version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 572
start: 8 1 117 9 54 51
data:
$ID,574
$MISSION,23
$DIVE,572
$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,100
$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,1
$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,48
$R_STBD_OVSHOOT,44
$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
$GPS1,010817,094343,-3338.5876,2720.7820,5,0.9,5,-27.6,0.9,209.7,10,70.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-76.4
$GPS2,010817,095403,-3338.7185,2720.5164,5,1.0,5,-27.6,0.5,166.7,9,15.7
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3340.594,2733.296
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,127.6,20000,-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,-175.2,125,2028,1183,1030,0.0,0.0,0,88,0.00,0.00,-70.00,0.000,16386,0.000,0.000,125,2030,3006,3012,3000,0,0,0,0,0,0,26.20,28.83,26.22
$GC,91,-0.45,-175.2,125,2030,3012,3000,3.0,-3.8,9,117,10.07,2.20,-3.60,0.000,18692,0.224,0.042,2647,3459,3182,3202,3162,0,0,0,0,0,0,25.22,24.13,25.41
$GC,168,-0.45,-175.2,2646,3459,3206,3160,18.1,-11.5,20,177,0.00,2.15,0.00,0.000,1030,0.000,0.025,2647,2057,3182,3207,3158,0,0,0,0,0,0,26.00,25.94,26.00
$GC,227,-0.45,-175.2,2646,2055,3209,3156,26.0,-13.4,29,236,0.00,2.17,0.00,0.000,516,0.000,0.028,2647,635,3182,3209,3155,0,0,0,0,0,0,26.34,25.95,26.35
$GC,251,-0.45,-175.2,2646,635,3209,3155,29.0,-13.1,32,260,0.00,2.20,0.00,0.000,1030,0.000,0.028,2637,2046,3182,3209,3155,0,0,0,0,0,0,26.01,25.97,26.03
$GC,310,-0.45,-175.2,2636,2046,3210,3155,37.5,-13.9,41,318,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2046,3182,3210,3155,0,0,0,0,0,0,26.39,26.40,26.39
$GC,363,-0.45,-175.2,2636,2046,3210,3155,45.9,-15.1,50,370,0.00,2.12,0.00,0.000,516,0.000,0.029,2637,637,3182,3210,3155,0,0,0,0,0,0,26.41,26.01,26.42
$GC,395,-0.45,-175.2,2636,637,3211,3155,50.4,-14.5,55,403,0.12,2.15,0.00,0.000,3078,0.164,0.026,2664,2058,3182,3210,3154,0,0,0,0,0,0,25.72,26.05,25.88
$GC,446,-0.45,-175.2,2664,2057,3212,3154,56.8,-10.9,64,453,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2057,3183,3212,3154,0,0,0,0,0,0,26.44,26.46,26.46
$GC,500,-0.45,-175.2,2663,2057,3212,3154,61.8,-10.2,73,507,0.00,2.08,0.00,0.000,260,0.000,0.033,2654,3455,3182,3212,3153,0,0,0,0,0,0,26.46,26.04,26.47
$GC,526,-0.45,-175.2,2654,3455,3223,3143,64.5,-9.9,77,533,0.00,2.10,0.00,0.000,1030,0.000,0.023,2655,2037,3183,3225,3141,0,0,0,0,0,0,26.17,26.10,26.20
$GC,578,-0.45,-175.2,2654,2035,3227,3139,70.3,-11.5,86,585,0.00,2.08,0.00,0.000,516,0.000,0.031,2654,646,3183,3227,3139,0,0,0,0,0,0,26.46,26.06,26.46
$GC,634,-0.45,-175.2,2654,646,3227,3139,76.4,-11.1,96,643,0.00,2.15,0.00,0.000,1030,0.000,0.029,2645,2035,3183,3228,3139,0,0,0,0,0,0,26.13,26.10,26.17
$GC,689,-0.45,-175.2,2644,2035,3228,3139,81.6,-9.9,105,695,0.00,2.12,0.00,0.000,260,0.000,0.034,2634,3459,3182,3227,3138,0,0,0,0,0,0,26.51,26.08,26.52
$GC,715,-0.45,-175.2,2633,3458,3228,3138,84.1,-9.8,109,723,0.10,2.08,0.00,0.000,3078,0.144,0.023,2667,2046,3183,3228,3138,0,0,0,0,0,0,25.92,26.15,26.04
$GC,767,-0.45,-175.2,2666,2042,3229,3137,87.9,-7.0,118,773,0.00,2.10,0.00,0.000,516,0.000,0.031,2667,640,3183,3229,3137,0,0,0,0,0,0,26.53,26.10,26.54
