version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 560
start: 8 1 117 2 20 7
data:
$ID,574
$MISSION,23
$DIVE,560
$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,140
$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,64
$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,50
$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
$GPS1,010817,021828,-3330.5508,2730.9797,4,1.0,4,-27.5,1.1,301.3,8,132.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-77.1
$GPS2,010817,021920,-3330.5764,2730.9626,5,1.0,5,-27.5,0.0,0.0,8,17.9
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3338.849,2739.301
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,167.5,20000,-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,-175.2,126,2081,1189,1027,0.0,0.0,0,88,0.00,0.00,-69.78,0.000,16386,0.000,0.000,126,2081,3019,3026,3013,0,0,0,0,0,0,26.43,28.83,26.44
$GC,91,-0.45,-175.2,126,2081,3027,3013,3.2,-4.7,9,117,9.98,2.22,-3.28,0.000,18948,0.223,0.038,2656,625,3184,3205,3163,0,0,0,0,0,0,25.36,24.26,25.56
$GC,156,-0.45,-175.2,2655,625,3206,3162,18.4,-13.9,18,165,0.00,2.20,0.00,0.000,1030,0.000,0.032,2647,2023,3184,3208,3161,0,0,0,0,0,0,26.08,26.04,26.09
$GC,215,-0.45,-175.2,2646,2023,3209,3159,26.2,-12.7,27,224,0.00,2.20,0.00,0.000,260,0.000,0.034,2636,3461,3183,3209,3158,0,0,0,0,0,0,26.45,26.05,26.46
$GC,291,-0.45,-175.2,2635,3462,3209,3158,34.3,-10.2,39,300,0.08,2.17,0.00,0.000,3078,0.156,0.025,2661,2034,3183,3209,3157,0,0,0,0,0,0,25.86,26.10,25.94
$GC,500,-0.45,-175.2,2661,2029,3213,3155,54.3,-10.5,76,507,0.00,2.10,0.00,0.000,516,0.000,0.028,2661,646,3184,3213,3155,0,0,0,0,0,0,26.53,26.14,26.54
$GC,601,-0.45,-175.2,2660,644,3213,3155,67.6,-15.6,94,608,0.00,2.17,0.00,0.000,1030,0.000,0.036,2653,2054,3184,3213,3156,0,0,0,0,0,0,26.22,26.11,26.25
$STATE,797,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,797,begin apogee
$GC,803,0.00,0.0,2653,1749,3213,3155,90.5,-12.5,130,938,0.47,0.08,129.15,0.655,10246,0.119,0.090,2807,1845,2464,2524,2405,0,0,0,0,0,0,25.82,25.05,24.48
$STATE,941,end apogee,CONTROL_FINISHED_OK
$STATE,941,begin climb
$GC,943,0.45,175.2,2806,1845,2524,2405,92.5,0.0,152,1084,0.40,2.30,133.07,0.643,11012,0.050,0.029,2989,438,1749,1840,1658,0,0,0,0,0,0,25.27,24.93,24.35
$GC,1177,0.48,202.7,2988,437,1825,1659,75.2,9.3,192,1209,0.00,2.10,22.65,0.604,9222,0.000,0.024,2989,1771,1637,1732,1542,0,0,0,0,0,0,25.60,25.60,24.58
$GC,1402,0.48,202.7,2988,1773,1727,1541,48.0,12.6,233,1408,0.00,2.17,0.00,0.000,260,0.000,0.031,2989,3214,1634,1727,1541,0,0,0,0,0,0,26.17,25.82,26.18
$GC,1427,0.48,202.7,2988,3214,1726,1541,44.3,15.2,237,1435,0.10,2.08,0.00,0.000,5126,0.174,0.028,2970,1843,1634,1726,1542,0,0,0,0,0,0,25.61,25.86,25.77
$GC,1649,0.55,254.5,2970,1843,1726,1539,19.2,8.7,274,1682,0.00,2.10,24.58,0.556,8452,0.000,0.027,2970,3208,1424,1541,1308,0,0,0,0,0,0,26.37,25.45,25.04
$GC,1744,0.59,287.2,2970,3208,1534,1308,10.9,9.2,288,1769,0.00,2.17,15.00,0.509,9222,0.000,0.028,2978,1802,1293,1417,1169,0,0,0,0,0,0,25.91,25.86,24.96
$GC,1820,0.59,287.2,2978,1802,1414,1165,3.1,10.8,299,1829,0.00,2.22,0.00,0.000,516,0.000,0.037,2989,395,1288,1412,1164,0,0,0,0,0,0,26.16,25.75,26.17
$STATE,1836,end climb,SURFACE_DEPTH_REACHED
$STATE,1836,begin surface coast
$FINISH,0.4,1.010497
$STATE,1867,end surface coast,CONTROL_FINISHED_OK
$STATE,1867,begin surface
$SM_CCo,1886,18.50,0.047,0,0,1118,330.17
$SM_GC,1.70,7.55,2.55,18.50,0.032,0.019,0.047,126,2058,1118,-8.33,-1.10,330.17,0,0,0,0,0,0,25.86,25.91,25.84
$IRIDIUM_FIX,-3315.05,2731.68,010817,003125
$TT8_MAMPS,0.025466,0.26215
$HUMID,60.00
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,16.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.8,34.6
$24V_AH,24.26,52.457
$10V_AH,10.17,27.201
$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,18.575,31.225,324.450,18.500,0.000,0.000,0.000,0.000,1.000,0.000,11.544,658.194,138.709,336.567,797.992,60.240,0.000,707.720,0.000,793.359,0.000,8.544,0.000
$DEVICE_MAMPS,223.380,90.270,654.840,47.430,0.000,0.000,0.000,0.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,213.593,111.581,531.176,532.194,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343544
$DATA_FILE_SIZE,20430,306
$CAP_FILE_SIZE,35463,0
$CFSIZE,2097086464,2034204672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,010817,025233,-3331.185,2730.057,5,0.9,5,-27.6,0.8,269.3,8,19.3