version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 589
start: 8 1 117 21 9 16
data:
$ID,574
$MISSION,23
$DIVE,589
$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,36
$R_STBD_OVSHOOT,65
$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
$GPS1,010817,205931,-3344.2046,2717.0364,32,1.0,32,-27.7,0.7,252.9,7,17.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-78.2
$GPS2,010817,210829,-3344.2231,2716.9458,5,0.9,5,-27.7,0.0,0.0,10,81.2
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3349.623,2728.204
$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,-175.2,126,2075,1176,1000,0.0,0.0,0,88,0.00,0.00,-70.30,0.000,16386,0.000,0.000,126,2076,3028,3036,3020,0,0,0,0,0,0,26.19,28.83,26.20
$GC,91,-0.45,-175.2,125,2076,3037,3021,3.4,-4.3,9,110,9.95,2.08,-2.97,0.000,18692,0.216,0.037,2648,3444,3181,3200,3163,0,0,0,0,0,0,25.22,24.13,25.41
$GC,176,-0.45,-175.2,2647,3444,3207,3160,20.4,-11.8,22,185,0.00,2.12,0.00,0.000,1030,0.000,0.024,2648,2047,3182,3208,3156,0,0,0,0,0,0,25.97,25.96,26.02
$GC,236,-0.45,-175.2,2647,2042,3209,3155,27.5,-12.1,31,245,0.00,2.15,0.00,0.000,516,0.000,0.029,2648,642,3182,3210,3155,0,0,0,0,0,0,26.35,25.96,26.36
$GC,273,-0.45,-175.2,2647,642,3210,3155,32.4,-12.6,36,282,0.00,2.15,0.00,0.000,1030,0.000,0.029,2638,2021,3182,3210,3155,0,0,0,0,0,0,26.03,25.99,26.06
$GC,333,-0.45,-175.2,2637,2021,3211,3154,39.9,-12.9,45,342,0.00,2.17,0.00,0.000,260,0.000,0.032,2627,3455,3182,3210,3154,0,0,0,0,0,0,26.41,26.01,26.41
$GC,383,-0.45,-175.2,2626,3455,3211,3154,46.0,-11.1,53,391,0.10,2.10,0.00,0.000,3078,0.129,0.025,2660,2048,3182,3210,3154,0,0,0,0,0,0,25.86,26.05,25.98
$GC,436,-0.45,-175.2,2660,2042,3213,3152,51.6,-9.4,62,442,0.00,2.10,0.00,0.000,516,0.000,0.028,2660,640,3182,3213,3152,0,0,0,0,0,0,26.45,26.05,26.46
$GC,492,-0.45,-175.2,2660,639,3213,3152,56.9,-9.1,72,501,0.00,2.20,0.00,0.000,1030,0.000,0.028,2652,2058,3182,3213,3152,0,0,0,0,0,0,26.13,26.08,26.15
$GC,548,-0.45,-175.2,2651,2058,3213,3152,62.1,-9.5,81,554,0.00,2.12,0.00,0.000,260,0.000,0.034,2642,3466,3182,3213,3152,0,0,0,0,0,0,26.48,26.07,26.50
$GC,596,-0.45,-175.2,2641,3466,3212,3152,66.8,-9.4,89,603,0.00,2.10,0.00,0.000,1030,0.000,0.024,2641,2047,3182,3212,3152,0,0,0,0,0,0,26.20,26.13,26.23
$GC,647,-0.45,-175.2,2641,2042,3213,3152,72.4,-10.9,98,654,0.00,2.10,0.00,0.000,516,0.000,0.029,2641,637,3182,3213,3151,0,0,0,0,0,0,26.51,26.10,26.52
$GC,703,-0.45,-175.2,2641,637,3213,3151,78.9,-11.2,108,713,0.10,2.17,0.00,0.000,3078,0.132,0.029,2664,2044,3182,3213,3151,0,0,0,0,0,0,25.86,26.13,25.94
