version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 598
start: 8 2 117 4 19 50
data:
$ID,574
$MISSION,23
$DIVE,598
$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,25
$R_STBD_OVSHOOT,48
$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
$GPS1,020817,041804,-3344.3171,2717.6514,4,0.7,5,-27.7,0.0,135.8,12,218.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-78.4
$GPS2,020817,041902,-3344.3188,2717.6494,4,1.0,4,-27.7,1.1,60.7,7,36.7
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3349.719,2728.908
$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,-175.2,124,2056,1200,1023,0.0,0.0,0,88,0.00,0.00,-70.03,0.000,16386,0.000,0.000,124,2056,3040,3044,3037,0,0,0,0,0,0,26.36,28.83,26.38
$GC,92,-0.45,-175.2,124,2056,3047,3036,3.6,-5.1,9,110,9.82,2.25,-2.72,0.000,18948,0.215,0.044,2657,625,3182,3198,3166,0,0,0,0,0,0,25.32,24.25,25.51
$GC,188,-0.45,-175.2,2657,626,3206,3161,22.2,-12.1,24,197,0.00,2.22,0.00,0.000,1030,0.000,0.030,2648,2043,3183,3208,3158,0,0,0,0,0,0,26.06,26.03,26.09
$GC,248,-0.45,-175.2,2648,2043,3208,3156,29.2,-12.2,33,259,0.00,2.15,0.00,0.000,260,0.000,0.034,2638,3454,3181,3207,3156,0,0,0,0,0,0,26.44,26.02,26.45
$GC,316,-0.45,-175.2,2637,3455,3208,3156,37.0,-11.2,43,325,0.00,2.15,0.00,0.000,1030,0.000,0.023,2638,2032,3182,3208,3156,0,0,0,0,0,0,26.14,26.10,26.16
$GC,373,-0.45,-175.2,2637,2027,3209,3155,43.9,-11.0,52,380,0.00,2.12,0.00,0.000,516,0.000,0.028,2638,640,3182,3210,3155,0,0,0,0,0,0,26.48,26.08,26.49
$GC,409,-0.45,-175.2,2637,639,3210,3154,48.3,-11.8,58,416,0.12,2.15,0.00,0.000,3078,0.145,0.028,2665,2056,3182,3210,3155,0,0,0,0,0,0,25.82,26.10,25.96
$GC,465,-0.45,-175.2,2665,2056,3211,3154,53.5,-9.7,67,472,0.00,2.08,0.00,0.000,260,0.000,0.032,2656,3457,3182,3210,3154,0,0,0,0,0,0,26.50,26.08,26.51
$GC,495,-0.45,-175.2,2656,3458,3210,3155,56.7,-9.3,72,503,0.00,2.12,0.00,0.000,1030,0.000,0.024,2656,2050,3182,3210,3154,0,0,0,0,0,0,26.17,26.16,26.19
$GC,549,-0.45,-175.2,2655,2047,3212,3153,62.1,-9.8,81,555,0.00,2.10,0.00,0.000,516,0.000,0.028,2656,644,3183,3213,3153,0,0,0,0,0,0,26.52,26.11,26.53
$GC,611,-0.45,-175.2,2656,643,3212,3153,68.9,-11.4,92,618,0.00,2.17,0.00,0.000,1030,0.000,0.028,2646,2045,3183,3213,3153,0,0,0,0,0,0,26.17,26.13,26.20
$GC,663,-0.45,-175.2,2646,2044,3213,3153,75.1,-12.1,101,670,0.00,2.10,0.00,0.000,260,0.000,0.033,2636,3461,3183,3213,3153,0,0,0,0,0,0,26.54,26.10,26.55
$GC,698,-0.45,-175.2,2635,3461,3212,3153,79.3,-12.1,107,705,0.00,2.10,0.00,0.000,1030,0.000,0.024,2636,2045,3182,3212,3153,0,0,0,0,0,0,26.23,26.15,26.26
$GC,752,-0.45,-175.2,2635,2042,3213,3152,85.3,-11.4,116,759,0.00,2.12,0.00,0.000,516,0.000,0.029,2636,645,3182,3213,3152,0,0,0,0,0,0,26.55,26.13,26.56
$GC,816,-0.45,-175.2,2635,645,3213,3153,92.5,-11.2,127,823,0.12,2.15,0.00,0.000,3078,0.142,0.028,2664,2060,3183,3213,3153,0,0,0,0,0,0,25.87,26.15,26.02
$GC,867,-0.45,-175.2,2663,2060,3213,3153,97.5,-8.2,136,874,0.00,2.12,0.00,0.000,260,0.000,0.034,2655,3460,3182,3213,3152,0,0,0,0,0,0,26.57,26.13,26.58
$GC,917,-0.45,-175.2,2654,3459,3213,3152,101.8,-8.9,142,923,0.00,2.08,0.00,0.000,1030,0.000,0.023,2655,2047,3183,3213,3153,0,0,0,0,0,0,26.27,26.20,26.29
$GC,1109,-0.45,-175.2,2654,2043,3214,3152,120.2,-10.3,161,1118,0.00,2.05,0.00,0.000,516,0.000,0.029,2654,654,3183,3214,3152,0,0,0,0,0,0,26.59,26.15,26.60
$STATE,1169,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1169,begin apogee
$GC,1176,0.00,0.0,2646,1809,3214,3152,126.9,-10.0,167,1311,0.50,0.00,130.18,0.685,10246,0.116,0.000,2807,1810,2464,2525,2404,0,0,0,0,0,0,25.79,25.01,24.40
$STATE,1312,end apogee,CONTROL_FINISHED_OK
$STATE,1312,begin climb
