,25.49,24.82
$GC,2292,0.64,333.4,2992,3218,1236,965,3.9,11.2,338,2301,0.00,2.20,0.00,0.000,1030,0.000,0.028,2998,1802,1100,1235,966,0,0,0,0,0,0,25.84,25.81,25.86
$STATE,2307,end climb,SURFACE_DEPTH_REACHED
$STATE,2308,begin surface coast
$FINISH,0.6,1.026124
$STATE,2339,end surface coast,CONTROL_FINISHED_OK
$STATE,2339,begin surface
$SM_CCo,2417,0.00,0.000,0,0,1093,336.55
$SM_GC,1.68,7.55,0.38,0.00,0.029,0.043,0.000,126,2074,1093,-8.33,-1.33,336.55,0,0,0,0,0,0,25.86,25.91,25.94
$IRIDIUM_FIX,-3330.55,2713.30,010817,180346
$TT8_MAMPS,0.025466,0.260652
$HUMID,60.90
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,16.50
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,110.3,14.1
$24V_AH,24.25,54.507
$10V_AH,10.18,28.252
$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,18.575,65.400,371.825,0.000,0.000,0.000,0.000,0.000,4.250,0.000,12.596,802.152,298.283,430.067,888.459,83.871,0.000,888.627,0.000,872.916,0.000,17.434,0.000
$DEVICE_MAMPS,216.495,87.975,668.610,0.000,0.000,0.000,0.000,0.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,238.371,110.502,497.359,570.184,0.000,0.000,0.000,0.000,0.000,0.000
$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,23783,345
$CAP_FILE_SIZE,56114,0
$CFSIZE,2097086464,2031452160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,010817,205931,-3344.205,2717.036,32,1.0,32,-27.7,0.7,252.9,7,17.4