version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 563
start: 8 1 117 4 15 12
data:
$ID,574
$MISSION,23
$DIVE,563
$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,31
$R_STBD_OVSHOOT,45
$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,1
$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
$GPS1,010817,040634,-3332.5984,2728.1658,5,1.5,5,-27.6,0.0,0.0,5,42.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-79.1
$GPS2,010817,041426,-3332.7434,2728.0635,4,1.1,4,-27.6,0.6,176.3,6,199.0
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3341.016,2736.406
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,167.6,20000,-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,-175.2,125,2050,1181,1029,0.0,0.0,0,88,0.00,0.00,-69.65,0.000,16386,0.000,0.000,125,2051,3003,3010,2996,0,0,0,0,0,0,26.17,28.83,26.18
$GC,91,-0.45,-175.2,125,2051,3011,2995,3.2,-4.1,9,117,9.98,2.20,-3.60,0.000,18948,0.220,0.039,2658,625,3182,3204,3161,0,0,0,0,0,0,25.22,24.15,25.43
$GC,184,-0.45,-175.2,2658,625,3205,3160,21.0,-12.4,23,193,0.00,2.22,0.00,0.000,1030,0.000,0.031,2649,2037,3182,3207,3157,0,0,0,0,0,0,25.95,25.91,25.98
$GC,407,-0.45,-175.2,2648,2037,3209,3154,45.3,-13.0,60,415,0.00,2.17,0.00,0.000,260,0.000,0.034,2638,3457,3181,3209,3154,0,0,0,0,0,0,26.42,26.01,26.44
$GC,482,-0.45,-175.2,2637,3458,3209,3154,54.3,-11.9,73,489,0.00,2.12,0.00,0.000,1030,0.000,0.025,2638,2034,3181,3209,3154,0,0,0,0,0,0,26.15,26.08,26.18
$GC,683,-0.45,-175.2,2637,2028,3211,3152,74.3,-8.1,110,690,0.00,2.08,0.00,0.000,516,0.000,0.027,2638,633,3181,3211,3152,0,0,0,0,0,0,26.51,26.12,26.52
$GC,792,-0.45,-175.2,2637,632,3212,3152,86.4,-13.2,130,800,0.12,2.15,0.00,0.000,3078,0.155,0.026,2666,2058,3182,3212,3152,0,0,0,0,0,0,25.85,26.15,26.00
$STATE,930,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,930,begin apogee
$GC,936,0.00,0.0,2665,1766,3212,3151,100.3,-10.1,155,1070,0.40,0.00,129.77,0.663,10246,0.125,0.000,2797,1762,2464,2525,2404,0,0,0,0,0,0,25.81,25.03,24.46
$STATE,1071,end apogee,CONTROL_FINISHED_OK
$STATE,1071,begin climb
$GC,1073,0.45,175.2,2797,1763,2525,2404,112.4,0.0,169,1221,0.43,2.08,133.27,0.655,11012,0.075,0.023,2964,430,1745,1836,1655,0,0,0,0,0,0,25.15,24.73,24.34
$GC,1250,0.45,175.2,2964,429,1827,1658,99.0,13.6,187,1256,0.00,2.12,0.00,0.000,1030,0.000,0.022,2964,1808,1743,1828,1658,0,0,0,0,0,0,25.41,25.34,25.43
$GC,1449,0.45,175.2,2964,1813,1828,1655,74.1,13.3,224,1456,0.00,2.12,0.00,0.000,260,0.000,0.028,2965,3206,1741,1828,1655,0,0,0,0,0,0,26.15,25.82,26.16
$GC,1587,0.50,217.6,2964,3205,1828,1655,60.0,8.9,249,1630,0.00,2.08,33.65,0.604,9222,0.000,0.029,2974,1834,1576,1682,1470,0,0,0,0,0,0,26.01,25.94,24.89
$GC,1829,0.50,217.6,2973,1834,1678,1467,36.0,11.3,292,1837,0.00,2.08,0.00,0.000,260,0.000,0.028,2974,3204,1572,1678,1467,0,0,0,0,0,0,26.26,25.91,26.27
$GC,1858,0.50,217.6,2973,3204,1678,1467,32.6,11.8,296,1867,0.00,2.17,0.00,0.000,1030,0.000,0.028,2984,1794,1572,1678,1467,0,0,0,0,0,0,25.95,25.94,26.03
$GC,2084,0.50,217.6,2984,1794,1673,1467,7.4,10.6,333,2092,0.00,2.12,0.00,0.000,260,0.000,0.028,2984,3205,1569,1672,1467,0,0,0,0,0,0,26.41,26.05,26.43
$STATE,2129,end climb,SURFACE_DEPTH_REACHED
$STATE,2129,begin surface coast
$FINISH,1.0,1.026605
$STATE,2143,end surface coast,CONTROL_FINISHED_OK
$STATE,2143,begin surface
$SM_CCo,2161,48.53,0.047,0,0,1118,330.17
$SM_GC,1.55,7.47,1.75,48.53,0.031,0.021,0.047,125,2020,1118,-8.35,1.02,330.17,0,0,0,0,0,0,26.07,26.10,25.98
$IRIDIUM_FIX,-3315.05,2731.68,010817,025949
$TT8_MAMPS,0.025466,0.265895
$HUMID,59.64
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,15.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.3,12.6
$24V_AH,24.15,52.676
$10V_AH,10.17,27.318
$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,18.400,30.000,296.700,48.525,0.000,25.398,42.112,283.728,2.250,0.000,11.614,783.422,199.152,383.852,1231.872,117.521,0.000,750.403,0.000,864.867,0.000,15.931,0.000
$DEVICE_MAMPS,219.555,71.910,663.255,46.665,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,236.834,123.439,518.499,567.314,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343448
$DATA_FILE_SIZE,23734,342
$CAP_FILE_SIZE,44999,0
$CFSIZE,2097086464,2033909760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,010817,045319,-3333.451,2727.128,39,1.2,39,-27.6,1.0,249.0,7,38.8