version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 591
start: 8 1 117 22 44 46
data:
$ID,574
$MISSION,23
$DIVE,591
$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,35
$R_STBD_OVSHOOT,40
$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
$GPS1,010817,223511,-3344.2029,2717.2314,5,2.0,5,-27.7,0.0,0.0,5,276.5
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-80.1
$GPS2,010817,224359,-3344.1775,2717.0708,4,0.9,4,-27.7,0.0,0.0,10,14.8
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3349.577,2728.329
$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,-175.2,124,2067,1186,1026,0.0,0.0,0,87,0.00,0.00,-69.43,0.000,16386,0.000,0.000,125,2067,3029,3036,3023,0,0,0,0,0,0,26.17,28.83,26.19
$GC,90,-0.45,-175.2,125,2067,3037,3023,3.5,-4.6,9,109,9.93,2.22,-2.95,0.000,19204,0.216,0.034,2658,619,3183,3199,3168,0,0,0,0,0,0,25.19,24.13,25.39
$GC,187,-0.45,-175.2,2657,618,3207,3162,23.1,-12.7,24,196,0.00,2.25,0.00,0.000,1030,0.000,0.029,2649,2052,3184,3209,3159,0,0,0,0,0,0,25.97,25.95,26.00
$GC,248,-0.45,-175.2,2648,2052,3212,3156,31.1,-12.9,33,257,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2052,3184,3212,3156,0,0,0,0,0,0,26.35,26.36,26.36
$GC,307,-0.45,-175.2,2648,2053,3212,3156,38.1,-11.4,42,316,0.00,2.17,0.00,0.000,516,0.000,0.028,2648,641,3184,3213,3155,0,0,0,0,0,0,26.39,25.99,26.40
$GC,356,-0.45,-175.2,2648,641,3213,3156,43.9,-11.2,50,362,0.00,2.17,0.00,0.000,1030,0.000,0.030,2638,2060,3184,3213,3156,0,0,0,0,0,0,26.10,26.02,26.13
$GC,409,-0.45,-175.2,2637,2060,3213,3156,50.4,-12.9,59,416,0.00,2.08,0.00,0.000,260,0.000,0.033,2627,3458,3184,3213,3156,0,0,0,0,0,0,26.41,26.02,26.43
$GC,467,-0.45,-175.2,2626,3458,3212,3156,57.6,-11.9,69,474,0.10,2.12,0.00,0.000,3078,0.135,0.024,2660,2034,3183,3212,3155,0,0,0,0,0,0,25.86,26.08,25.98
$GC,519,-0.45,-175.2,2659,2029,3214,3154,63.0,-8.4,78,527,0.00,2.10,0.00,0.000,516,0.000,0.027,2660,645,3184,3214,3154,0,0,0,0,0,0,26.47,26.08,26.48
$GC,552,-0.45,-175.2,2660,645,3214,3154,65.9,-8.8,83,559,0.00,2.15,0.00,0.000,1030,0.000,0.028,2651,2061,3184,3214,3154,0,0,0,0,0,0,26.17,26.09,26.20
$GC,604,-0.45,-175.2,2651,2061,3214,3154,71.1,-10.0,92,612,0.00,2.15,0.00,0.000,260,0.000,0.034,2641,3459,3184,3214,3154,0,0,0,0,0,0,26.48,26.08,26.50
$GC,657,-0.45,-175.2,2641,3459,3213,3154,76.1,-9.5,101,664,0.00,2.10,0.00,0.000,1030,0.000,0.024,2641,2042,3184,3214,3154,0,0,0,0,0,0,26.21,26.13,26.23
$GC,707,-0.45,-175.2,2640,2037,3215,3153,81.4,-9.8,110,714,0.00,2.08,0.00,0.000,516,0.000,0.027,2641,640,3183,3214,3153,0,0,0,0,0,0,26.52,26.12,26.53
$GC,770,-0.45,-175.2,2640,640,3215,3153,88.3,-11.5,121,777,0.10,2.15,0.00,0.000,3078,0.148,0.028,2661,2058,3184,3215,3153,0,0,0,0,0,0,25.89,26.13,26.02
$GC,822,-0.45,-175.2,2661,2058,3216,3153,93.2,-9.1,130,828,0.00,2.10,0.00,0.000,260,0.000,0.034,2652,3458,3184,3216,3153,0,0,0,0,0,0,26.54,26.11,26.55
$GC,867,-0.45,-175.2,2651,3457,3215,3153,97.9,-10.2,138,876,0.00,2.12,0.00,0.000,1030,0.000,0.023,2652,2048,3184,3215,3153,0,0,0,0,0,0,26.20,26.17,26.23
$GC,924,-0.45,-175.2,2651,2043,3217,3152,103.4,-10.4,145,927,0.00,2.10,0.00,0.000,516,0.000,0.028,2652,637,3184,3217,3152,0,0,0,0,0,0,26.55,26.15,26.57
$GC,975,-0.45,-175.2,2651,637,3217,3152,108.6,-10.6,150,984,0.00,2.15,0.00,0.000,1030,0.000,0.028,2642,2058,3184,3217,3152,0,0,0,0,0,0,26.25,26.17,26.27
$STATE,1003,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1003,begin apogee
$GC,1009,0.00,0.0,2642,1749,3218,3152,112.0,-10.9,153,1146,0.50,0.05,130.25,0.664,10246,0.113,0.119,2804,1840,2464,2524,2405,0,0,0,0,0,0,25.80,25.05,24.46
