version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 594
start: 8 2 117 0 59 13
data:
$ID,574
$MISSION,23
$DIVE,594
$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,37
$R_STBD_OVSHOOT,84
$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
$GPS1,020817,005723,-3344.1877,2717.2549,9,0.8,9,-27.7,0.0,0.0,10,358.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-78.0
$GPS2,020817,005826,-3344.1829,2717.2766,11,0.8,11,-27.7,0.0,0.0,10,364.6
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3349.583,2728.535
$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,-175.2,124,2090,1088,873,0.0,0.0,0,96,0.00,0.00,-77.80,0.000,16386,0.000,0.000,125,2091,3167,3173,3161,0,0,0,0,0,0,26.33,28.83,26.34
$GC,99,-0.45,-175.2,124,2091,3173,3161,4.3,-7.2,10,117,10.05,2.20,-0.22,0.000,19204,0.224,0.032,2658,613,3180,3194,3167,0,0,0,0,0,0,25.29,25.11,25.51
$GC,191,-0.45,-175.2,2657,613,3203,3161,22.9,-12.0,24,200,0.00,2.17,0.00,0.000,1030,0.000,0.028,2649,2008,3181,3205,3157,0,0,0,0,0,0,26.06,26.03,26.07
$GC,253,-0.45,-175.2,2648,2007,3207,3155,30.6,-13.0,33,261,0.00,2.20,0.00,0.000,260,0.000,0.033,2639,3452,3180,3207,3153,0,0,0,0,0,0,26.40,26.03,26.41
$GC,345,-0.45,-175.2,2637,3452,3207,3154,42.5,-12.5,48,353,0.00,2.12,0.00,0.000,1030,0.000,0.024,2638,2046,3180,3208,3153,0,0,0,0,0,0,26.13,26.10,26.16
$GC,398,-0.45,-175.2,2637,2044,3207,3151,49.2,-13.1,57,405,0.00,2.10,0.00,0.000,516,0.000,0.029,2638,642,3179,3208,3151,0,0,0,0,0,0,26.47,26.08,26.49
$GC,446,-0.45,-175.2,2637,641,3208,3152,54.8,-11.3,65,453,0.10,2.15,0.00,0.000,3078,0.152,0.028,2659,2059,3180,3208,3152,0,0,0,0,0,0,25.86,26.12,26.01
$GC,499,-0.45,-175.2,2658,2059,3208,3151,60.0,-9.2,74,506,0.00,2.10,0.00,0.000,260,0.000,0.033,2650,3462,3179,3208,3151,0,0,0,0,0,0,26.48,26.09,26.48
$GC,531,-0.45,-175.2,2648,3462,3208,3151,62.8,-9.3,79,538,0.00,2.10,0.00,0.000,1030,0.000,0.022,2649,2035,3179,3208,3151,0,0,0,0,0,0,26.23,26.16,26.25
$GC,582,-0.45,-175.2,2648,2030,3209,3150,67.7,-9.2,88,589,0.00,2.10,0.00,0.000,516,0.000,0.030,2649,652,3179,3209,3150,0,0,0,0,0,0,26.52,26.12,26.53
$GC,635,-0.45,-175.2,2648,652,3209,3150,73.0,-10.5,97,642,0.00,2.12,0.00,0.000,1030,0.000,0.028,2640,2056,3180,3210,3150,0,0,0,0,0,0,26.22,26.15,26.25
$GC,685,-0.45,-175.2,2639,2056,3210,3150,78.7,-11.0,106,691,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2056,3180,3210,3150,0,0,0,0,0,0,26.54,26.55,26.55
$GC,738,-0.45,-175.2,2639,2056,3210,3150,84.3,-11.1,115,744,0.00,2.10,0.00,0.000,516,0.000,0.028,2640,650,3180,3210,3150,0,0,0,0,0,0,26.55,26.15,26.56
$GC,767,-0.45,-175.2,2639,649,3210,3150,87.6,-10.5,120,776,0.08,2.17,0.00,0.000,3078,0.142,0.030,2655,2051,3180,3210,3150,0,0,0,0,0,0,25.93,26.17,26.00
$GC,821,-0.45,-175.2,2654,2050,3211,3150,93.2,-10.5,129,828,0.00,2.10,0.00,0.000,260,0.000,0.034,2646,3459,3180,3211,3150,0,0,0,0,0,0,26.56,26.13,26.57
$GC,867,-0.45,-175.2,2645,3459,3210,3150,97.6,-9.4,137,873,0.00,2.10,0.00,0.000,1030,0.000,0.025,2646,2044,3180,3210,3150,0,0,0,0,0,0,26.26,26.18,26.29
$GC,922,-0.45,-175.2,2645,2039,3211,3150,103.5,-10.8,144,930,0.00,2.10,0.00,0.000,516,0.000,0.028,2646,637,3181,3212,3150,0,0,0,0,0,0,26.57,26.16,26.58
$GC,966,-0.45,-175.2,2645,636,3212,3150,108.1,-11.0,148,973,0.00,2.15,0.00,0.000,1030,0.000,0.027,2635,2063,3181,3212,3150,0,0,0,0,0,0,26.27,26.19,26.29
$STATE,1032,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1033,begin apogee
$GC,1039,0.00,0.0,2635,1732,3211,3150,115.2,-9.6,155,1174,0.52,0.10,129.45,0.679,10246,0.122,0.076,2801,1862,2465,2524,2406,0,0,0,0,0,0,25.80,25.03,24.43