$GC,832,-0.45,-175.2,2667,639,3229,3137,93.5,-9.3,129,839,0.00,2.15,0.00,0.000,1030,0.000,0.029,2660,2052,3183,3229,3137,0,0,0,0,0,0,26.22,26.13,26.25
$STATE,865,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,865,begin apogee
$GC,871,0.00,0.0,2659,1793,3230,3137,96.1,-6.8,135,1008,0.47,0.00,129.70,0.655,10246,0.140,0.000,2806,1788,2465,2530,2400,0,0,0,0,0,0,25.72,24.85,24.45
$STATE,1009,end apogee,CONTROL_FINISHED_OK
$STATE,1009,begin climb
$GC,1011,0.45,175.2,2806,1787,2529,2400,99.9,0.0,157,1158,0.43,2.25,133.15,0.642,11012,0.061,0.032,2982,404,1746,1835,1658,0,0,0,0,0,0,25.22,24.92,24.34
$GC,1246,0.45,175.2,2981,404,1824,1658,75.0,10.3,197,1253,0.00,2.17,0.00,0.000,1030,0.000,0.028,2982,1798,1741,1825,1658,0,0,0,0,0,0,25.63,25.56,25.66
$GC,1298,0.45,175.2,2981,1802,1826,1658,68.0,13.3,206,1303,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,1802,1742,1826,1658,0,0,0,0,0,0,26.00,26.01,26.01
$GC,1348,0.45,175.2,2981,1802,1826,1658,61.5,12.3,215,1354,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,1802,1742,1826,1658,0,0,0,0,0,0,26.09,26.11,26.10
$GC,1398,0.45,175.2,2981,1802,1826,1658,55.3,12.4,224,1405,0.00,2.17,0.00,0.000,260,0.000,0.031,2982,3211,1742,1826,1658,0,0,0,0,0,0,26.17,25.82,26.17
$GC,1444,0.45,175.2,2981,3212,1825,1658,49.3,12.9,232,1452,0.10,2.17,0.00,0.000,5126,0.155,0.031,2961,1811,1742,1826,1658,0,0,0,0,0,0,25.60,25.86,25.70
$GC,1499,0.53,243.2,2960,1811,1825,1657,44.1,8.3,241,1564,0.00,2.28,53.95,0.612,8708,0.000,0.035,2970,392,1469,1579,1359,0,0,0,0,0,0,26.27,25.33,24.72
$GC,1592,0.59,287.9,2969,392,1573,1359,35.7,8.9,255,1640,0.00,2.22,37.00,0.595,9222,0.000,0.024,2970,1812,1289,1415,1164,0,0,0,0,0,0,25.63,25.60,24.63
$GC,1692,0.63,325.8,2970,1812,1412,1163,26.4,9.0,269,1718,0.12,2.17,19.98,0.562,10500,0.074,0.029,3049,3201,1134,1267,1002,0,0,0,0,0,0,25.63,25.29,24.64
$GC,1804,0.63,325.8,3049,3201,1258,1002,10.3,15.1,286,1813,0.12,2.20,0.00,0.000,5126,0.158,0.030,3023,1794,1130,1258,1002,0,0,0,0,0,0,25.41,25.70,25.52
$STATE,1851,end climb,SURFACE_DEPTH_REACHED
$STATE,1851,begin surface coast
$FINISH,0.6,1.026468
$STATE,1870,end surface coast,CONTROL_FINISHED_OK
$STATE,1870,begin surface
$SM_CCo,1888,0.22,0.095,0,0,1119,330.17
$SM_GC,2.08,7.60,0.38,0.22,0.031,0.035,0.095,127,2086,1119,-8.29,-1.36,330.17,0,0,0,0,0,0,25.77,25.91,25.77
$IRIDIUM_FIX,-3322.80,2720.20,010817,090757
$TT8_MAMPS,0.025466,0.290612
$HUMID,60.00
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,16.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.5,20.2
$24V_AH,24.13,53.326
$10V_AH,10.11,27.644
$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,19.150,48.250,373.775,0.225,0.000,96.295,65.201,221.641,2.000,0.000,11.567,642.434,247.166,397.923,1140.025,114.934,0.000,824.070,0.000,732.278,0.000,14.445,0.000
$DEVICE_MAMPS,224.145,42.840,654.840,94.860,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,201.752,95.260,452.009,468.890,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343408
$DATA_FILE_SIZE,20307,296
$CAP_FILE_SIZE,54078,0
$CFSIZE,2097086464,2033025024
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,867.90,0x212b66,2,24
$WARN,PPS timeout
$GPS,010817,102701,-3339.208,2720.125,5,1.0,5,-27.6,0.0,0.0,9,77.9