version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 595
start: 8 2 117 1 49 58
data:
$ID,574
$MISSION,23
$DIVE,595
$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,34
$R_STBD_OVSHOOT,49
$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
$GPS1,020817,014030,-3344.1978,2717.3191,25,0.9,25,-27.7,0.0,0.0,10,7.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-80.2
$GPS2,020817,014911,-3344.2483,2717.2915,4,0.9,4,-27.7,0.0,0.0,10,16.7
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3349.648,2728.550
$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,-175.2,125,2054,1191,1024,0.0,0.0,0,88,0.00,0.00,-69.65,0.000,16386,0.000,0.000,125,2055,3031,3038,3025,0,0,0,0,0,0,26.17,28.83,26.19
$GC,91,-0.45,-175.2,125,2055,3039,3025,3.5,-5.1,9,110,10.05,2.17,-2.95,0.000,18948,0.220,0.032,2657,619,3182,3199,3165,0,0,0,0,0,0,25.17,24.13,25.39
$GC,188,-0.45,-175.2,2657,620,3205,3162,21.5,-12.4,24,197,0.00,2.22,0.00,0.000,1030,0.000,0.030,2648,2037,3184,3208,3160,0,0,0,0,0,0,25.96,25.92,25.99
$GC,247,-0.45,-175.2,2648,2037,3209,3157,29.0,-11.7,33,259,0.00,2.17,0.00,0.000,260,0.000,0.034,2638,3457,3183,3209,3157,0,0,0,0,0,0,26.35,25.95,26.36
$GC,345,-0.45,-175.2,2637,3457,3208,3157,39.9,-11.1,48,357,0.00,2.15,0.00,0.000,1030,0.000,0.026,2638,2042,3182,3209,3156,0,0,0,0,0,0,26.07,26.03,26.10
$GC,402,-0.45,-175.2,2637,2041,3210,3156,45.6,-9.3,57,409,0.00,2.10,0.00,0.000,516,0.000,0.029,2638,644,3183,3211,3156,0,0,0,0,0,0,26.44,26.03,26.44
$GC,438,-0.45,-175.2,2637,643,3211,3155,49.7,-11.2,63,446,0.12,2.15,0.00,0.000,3078,0.144,0.028,2666,2061,3183,3211,3155,0,0,0,0,0,0,25.79,26.07,25.94
$GC,491,-0.45,-175.2,2665,2060,3212,3155,54.4,-7.7,72,500,0.00,2.10,0.00,0.000,260,0.000,0.033,2657,3446,3183,3211,3155,0,0,0,0,0,0,26.46,26.05,26.47
$GC,524,-0.45,-175.2,2656,3446,3211,3155,57.2,-9.0,77,531,0.00,2.08,0.00,0.000,1030,0.000,0.024,2656,2049,3183,3211,3155,0,0,0,0,0,0,26.17,26.10,26.20
$GC,575,-0.45,-175.2,2656,2043,3213,3154,62.0,-9.1,86,582,0.00,2.08,0.00,0.000,516,0.000,0.026,2657,641,3183,3213,3154,0,0,0,0,0,0,26.48,26.10,26.50
$GC,638,-0.45,-175.2,2656,641,3213,3154,68.3,-10.7,97,644,0.00,2.12,0.00,0.000,1030,0.000,0.028,2646,2049,3183,3213,3154,0,0,0,0,0,0,26.20,26.11,26.22
$GC,688,-0.45,-175.2,2646,2049,3212,3154,74.4,-12.0,106,694,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2049,3183,3213,3154,0,0,0,0,0,0,26.51,26.53,26.53
$GC,740,-0.45,-175.2,2646,2049,3213,3154,79.9,-10.9,115,748,0.00,2.10,0.00,0.000,516,0.000,0.027,2646,643,3183,3213,3154,0,0,0,0,0,0,26.53,26.13,26.53
$GC,770,-0.45,-175.2,2646,642,3213,3154,83.4,-10.7,120,778,0.00,2.17,0.00,0.000,1030,0.000,0.028,2638,2047,3183,3213,3154,0,0,0,0,0,0,26.20,26.14,26.20
$GC,823,-0.45,-175.2,2637,2047,3213,3154,88.7,-10.2,129,830,0.00,2.10,0.00,0.000,260,0.000,0.033,2627,3457,3183,3213,3154,0,0,0,0,0,0,26.54,26.11,26.55
$GC,874,-0.45,-175.2,2626,3457,3213,3154,93.7,-9.9,138,883,0.10,2.12,0.00,0.000,3078,0.128,0.024,2660,2048,3183,3213,3154,0,0,0,0,0,0,25.91,26.17,25.98
$GC,928,-0.45,-175.2,2659,2043,3214,3154,98.5,-8.0,147,934,0.00,2.10,0.00,0.000,516,0.000,0.027,2660,633,3183,3213,3153,0,0,0,0,0,0,26.56,26.15,26.57
$GC,975,-0.45,-175.2,2660,632,3214,3154,102.7,-9.3,153,982,0.00,2.15,0.00,0.000,1030,0.000,0.028,2651,2051,3183,3214,3153,0,0,0,0,0,0,26.25,26.17,26.27
$STATE,1156,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1156,begin apogee
$GC,1162,0.00,0.0,2651,1746,3214,3153,120.5,-8.5,171,1302,0.47,0.08,129.95,0.688,10246,0.123,0.090,2801,1840,2464,2524,2405,0,0,0,0,0,0,25.78,25.03,24.41
$STATE,1303,end apogee,CONTROL_FINISHED_OK
$STATE,1303,begin climb