$STATE,1175,end apogee,CONTROL_FINISHED_OK
$STATE,1175,begin climb
$GC,1177,0.45,175.2,2801,1862,2524,2406,122.7,0.0,169,1325,0.43,2.38,133.15,0.677,10756,0.054,0.032,2981,391,1746,1839,1653,0,0,0,0,0,0,25.22,24.71,24.34
$GC,1388,0.45,175.2,2980,390,1828,1654,107.5,11.5,190,1397,0.00,2.20,0.00,0.000,1030,0.000,0.027,2981,1798,1742,1830,1654,0,0,0,0,0,0,25.57,25.49,25.60
$GC,1585,0.45,175.2,2980,1799,1830,1652,82.8,12.1,221,1591,0.00,2.15,0.00,0.000,260,0.000,0.032,2981,3218,1741,1830,1652,0,0,0,0,0,0,26.21,25.84,26.22
$GC,1728,0.45,175.2,2980,3217,1830,1652,65.5,11.9,247,1735,0.12,2.12,0.00,0.000,5126,0.147,0.028,2954,1804,1740,1829,1652,0,0,0,0,0,0,25.72,25.98,25.90
$GC,1780,0.45,175.2,2954,1804,1829,1652,59.6,10.1,256,1787,0.00,2.20,0.00,0.000,516,0.000,0.034,2963,397,1738,1827,1650,0,0,0,0,0,0,26.36,25.96,26.38
$GC,1842,0.45,179.5,2963,397,1824,1650,53.3,9.9,267,1849,0.00,2.15,0.00,0.000,1030,0.000,0.025,2963,1807,1737,1825,1650,0,0,0,0,0,0,26.12,26.05,26.15
$GC,1893,0.45,179.5,2962,1807,1826,1650,48.2,10.3,276,1901,0.00,2.12,0.00,0.000,260,0.000,0.030,2963,3208,1738,1826,1650,0,0,0,0,0,0,26.42,26.03,26.43
$GC,1947,0.48,196.9,2962,3207,1827,1650,43.0,9.6,285,1973,0.00,2.12,17.02,0.598,9222,0.000,0.025,2973,1788,1662,1758,1567,0,0,0,0,0,0,26.16,26.08,25.08
$GC,2022,0.52,230.3,2972,1788,1757,1565,36.5,9.2,297,2055,0.00,2.22,27.60,0.612,8708,0.000,0.034,2983,396,1526,1637,1415,0,0,0,0,0,0,26.29,25.56,24.89
$GC,2087,0.55,258.4,2983,395,1624,1414,30.2,9.3,306,2112,0.00,2.22,15.12,0.578,9222,0.000,0.028,2983,1801,1408,1524,1293,0,0,0,0,0,0,25.78,25.75,24.77
$GC,2164,0.59,287.6,2983,1801,1521,1292,23.2,9.3,317,2189,0.00,2.20,14.43,0.551,8452,0.000,0.030,2984,3217,1290,1416,1165,0,0,0,0,0,0,26.08,25.47,24.79
$GC,2198,0.59,287.6,2983,3217,1415,1165,19.6,10.3,321,2207,0.00,2.20,0.00,0.000,1030,0.000,0.028,2994,1805,1289,1414,1165,0,0,0,0,0,0,25.72,25.69,25.73
$GC,2257,0.59,287.6,2993,1805,1410,1165,13.2,10.5,330,2266,0.00,2.22,0.00,0.000,516,0.000,0.035,3005,396,1286,1407,1165,0,0,0,0,0,0,26.12,25.74,26.13
$GC,2321,0.62,316.8,3004,396,1399,1165,6.7,9.3,340,2346,0.00,2.20,13.65,0.511,9222,0.000,0.024,3005,1815,1171,1298,1045,0,0,0,0,0,0,25.93,25.89,24.94
$STATE,2360,end climb,SURFACE_DEPTH_REACHED
$STATE,2361,begin surface coast
$FINISH,0.6,1.002841
$STATE,2392,end surface coast,CONTROL_FINISHED_OK
$STATE,2392,begin surface
$SM_CCo,2409,5.57,0.050,0,0,1118,330.17
$SM_GC,2.11,7.50,0.32,5.57,0.022,0.028,0.050,124,2136,1118,-8.34,-1.44,330.17,0,0,0,0,0,0,25.86,25.98,25.79
$IRIDIUM_FIX,-3330.55,2716.79,010817,223707
$TT8_MAMPS,0.025466,0.289863
$HUMID,59.64
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,16.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,110.2,19.7
$24V_AH,24.34,54.972
$10V_AH,10.13,28.505
$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,18.800,65.625,350.425,5.575,0.000,0.000,0.000,0.000,2.750,0.000,18.245,812.023,286.462,429.485,893.390,87.434,0.000,888.597,0.000,874.757,0.000,17.448,0.000
$DEVICE_MAMPS,224.145,75.735,678.555,50.490,0.000,0.000,0.000,0.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,241.700,110.073,494.040,576.446,0.000,0.000,0.000,0.000,0.000,0.000
$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,23753,350
$CAP_FILE_SIZE,56281,0
$CFSIZE,2097086464,2030862336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,020817,014030,-3344.198,2717.319,25,0.9,25,-27.7,0.0,0.0,10,7.4