$GC,760,-0.45,-175.2,2663,2044,3214,3151,84.1,-8.3,117,767,0.00,2.10,0.00,0.000,260,0.000,0.031,2654,3466,3182,3213,3151,0,0,0,0,0,0,26.53,26.13,26.55
$GC,795,-0.45,-175.2,2653,3466,3213,3151,87.5,-10.6,123,802,0.00,2.12,0.00,0.000,1030,0.000,0.026,2654,2043,3182,3213,3151,0,0,0,0,0,0,26.23,26.15,26.26
$GC,847,-0.45,-175.2,2653,2039,3214,3151,91.5,-7.2,132,856,0.00,2.12,0.00,0.000,516,0.000,0.029,2653,641,3182,3214,3151,0,0,0,0,0,0,26.55,26.14,26.56
$GC,863,-0.45,-175.2,2653,641,3214,3151,92.8,-7.3,134,870,0.00,2.12,0.00,0.000,1030,0.000,0.027,2645,2054,3182,3214,3151,0,0,0,0,0,0,26.24,26.17,26.27
$GC,915,-0.45,-175.2,2644,2054,3214,3151,97.4,-9.0,143,921,0.00,2.08,0.00,0.000,260,0.000,0.034,2634,3454,3182,3214,3150,0,0,0,0,0,0,26.56,26.13,26.57
$GC,960,-0.45,-175.2,2633,3454,3213,3151,102.5,-10.8,149,969,0.10,2.10,0.00,0.000,3078,0.128,0.028,2667,2043,3182,3214,3151,0,0,0,0,0,0,25.98,26.16,26.09
$GC,1152,-0.45,-175.2,2666,2038,3215,3151,118.5,-8.8,168,1155,0.00,2.10,0.00,0.000,516,0.000,0.029,2668,641,3182,3215,3150,0,0,0,0,0,0,26.59,26.17,26.60
$STATE,1175,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1176,begin apogee
$GC,1183,0.00,0.0,2662,1797,3216,3150,121.1,-10.0,170,1317,0.43,0.00,130.55,0.688,10246,0.100,0.000,2805,1801,2464,2524,2405,0,0,0,0,0,0,25.92,25.03,24.40
$STATE,1318,end apogee,CONTROL_FINISHED_OK
$STATE,1318,begin climb
$GC,1321,0.45,175.2,2805,1800,2524,2405,125.4,0.0,184,1466,0.40,2.22,133.98,0.705,10500,0.067,0.031,2956,3206,1749,1845,1653,0,0,0,0,0,0,25.18,24.72,24.31
$GC,1499,0.48,198.7,2955,3206,1842,1653,116.1,9.4,202,1529,0.00,2.17,19.88,0.631,9222,0.000,0.029,2966,1807,1653,1757,1550,0,0,0,0,0,0,25.41,25.34,24.45
$GC,1714,0.53,241.7,2965,1806,1751,1548,91.5,8.9,230,1758,0.00,2.17,35.08,0.633,8964,0.000,0.028,2966,3210,1477,1592,1362,0,0,0,0,0,0,26.15,25.37,24.72
$GC,1867,0.53,241.7,2965,3210,1589,1362,74.1,11.6,257,1873,0.00,2.15,0.00,0.000,1030,0.000,0.028,2975,1798,1475,1589,1362,0,0,0,0,0,0,25.86,25.79,25.89
$GC,1918,0.53,241.7,2975,1797,1586,1363,68.0,12.1,266,1925,0.00,2.17,0.00,0.000,516,0.000,0.034,2987,386,1473,1584,1362,0,0,0,0,0,0,26.19,25.80,26.20
$GC,1953,0.53,241.7,2986,386,1576,1362,64.3,10.2,272,1961,0.00,2.20,0.00,0.000,1030,0.000,0.024,2987,1800,1469,1577,1362,0,0,0,0,0,0,25.94,25.91,25.97
$GC,2007,0.53,241.7,2986,1803,1577,1362,59.3,11.5,281,2014,0.00,2.12,0.00,0.000,260,0.000,0.031,2986,3212,1470,1577,1363,0,0,0,0,0,0,26.28,25.91,26.29
$GC,2058,0.53,241.7,2986,3211,1577,1363,53.3,11.1,290,2065,0.00,2.15,0.00,0.000,1030,0.000,0.028,2997,1788,1470,1577,1363,0,0,0,0,0,0,26.05,25.96,26.08