$GC,1305,0.45,175.2,2801,1840,2524,2405,127.8,0.0,186,1453,0.45,2.33,133.62,0.693,10756,0.060,0.032,2984,397,1745,1836,1655,0,0,0,0,0,0,25.23,24.70,24.29
$GC,1469,0.45,175.2,2983,397,1829,1655,117.6,11.7,202,1476,0.00,2.15,0.00,0.000,1030,0.000,0.028,2984,1758,1743,1831,1655,0,0,0,0,0,0,25.33,25.26,25.36
$GC,1660,0.45,175.2,2983,1759,1831,1653,93.5,12.1,226,1667,0.00,2.10,0.00,0.000,516,0.000,0.031,2993,396,1741,1829,1653,0,0,0,0,0,0,26.14,25.77,26.15
$GC,1744,0.45,175.2,2993,396,1824,1653,83.1,12.2,241,1752,0.12,2.17,0.00,0.000,5126,0.145,0.028,2957,1812,1738,1824,1653,0,0,0,0,0,0,25.63,25.89,25.82
$GC,1796,0.45,175.2,2957,1812,1826,1653,77.3,10.3,250,1803,0.00,2.10,0.00,0.000,260,0.000,0.031,2957,3211,1739,1826,1653,0,0,0,0,0,0,26.29,25.92,26.29
$GC,1842,0.56,266.9,2957,3211,1826,1653,73.3,7.7,258,1923,0.00,2.15,72.90,0.660,9222,0.000,0.028,2966,1808,1373,1492,1255,0,0,0,0,0,0,26.01,25.97,24.58
$GC,1969,0.56,269.5,2965,1808,1488,1254,61.8,9.9,279,1976,0.00,2.20,0.00,0.000,516,0.000,0.034,2976,397,1370,1487,1253,0,0,0,0,0,0,25.86,25.52,25.87
$GC,2037,0.58,282.5,2976,397,1476,1253,54.3,9.7,291,2057,0.00,2.15,13.07,0.592,9222,0.000,0.022,2976,1808,1311,1433,1190,0,0,0,0,0,0,25.82,25.75,24.75
$GC,2101,0.58,282.5,2976,1808,1431,1189,47.3,11.1,302,2108,0.00,2.10,0.00,0.000,260,0.000,0.031,2976,3200,1310,1431,1189,0,0,0,0,0,0,26.05,25.71,26.06
$GC,2172,0.58,282.5,2976,3199,1430,1189,39.3,11.7,314,2180,0.00,2.17,0.00,0.000,1030,0.000,0.029,2986,1799,1309,1430,1189,0,0,0,0,0,0,25.86,25.83,25.89
$GC,2231,0.58,282.5,2986,1799,1427,1189,32.4,11.4,323,2240,0.00,2.20,0.00,0.000,516,0.000,0.034,2997,393,1307,1425,1189,0,0,0,0,0,0,26.24,25.86,26.25
$GC,2254,0.58,282.5,2996,392,1420,1189,29.8,10.9,326,2263,0.00,2.17,0.00,0.000,1030,0.000,0.028,2997,1783,1304,1420,1189,0,0,0,0,0,0,25.96,25.92,25.98
$GC,2314,0.58,282.5,2997,1786,1420,1189,23.1,12.9,335,2322,0.00,2.20,0.00,0.000,260,0.000,0.031,2997,3216,1304,1420,1189,0,0,0,0,0,0,26.31,25.94,26.32
$GC,2350,0.58,282.5,2997,3216,1420,1189,18.9,12.1,340,2359,0.00,2.20,0.00,0.000,1030,0.000,0.029,3007,1790,1304,1420,1189,0,0,0,0,0,0,26.04,25.97,26.04
$GC,2409,0.58,282.5,3006,1790,1420,1189,11.5,12.1,349,2418,0.00,2.20,0.00,0.000,516,0.000,0.036,3018,390,1304,1419,1189,0,0,0,0,0,0,26.37,25.96,26.38
$GC,2464,0.58,282.5,3017,390,1416,1189,5.2,11.2,357,2472,0.00,2.20,0.00,0.000,1030,0.000,0.026,3018,1809,1303,1417,1189,0,0,0,0,0,0,26.08,26.05,26.10
$STATE,2485,end climb,SURFACE_DEPTH_REACHED
$STATE,2485,begin surface coast
$FINISH,0.5,1.011869
$STATE,2516,end surface coast,CONTROL_FINISHED_OK
$STATE,2517,begin surface
$SM_CCo,2534,20.85,0.050,0,0,1117,330.17
$SM_GC,1.95,7.57,0.35,20.85,0.030,0.026,0.050,124,2137,1117,-8.33,-1.10,330.17,0,0,0,0,0,0,26.08,26.22,25.96
$IRIDIUM_FIX,-3330.55,2719.09,020817,000801
$TT8_MAMPS,0.025466,0.265895
$HUMID,59.64
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,16.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,120.5,11.9
$24V_AH,24.13,55.063
$10V_AH,10.16,28.551
$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,18.900,69.825,349.550,20.850,0.000,22.755,23.574,341.690,3.000,0.000,11.542,843.207,350.887,462.506,1294.036,157.336,0.000,926.900,0.000,888.187,0.000,18.900,0.000
$DEVICE_MAMPS,220.320,89.505,693.090,50.490,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,248.311,111.201,493.677,586.368,0.000,0.000,0.000,0.000,0.000,0.000
$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,27048,365
$CAP_FILE_SIZE,66595,0
$CFSIZE,2097086464,2030731264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,020817,023315,-3344.257,2717.400,5,0.9,5,-27.7,0.0,0.0,8,19.4