version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 590
start: 8 1 117 21 54 46
data:
$ID,574
$MISSION,23
$DIVE,590
$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,61
$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
$GPS1,010817,215301,-3344.1882,2717.0879,4,0.8,5,-27.7,0.5,309.9,11,108.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-79.9
$GPS2,010817,215359,-3344.1924,2717.0796,4,0.9,5,-27.7,0.0,270.0,10,107.4
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3349.592,2728.338
$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,-175.2,125,2078,1190,1028,0.0,0.0,0,80,0.00,0.00,-62.35,0.000,16386,0.000,0.000,125,2079,2818,2805,2831,0,0,0,0,0,0,26.48,28.83,26.49
$GC,84,-0.45,-175.2,125,2078,2805,2830,3.0,-3.6,8,109,9.90,2.05,-7.57,0.000,18692,0.220,0.042,2645,3439,3181,3205,3158,0,0,0,0,0,0,25.39,25.53,25.59
$GC,172,-0.45,-175.2,2645,3440,3207,3156,19.1,-12.8,21,180,0.00,2.12,0.00,0.000,1030,0.000,0.026,2646,2045,3181,3208,3154,0,0,0,0,0,0,26.12,26.10,26.17
$GC,231,-0.45,-175.2,2645,2043,3210,3151,26.2,-11.0,30,240,0.00,2.12,0.00,0.000,516,0.000,0.029,2646,645,3181,3211,3151,0,0,0,0,0,0,26.51,26.10,26.51
$GC,267,-0.45,-175.2,2645,645,3211,3151,30.2,-11.6,35,276,0.00,2.15,0.00,0.000,1030,0.000,0.028,2636,2035,3181,3211,3151,0,0,0,0,0,0,26.17,26.13,26.20
$GC,325,-0.45,-175.2,2635,2034,3211,3151,37.8,-13.1,44,334,0.00,2.15,0.00,0.000,260,0.000,0.032,2625,3454,3181,3212,3150,0,0,0,0,0,0,26.53,26.10,26.53
$GC,363,-0.45,-175.2,2624,3454,3211,3151,42.5,-10.6,50,370,0.12,2.10,0.00,0.000,3078,0.117,0.027,2667,2044,3180,3211,3150,0,0,0,0,0,0,25.94,26.14,26.06
$GC,415,-0.45,-175.2,2666,2040,3213,3150,47.2,-8.3,59,422,0.00,2.10,0.00,0.000,516,0.000,0.028,2667,636,3181,3213,3150,0,0,0,0,0,0,26.54,26.14,26.55
$GC,474,-0.45,-175.2,2666,636,3213,3150,52.5,-9.8,69,481,0.00,2.15,0.00,0.000,1030,0.000,0.028,2659,2050,3181,3213,3150,0,0,0,0,0,0,26.25,26.16,26.27
$GC,524,-0.45,-175.2,2658,2050,3214,3150,56.7,-8.2,78,532,0.00,2.15,0.00,0.000,260,0.000,0.032,2648,3461,3181,3213,3150,0,0,0,0,0,0,26.55,26.14,26.57
$GC,560,-0.45,-175.2,2647,3461,3213,3150,59.6,-7.8,84,570,0.00,2.15,0.00,0.000,1030,0.000,0.024,2648,2033,3181,3213,3150,0,0,0,0,0,0,26.23,26.19,26.23
$GC,615,-0.45,-175.2,2647,2032,3214,3150,64.6,-9.3,93,621,0.00,2.08,0.00,0.000,516,0.000,0.027,2648,640,3182,3214,3150,0,0,0,0,0,0,26.56,26.16,26.58
$GC,676,-0.45,-175.2,2647,639,3214,3150,71.2,-10.8,104,684,0.00,2.17,0.00,0.000,1030,0.000,0.028,2638,2045,3182,3214,3150,0,0,0,0,0,0,26.21,26.17,26.25