$GC,2109,0.53,241.7,2997,1788,1578,1363,47.4,11.9,299,2116,0.00,2.15,0.00,0.000,516,0.000,0.035,3007,390,1469,1577,1362,0,0,0,0,0,0,26.36,25.94,26.36
$GC,2134,0.53,241.7,3007,389,1572,1362,44.3,12.6,303,2141,0.00,2.17,0.00,0.000,1030,0.000,0.026,3008,1811,1467,1573,1362,0,0,0,0,0,0,26.10,26.02,26.13
$GC,2189,0.53,241.7,3007,1814,1574,1362,37.5,12.6,312,2197,0.00,2.22,0.00,0.000,516,0.000,0.034,3018,393,1468,1573,1363,0,0,0,0,0,0,26.39,25.98,26.41
$GC,2207,0.53,241.7,3017,393,1570,1363,35.1,13.3,314,2216,0.10,2.17,0.00,0.000,5126,0.133,0.027,2986,1798,1468,1573,1363,0,0,0,0,0,0,25.79,26.05,25.87
$GC,2267,0.57,270.8,2986,1801,1573,1363,28.7,9.3,323,2284,0.00,0.00,14.32,0.566,8198,0.000,0.000,2986,1802,1360,1480,1241,0,0,0,0,0,0,26.43,25.72,25.09
$GC,2335,0.57,270.8,2986,1802,1475,1238,21.5,10.9,333,2343,0.00,2.15,0.00,0.000,260,0.000,0.031,2986,3209,1357,1476,1239,0,0,0,0,0,0,26.32,25.96,26.32
$GC,2358,0.57,270.8,2986,3209,1476,1239,18.7,11.0,336,2367,0.00,2.17,0.00,0.000,1030,0.000,0.029,2995,1799,1357,1476,1239,0,0,0,0,0,0,26.01,25.98,26.04
$GC,2417,0.57,270.8,2994,1799,1475,1239,12.3,11.6,345,2425,0.00,2.20,0.00,0.000,516,0.000,0.037,3006,393,1355,1471,1239,0,0,0,0,0,0,26.37,25.95,26.39
$GC,2476,0.57,270.8,3005,393,1465,1239,5.7,10.7,354,2485,0.00,2.15,0.00,0.000,1030,0.000,0.022,3006,1792,1352,1466,1239,0,0,0,0,0,0,26.10,26.07,26.13
$STATE,2503,end climb,SURFACE_DEPTH_REACHED
$STATE,2503,begin surface coast
$FINISH,0.5,1.011519
$STATE,2539,end surface coast,CONTROL_FINISHED_OK
$STATE,2539,begin surface
$SM_CCo,2557,25.70,0.047,0,0,1118,330.17
$SM_GC,1.93,7.53,0.38,25.70,0.029,0.034,0.047,125,2072,1118,-8.33,-1.24,330.17,0,0,0,0,0,0,26.09,26.16,25.98
$IRIDIUM_FIX,-3333.14,2719.09,010817,192908
$TT8_MAMPS,0.025466,0.291361
$HUMID,60.43
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,16.60
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,121.1,6.5
$24V_AH,24.13,54.596
$10V_AH,10.12,28.299
$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,18.700,77.250,333.800,25.700,0.000,24.307,41.632,341.623,6.500,0.000,11.554,867.483,354.119,453.174,1317.531,160.876,0.000,922.936,0.000,893.419,0.000,18.914,0.000
$DEVICE_MAMPS,216.495,37.485,704.565,47.430,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,250.584,110.981,491.450,587.781,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343412
$DATA_FILE_SIZE,27090,364
$CAP_FILE_SIZE,69914,0
$CFSIZE,2097086464,2031321088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,010817,215301,-3344.188,2717.088,4,0.8,5,-27.7,0.5,309.9,11,108.5