$STATE,1147,end apogee,CONTROL_FINISHED_OK
$STATE,1147,begin climb
$GC,1149,0.45,175.2,2804,1840,2524,2405,120.1,0.0,167,1297,0.38,2.33,133.12,0.661,10756,0.044,0.033,2978,400,1746,1839,1653,0,0,0,0,0,0,25.27,24.74,24.34
$GC,1373,0.45,175.2,2978,400,1827,1654,104.7,11.2,189,1380,0.00,2.12,0.00,0.000,1030,0.000,0.028,2977,1764,1740,1828,1653,0,0,0,0,0,0,25.63,25.55,25.65
$GC,1565,0.45,175.2,2977,1763,1828,1653,80.8,12.3,222,1574,0.00,2.25,0.00,0.000,260,0.000,0.033,2978,3214,1740,1828,1653,0,0,0,0,0,0,26.22,25.85,26.24
$GC,1692,0.46,187.5,2977,3213,1828,1653,66.7,9.7,245,1708,0.00,2.12,9.93,0.562,9222,0.000,0.028,2988,1803,1699,1790,1609,0,0,0,0,0,0,26.06,25.98,25.01
$GC,1752,0.46,187.5,2987,1802,1790,1608,60.5,10.0,255,1759,0.00,2.17,0.00,0.000,516,0.000,0.036,2999,394,1698,1789,1608,0,0,0,0,0,0,26.27,25.88,26.29
$GC,1812,0.46,187.5,2998,393,1781,1608,54.1,10.6,265,1819,0.12,2.15,0.00,0.000,5126,0.148,0.028,2963,1803,1695,1782,1608,0,0,0,0,0,0,25.70,25.97,25.86
$GC,1864,0.51,225.9,2962,1804,1785,1608,49.1,9.0,274,1901,0.00,2.20,31.48,0.612,8452,0.000,0.030,2963,3217,1543,1652,1435,0,0,0,0,0,0,26.36,25.58,24.93
$GC,1970,0.51,225.9,2962,3217,1651,1435,37.4,12.5,292,1979,0.00,2.20,0.00,0.000,1030,0.000,0.026,2971,1794,1543,1651,1435,0,0,0,0,0,0,25.86,25.82,25.86
$GC,2029,0.51,225.9,2970,1793,1649,1433,30.2,12.1,301,2038,0.00,2.20,0.00,0.000,516,0.000,0.037,2981,397,1538,1644,1433,0,0,0,0,0,0,26.22,25.82,26.24
$GC,2054,0.51,225.9,2980,397,1639,1434,27.3,12.2,304,2063,0.00,2.15,0.00,0.000,1030,0.000,0.018,2981,1809,1537,1641,1434,0,0,0,0,0,0,25.98,25.95,26.01
$GC,2114,0.54,250.5,2981,1812,1641,1434,21.4,9.4,313,2132,0.00,2.25,11.85,0.532,8708,0.000,0.032,2991,393,1441,1556,1327,0,0,0,0,0,0,26.31,25.70,25.01
$GC,2141,0.54,250.5,2991,392,1548,1328,18.5,10.7,316,2150,0.00,2.17,0.00,0.000,1030,0.000,0.026,2991,1780,1438,1548,1328,0,0,0,0,0,0,25.92,25.88,25.94
$GC,2200,0.54,250.5,2991,1782,1547,1328,12.1,10.6,325,2209,0.00,2.20,0.00,0.000,260,0.000,0.032,2991,3213,1437,1547,1328,0,0,0,0,0,0,26.27,25.90,26.28
$GC,2248,0.56,266.3,2991,3213,1547,1328,7.2,9.6,332,2266,0.00,2.17,6.85,0.438,9222,0.000,0.030,3001,1804,1379,1495,1264,0,0,0,0,0,0,25.99,25.96,25.03
$STATE,2291,end climb,SURFACE_DEPTH_REACHED
$STATE,2291,begin surface coast
$FINISH,0.5,1.026239
$STATE,2322,end surface coast,CONTROL_FINISHED_OK
$STATE,2323,begin surface
$SM_CCo,2340,28.08,0.047,0,0,1117,330.17
$SM_GC,1.66,7.50,0.38,28.08,0.028,0.036,0.047,125,2101,1117,-8.33,-1.16,330.17,0,0,0,0,0,0,25.98,26.06,25.91
$IRIDIUM_FIX,-3330.55,2715.60,010817,210126
$TT8_MAMPS,0.025466,0.270389
$HUMID,59.41
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,16.50
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,110.8,15.7
$24V_AH,24.13,54.744
$10V_AH,10.16,28.382
$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,18.625,65.725,323.475,28.075,0.000,24.665,17.735,352.277,3.000,0.000,11.532,816.519,259.931,429.674,1270.907,150.385,0.000,873.337,0.000,855.638,0.000,17.450,0.000
$DEVICE_MAMPS,216.495,118.575,664.020,46.665,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,235.321,109.290,476.751,553.692,0.000,0.000,0.000,0.000,0.000,0.000
$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,23687,343
$CAP_FILE_SIZE,64348,0
$CFSIZE,2097086464,2031157248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,010817,232455,-3344.121,2717.166,4,1.1,4,-27.7,0.5,338.3,8,27.6