$GC,1314,0.45,175.2,2807,1810,2525,2404,134.3,0.0,181,1462,0.38,2.30,133.85,0.686,10756,0.041,0.031,2990,398,1745,1836,1655,0,0,0,0,0,0,25.24,24.68,24.27
$GC,1528,0.45,175.2,2989,398,1827,1655,118.6,11.4,202,1535,0.08,2.22,0.00,0.000,5126,0.148,0.027,2955,1797,1741,1827,1655,0,0,0,0,0,0,25.22,25.48,25.42
$GC,1715,0.45,175.2,2954,1798,1828,1655,98.9,10.3,222,1723,0.00,2.17,0.00,0.000,260,0.000,0.031,2955,3207,1742,1829,1655,0,0,0,0,0,0,26.19,25.83,26.20
$GC,1842,0.45,179.9,2954,3206,1828,1655,85.9,9.9,245,1857,0.00,2.12,3.85,0.429,9222,0.000,0.028,2963,1799,1731,1820,1642,0,0,0,0,0,0,26.03,25.94,24.78
$GC,1902,0.46,184.7,2963,1799,1820,1642,79.8,9.9,255,1916,0.00,2.22,5.82,0.511,8708,0.000,0.034,2974,390,1710,1801,1620,0,0,0,0,0,0,26.32,25.37,24.90
$GC,1944,0.46,184.7,2973,390,1794,1620,75.3,10.6,262,1951,0.00,2.15,0.00,0.000,1030,0.000,0.025,2974,1799,1708,1795,1621,0,0,0,0,0,0,26.03,25.96,26.06
$GC,1998,0.46,184.7,2973,1800,1796,1620,69.7,11.2,271,2005,0.00,2.12,0.00,0.000,260,0.000,0.030,2974,3212,1708,1795,1621,0,0,0,0,0,0,26.33,25.96,26.34
$GC,2012,0.46,184.7,2973,3211,1796,1620,67.7,11.9,273,2020,0.00,2.15,0.00,0.000,1030,0.000,0.028,2984,1800,1709,1797,1621,0,0,0,0,0,0,26.06,25.97,26.08
$GC,2062,0.46,184.7,2983,1799,1796,1620,62.0,10.8,282,2071,0.00,2.20,0.00,0.000,516,0.000,0.034,2995,392,1707,1794,1620,0,0,0,0,0,0,26.37,25.94,26.38
$GC,2106,0.46,184.7,2994,392,1791,1621,57.1,11.9,289,2113,0.12,2.15,0.00,0.000,5126,0.146,0.028,2958,1795,1705,1791,1620,0,0,0,0,0,0,25.74,26.02,25.90
$GC,2157,0.46,184.7,2958,1797,1794,1620,51.4,10.3,298,2164,0.00,2.12,0.00,0.000,260,0.000,0.031,2958,3222,1708,1795,1621,0,0,0,0,0,0,26.41,26.01,26.42
$GC,2224,0.51,225.7,2958,3222,1795,1621,44.9,9.0,310,2267,0.00,2.15,33.95,0.623,9222,0.000,0.028,2967,1792,1543,1649,1437,0,0,0,0,0,0,26.14,26.05,24.94
$GC,2317,0.51,225.7,2967,1793,1646,1435,35.9,10.6,325,2326,0.00,2.20,0.00,0.000,516,0.000,0.035,2977,397,1538,1642,1435,0,0,0,0,0,0,26.14,25.75,26.15
$GC,2430,0.65,339.9,2977,397,1634,1435,26.2,7.1,343,2494,0.12,2.17,57.47,0.606,11270,0.041,0.024,3075,1804,1077,1209,945,0,0,0,0,0,0,25.92,25.94,24.71
$GC,2547,0.65,339.9,3074,1804,1201,942,9.0,18.0,359,2556,0.15,2.17,0.00,0.000,4356,0.175,0.028,3027,3209,1071,1201,942,0,0,0,0,0,0,25.28,25.51,25.39
$GC,2565,0.65,339.9,3026,3209,1199,942,5.2,18.1,361,2574,0.00,2.20,0.00,0.000,1030,0.000,0.031,3035,1811,1070,1199,942,0,0,0,0,0,0,25.67,25.64,25.71
$STATE,2581,end climb,SURFACE_DEPTH_REACHED
$STATE,2581,begin surface coast
$FINISH,0.5,1.010622
$STATE,2601,end surface coast,CONTROL_FINISHED_OK
$STATE,2601,begin surface
$SM_CCo,2678,0.00,0.000,0,0,1065,343.41
$SM_GC,1.53,7.68,0.35,0.00,0.027,0.030,0.000,125,2103,1065,-8.33,-1.33,343.41,0,0,0,0,0,0,25.75,25.86,25.81
$IRIDIUM_FIX,-3333.14,2708.69,020817,014231
$TT8_MAMPS,0.025466,0.274134
$HUMID,60.27
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,16.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.2,20.9
$24V_AH,24.25,55.284
$10V_AH,10.15,28.683
$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,19.100,73.375,365.125,0.000,0.000,0.000,0.000,0.000,2.750,0.000,11.600,848.563,478.775,441.974,904.620,88.846,0.000,916.151,0.000,888.842,0.000,18.942,0.000
$DEVICE_MAMPS,214.965,80.325,686.205,0.000,0.000,0.000,0.000,0.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,251.734,103.103,464.433,579.240,0.000,0.000,0.000,0.000,0.000,0.000
$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,27150,366
$CAP_FILE_SIZE,59128,0
$CFSIZE,2097086464,2030469120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,020817,050530,-3344.312,2717.780,28,1.0,28,-27.7,0.0,0.0,9,7.7