$GC,728,-0.45,-175.2,2638,2044,3214,3150,76.7,-10.9,113,735,0.00,2.10,0.00,0.000,260,0.000,0.034,2627,3459,3182,3214,3150,0,0,0,0,0,0,26.58,26.15,26.60
$GC,769,-0.45,-175.2,2626,3459,3214,3150,81.2,-10.4,120,778,0.10,2.12,0.00,0.000,3078,0.122,0.026,2661,2057,3181,3213,3150,0,0,0,0,0,0,25.95,26.19,26.02
$GC,824,-0.45,-175.2,2661,2053,3215,3149,86.6,-9.4,129,830,0.00,2.10,0.00,0.000,516,0.000,0.026,2661,641,3182,3215,3149,0,0,0,0,0,0,26.59,26.18,26.60
$GC,874,-0.45,-175.2,2661,641,3215,3150,91.6,-9.2,138,883,0.00,2.17,0.00,0.000,1030,0.000,0.028,2653,2051,3182,3215,3150,0,0,0,0,0,0,26.24,26.20,26.27
$GC,927,-0.45,-175.2,2652,2051,3216,3150,96.5,-10.2,147,934,0.00,2.10,0.00,0.000,260,0.000,0.034,2643,3461,3183,3216,3150,0,0,0,0,0,0,26.60,26.15,26.61
$GC,964,-0.45,-175.2,2642,3460,3215,3150,99.5,-8.2,153,971,0.00,2.10,0.00,0.000,1030,0.000,0.024,2642,2048,3182,3214,3150,0,0,0,0,0,0,26.28,26.20,26.31
$GC,1009,-0.45,-175.2,2642,2044,3217,3149,104.1,-10.1,158,1018,0.00,2.10,0.00,0.000,516,0.000,0.028,2642,635,3183,3217,3149,0,0,0,0,0,0,26.60,26.17,26.61
$GC,1045,-0.45,-175.2,2642,634,3217,3150,107.7,-11.8,161,1052,0.10,2.15,0.00,0.000,3078,0.151,0.029,2663,2052,3183,3217,3150,0,0,0,0,0,0,25.94,26.18,26.08
$STATE,1078,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1079,begin apogee
$GC,1085,0.00,0.0,2663,1745,3217,3149,111.7,-9.9,165,1221,0.43,0.08,130.20,0.669,10246,0.114,0.090,2802,1845,2464,2524,2405,0,0,0,0,0,0,25.84,25.05,24.45
$STATE,1222,end apogee,CONTROL_FINISHED_OK
$STATE,1222,begin climb
$GC,1225,0.45,175.2,2802,1845,2524,2405,119.9,0.0,179,1372,0.43,2.38,133.25,0.662,10756,0.053,0.033,2985,402,1746,1838,1655,0,0,0,0,0,0,25.25,25.01,24.36
$GC,1385,0.45,175.2,2984,402,1831,1655,109.5,12.3,195,1394,0.00,2.12,0.00,0.000,1030,0.000,0.027,2984,1753,1743,1832,1654,0,0,0,0,0,0,25.34,25.27,25.36
$GC,1581,0.45,175.2,2984,1756,1831,1652,85.7,12.1,224,1589,0.00,2.12,0.00,0.000,516,0.000,0.032,2994,406,1741,1830,1652,0,0,0,0,0,0,26.15,25.77,26.16
$GC,1649,0.45,175.2,2994,406,1825,1652,78.0,11.3,236,1657,0.12,2.17,0.00,0.000,5126,0.146,0.026,2958,1806,1739,1826,1653,0,0,0,0,0,0,25.58,25.90,25.69
$GC,1702,0.45,175.2,2958,1806,1827,1653,72.1,10.6,245,1708,0.00,2.10,0.00,0.000,260,0.000,0.030,2958,3208,1740,1827,1653,0,0,0,0,0,0,26.28,25.92,26.29
$GC,1737,0.45,175.2,2957,3208,1828,1653,67.9,11.7,251,1743,0.00,2.12,0.00,0.000,1030,0.000,0.027,2966,1795,1741,1829,1653,0,0,0,0,0,0,26.03,25.96,26.07
