version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 568
start: 8 1 117 7 10 19
data:
$ID,574
$MISSION,23
$DIVE,568
$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,39
$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
$GPS1,010817,070837,-3335.9348,2723.9512,4,1.2,4,-27.6,0.0,0.0,7,19.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-77.6
$GPS2,010817,070932,-3335.9502,2723.9270,4,1.2,4,-27.6,0.0,0.0,7,19.1
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3344.223,2732.274
$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,15,-0.45,-175.2,125,2046,1187,1029,0.0,0.0,0,95,0.00,0.00,-75.05,0.000,16390,0.000,0.000,125,2047,3182,3188,3176,0,0,0,0,0,0,26.48,24.43,26.50
$GC,98,-0.45,-175.2,125,2047,3188,3176,4.4,-7.3,10,116,9.93,2.12,0.00,0.000,2564,0.222,0.021,2658,616,3183,3194,3172,0,0,0,0,0,0,25.37,25.72,25.56
$GC,159,-0.45,-175.2,2658,616,3204,3163,20.4,-12.3,19,168,0.00,2.20,0.00,0.000,1030,0.000,0.028,2649,2040,3184,3206,3162,0,0,0,0,0,0,26.12,26.10,26.17
$GC,219,-0.45,-175.2,2648,2040,3207,3160,27.9,-13.2,28,227,0.00,2.15,0.00,0.000,260,0.000,0.034,2638,3454,3183,3207,3159,0,0,0,0,0,0,26.49,26.08,26.51
$GC,237,-0.45,-175.2,2638,3454,3207,3159,30.1,-12.8,30,246,0.00,2.15,0.00,0.000,1030,0.000,0.028,2639,2050,3183,3207,3159,0,0,0,0,0,0,26.15,26.11,26.18
$GC,295,-0.45,-175.2,2637,2048,3208,3157,37.8,-12.9,39,304,0.00,2.15,0.00,0.000,516,0.000,0.032,2638,644,3182,3208,3157,0,0,0,0,0,0,26.51,26.10,26.53
$GC,357,-0.45,-175.2,2638,644,3209,3157,45.7,-12.1,49,364,0.10,2.15,0.00,0.000,3078,0.167,0.031,2659,2051,3183,3209,3157,0,0,0,0,0,0,25.87,26.12,26.02
$GC,408,-0.45,-175.2,2658,2051,3209,3156,51.3,-9.9,58,415,0.00,2.10,0.00,0.000,260,0.000,0.034,2649,3464,3182,3209,3156,0,0,0,0,0,0,26.53,26.10,26.54
$GC,461,-0.45,-175.2,2649,3464,3209,3156,56.8,-11.7,67,468,0.00,2.10,0.00,0.000,1030,0.000,0.025,2649,2046,3182,3209,3156,0,0,0,0,0,0,26.24,26.16,26.27
$GC,511,-0.45,-175.2,2649,2041,3210,3156,62.4,-11.2,76,519,0.00,2.12,0.00,0.000,516,0.000,0.029,2649,646,3183,3210,3156,0,0,0,0,0,0,26.55,26.14,26.56
$GC,565,-0.45,-175.2,2649,645,3210,3156,68.4,-11.0,85,572,0.00,2.15,0.00,0.000,1030,0.000,0.032,2641,2054,3183,3210,3156,0,0,0,0,0,0,26.23,26.14,26.26
$GC,615,-0.45,-175.2,2640,2054,3210,3156,74.4,-11.6,94,622,0.00,2.08,0.00,0.000,260,0.000,0.033,2629,3462,3183,3210,3156,0,0,0,0,0,0,26.56,26.14,26.58
$STATE,673,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,673,begin apogee
$GC,681,0.00,0.0,2629,1801,3210,3155,80.7,-10.5,104,821,0.55,0.00,129.38,0.655,10246,0.129,0.000,2803,1800,2465,2525,2405,0,0,0,0,0,0,25.75,24.85,24.46
$STATE,822,end apogee,CONTROL_FINISHED_OK
$STATE,822,begin climb
$GC,826,0.45,175.2,2802,1799,2525,2404,87.4,0.0,127,972,0.38,2.25,133.68,0.648,10500,0.052,0.031,2961,3212,1747,1842,1653,0,0,0,0,0,0,25.28,24.92,24.34
$GC,996,0.45,175.2,2960,3212,1841,1653,75.3,12.5,155,1003,0.00,2.20,0.00,0.000,1030,0.000,0.028,2971,1797,1746,1841,1651,0,0,0,0,0,0,25.37,25.30,25.39
$GC,1047,0.45,175.2,2970,1796,1840,1650,69.3,11.4,164,1054,0.00,2.22,0.00,0.000,516,0.000,0.034,2981,397,1742,1836,1649,0,0,0,0,0,0,25.82,25.46,25.82
$GC,1061,0.45,175.2,2980,396,1831,1650,67.5,12.4,166,1068,0.00,2.20,0.00,0.000,1030,0.000,0.027,2981,1811,1741,1832,1650,0,0,0,0,0,0,25.63,25.56,25.66
$GC,1114,0.45,175.2,2981,1811,1833,1650,61.2,13.7,175,1120,0.00,2.12,0.00,0.000,260,0.000,0.032,2982,3209,1741,1833,1650,0,0,0,0,0,0,26.00,25.66,26.01
$GC,1165,0.45,175.2,2981,3209,1833,1650,54.4,11.7,184,1173,0.10,2.20,0.00,0.000,5126,0.157,0.030,2962,1797,1742,1834,1650,0,0,0,0,0,0,25.49,25.76,25.59
$GC,1220,0.45,175.2,2962,1797,1833,1650,48.2,10.7,193,1226,0.00,2.17,0.00,0.000,516,0.000,0.034,2971,389,1741,1832,1650,0,0,0,0,0,0,26.17,25.78,26.18
$GC,1248,0.45,175.2,2970,389,1826,1650,45.0,10.2,198,1257,0.00,2.20,0.00,0.000,1030,0.000,0.027,2971,1795,1739,1828,1650,0,0,0,0,0,0,25.91,25.87,25.96
$GC,1301,0.46,181.3,2971,1795,1829,1650,40.0,9.9,207,1317,0.00,2.17,4.93,0.461,8452,0.000,0.031,2971,3213,1725,1816,1635,0,0,0,0,0,0,26.25,25.65,24.87
$GC,1360,0.46,181.3,2971,3213,1816,1635,33.9,10.9,216,1369,0.00,2.20,0.00,0.000,1030,0.000,0.028,2981,1788,1725,1816,1635,0,0,0,0,0,0,25.96,25.93,25.99
$GC,1420,0.46,181.3,2981,1788,1816,1635,27.8,10.0,225,1429,0.00,2.17,0.00,0.000,516,0.000,0.036,2992,397,1724,1813,1635,0,0,0,0,0,0,26.31,25.91,26.32
$GC,1484,0.46,181.3,2992,397,1808,1635,20.9,10.4,235,1493,0.10,2.20,0.00,0.000,5126,0.145,0.030,2961,1802,1722,1809,1635,0,0,0,0,0,0,25.72,25.98,25.81
$GC,1544,0.60,294.1,2961,1804,1811,1635,16.4,7.1,244,1608,0.12,2.17,53.42,0.560,10500,0.079,0.028,3037,3202,1264,1390,1138,0,0,0,0,0,0,26.10,25.25,24.87
$STATE,1650,end climb,SURFACE_DEPTH_REACHED
$STATE,1650,begin surface coast
$FINISH,0.4,1.026506
$STATE,1676,end surface coast,CONTROL_FINISHED_OK
$STATE,1677,begin surface
$SM_CCo,1695,15.55,0.047,0,0,1118,330.17
$SM_GC,1.29,7.75,1.77,15.55,0.032,0.019,0.047,125,2034,1118,-8.35,0.93,330.17,0,0,0,0,0,0,25.78,25.78,25.72
$IRIDIUM_FIX,-3322.80,2730.58,010817,053428
$TT8_MAMPS,0.025466,0.268891
$HUMID,58.89
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.7,8.2
$24V_AH,24.34,52.988
$10V_AH,10.17,27.489
$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,19.025,56.275,321.400,15.550,0.000,0.000,0.000,0.000,1.750,0.000,11.541,566.032,98.186,377.590,686.972,69.045,0.000,761.463,0.000,678.899,0.000,12.916,0.000
$DEVICE_MAMPS,221.850,35.955,654.840,47.430,0.000,0.000,0.000,0.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,179.287,88.517,449.277,455.547,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343596
$DATA_FILE_SIZE,20327,263
$CAP_FILE_SIZE,42849,0
$CFSIZE,2097086464,2033418240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,010817,073932,-3336.632,2723.249,4,1.7,4,-27.6,1.0,142.3,5,292.4