$GC,1788,0.45,175.2,2966,1796,1828,1652,61.4,13.3,260,1795,0.00,2.20,0.00,0.000,516,0.000,0.034,2977,393,1739,1827,1652,0,0,0,0,0,0,26.34,25.93,26.35
$GC,1820,0.45,175.2,2976,392,1824,1652,57.5,13.0,265,1827,0.00,2.15,0.00,0.000,1030,0.000,0.028,2977,1799,1738,1824,1652,0,0,0,0,0,0,26.08,25.99,26.11
$GC,1870,0.45,175.2,2976,1799,1825,1653,51.0,12.3,274,1877,0.00,2.12,0.00,0.000,260,0.000,0.032,2978,3214,1739,1826,1653,0,0,0,0,0,0,26.39,25.99,26.40
$GC,1942,0.45,175.2,2976,3214,1826,1653,43.5,11.4,287,1950,0.10,2.12,0.00,0.000,5126,0.166,0.027,2959,1796,1740,1827,1653,0,0,0,0,0,0,25.78,26.06,25.96
$GC,1996,0.57,274.3,2959,1796,1827,1653,39.5,7.5,296,2083,0.10,2.22,78.22,0.618,10756,0.077,0.034,3037,390,1345,1465,1225,0,0,0,0,0,0,26.20,25.07,24.68
$GC,2104,0.57,274.3,3036,390,1453,1225,28.5,12.9,310,2114,0.12,2.25,0.00,0.000,5126,0.135,0.027,2999,1804,1339,1453,1225,0,0,0,0,0,0,25.29,25.53,25.40
$GC,2164,0.57,274.3,2999,1809,1452,1224,20.4,13.0,319,2173,0.00,2.17,0.00,0.000,260,0.000,0.031,2999,3206,1338,1452,1224,0,0,0,0,0,0,26.01,25.67,26.02
$GC,2228,0.57,274.3,2999,3206,1452,1224,12.8,11.4,329,2237,0.00,2.17,0.00,0.000,1030,0.000,0.030,3008,1807,1338,1452,1224,0,0,0,0,0,0,25.82,25.79,25.86
$GC,2288,0.57,274.3,3007,1807,1452,1224,6.0,12.2,338,2296,0.00,2.25,0.00,0.000,516,0.000,0.036,3018,385,1336,1450,1222,0,0,0,0,0,0,26.21,25.81,26.22
$STATE,2315,end climb,SURFACE_DEPTH_REACHED
$STATE,2315,begin surface coast
$FINISH,0.5,1.009305
$STATE,2339,end surface coast,CONTROL_FINISHED_OK
$STATE,2339,begin surface
$SM_CCo,2359,24.00,0.047,0,0,1118,330.17
$SM_GC,1.91,7.57,2.62,24.00,0.028,0.024,0.047,125,2061,1118,-8.34,-0.96,330.17,0,0,0,0,0,0,25.94,25.92,25.86
$IRIDIUM_FIX,-3333.14,2719.09,010817,192908
$TT8_MAMPS,0.025466,0.272636
$HUMID,60.12
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,16.50
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,110.5,16.0
$24V_AH,24.36,54.661
$10V_AH,10.17,28.338
$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,19.100,78.225,341.675,24.000,0.000,0.000,0.000,0.000,5.500,0.000,12.575,805.628,257.508,453.468,865.943,89.139,0.000,917.064,0.000,849.726,0.000,17.421,0.000
$DEVICE_MAMPS,219.555,90.270,668.610,47.430,0.000,0.000,0.000,0.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,240.322,107.954,476.466,553.949,0.000,0.000,0.000,0.000,0.000,0.000
$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,23781,346
$CAP_FILE_SIZE,59395,0
$CFSIZE,2097086464,2031255552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,010817,223511,-3344.203,2717.231,5,2.0,5,-27.7,0.0,0.0,5,276.5