version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 573
start: 8 1 117 10 34 1
data:
$ID,574
$MISSION,23
$DIVE,573
$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,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,37
$R_STBD_OVSHOOT,83
$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
$GPS1,010817,102701,-3339.2080,2720.1248,5,1.0,5,-27.6,0.0,0.0,9,77.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-75.6
$GPS2,010817,103313,-3339.2786,2719.9717,4,1.0,4,-27.6,1.0,61.6,9,15.2
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3341.154,2732.753
$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,14,begin dive
$GC,16,-0.45,-175.2,127,2091,1200,1027,0.0,0.0,0,88,0.00,0.00,-69.65,0.000,16386,0.000,0.000,127,2092,3017,3027,3007,0,0,0,0,0,0,26.18,28.83,26.20
$GC,91,-0.45,-175.2,127,2092,3028,3008,3.2,-3.6,9,117,9.98,2.08,-3.30,0.000,18692,0.221,0.044,2645,3430,3183,3205,3162,0,0,0,0,0,0,25.24,24.17,25.44
$GC,161,-0.45,-175.2,2644,3430,3207,3159,18.0,-12.0,19,170,0.00,2.12,0.00,0.000,1030,0.000,0.024,2645,2039,3183,3209,3157,0,0,0,0,0,0,25.97,25.94,26.00
$GC,220,-0.45,-175.2,2644,2037,3211,3155,25.3,-12.5,28,229,0.00,2.12,0.00,0.000,516,0.000,0.028,2645,647,3183,3212,3154,0,0,0,0,0,0,26.32,25.94,26.34
$GC,245,-0.45,-175.2,2645,648,3212,3154,28.3,-12.4,31,254,0.00,2.12,0.00,0.000,1030,0.000,0.028,2635,2016,3183,3212,3154,0,0,0,0,0,0,26.01,25.98,26.05
$GC,306,-0.45,-175.2,2634,2016,3213,3151,35.8,-12.7,40,314,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2016,3182,3214,3151,0,0,0,0,0,0,26.37,26.39,26.39
$GC,366,-0.45,-175.2,2634,2016,3214,3150,43.7,-13.1,49,372,0.00,2.08,0.00,0.000,516,0.000,0.028,2635,636,3182,3214,3150,0,0,0,0,0,0,26.41,26.02,26.41
$GC,402,-0.45,-175.2,2634,635,3214,3150,48.3,-11.5,55,409,0.12,2.15,0.00,0.000,3078,0.169,0.027,2661,2054,3182,3214,3150,0,0,0,0,0,0,25.72,26.06,25.89
$GC,454,-0.45,-175.2,2661,2054,3215,3150,54.0,-9.4,64,462,0.00,2.12,0.00,0.000,260,0.000,0.033,2652,3450,3183,3216,3150,0,0,0,0,0,0,26.44,26.03,26.45
$GC,508,-0.45,-175.2,2651,3450,3215,3150,58.8,-10.5,73,515,0.00,2.10,0.00,0.000,1030,0.000,0.026,2652,2043,3182,3215,3150,0,0,0,0,0,0,26.16,26.08,26.19
$GC,559,-0.45,-175.2,2651,2039,3219,3149,63.8,-8.9,82,565,0.00,2.10,0.00,0.000,516,0.000,0.030,2652,639,3184,3219,3149,0,0,0,0,0,0,26.47,26.06,26.48
$GC,601,-0.45,-175.2,2651,639,3219,3149,68.7,-13.4,89,607,0.00,2.15,0.00,0.000,1030,0.000,0.028,2644,2054,3184,3218,3150,0,0,0,0,0,0,26.18,26.10,26.20
$GC,652,-0.45,-175.2,2643,2054,3219,3149,75.1,-11.7,98,659,0.00,2.08,0.00,0.000,260,0.000,0.032,2633,3459,3184,3219,3149,0,0,0,0,0,0,26.50,26.08,26.51
$GC,696,-0.45,-175.2,2632,3459,3219,3149,80.0,-11.7,105,703,0.10,2.10,0.00,0.000,3078,0.136,0.021,2670,2030,3183,3218,3149,0,0,0,0,0,0,25.96,26.17,26.08
$GC,747,-0.45,-175.2,2669,2026,3220,3149,84.6,-8.0,114,756,0.00,2.10,0.00,0.000,516,0.000,0.029,2671,645,3184,3219,3149,0,0,0,0,0,0,26.51,26.12,26.53
$STATE,812,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,813,begin apogee
$GC,820,0.00,0.0,2663,1818,3220,3149,90.3,-8.6,125,954,0.45,0.00,129.32,0.656,10246,0.125,0.000,2806,1821,2465,2527,2403,0,0,0,0,0,0,25.77,25.03,24.45
$STATE,955,end apogee,CONTROL_FINISHED_OK
$STATE,955,begin climb
$GC,957,0.45,175.2,2806,1821,2526,2403,99.5,0.0,147,1100,0.43,2.25,133.75,0.656,11012,0.063,0.029,2982,411,1746,1841,1652,0,0,0,0,0,0,25.19,24.72,24.32
$GC,1163,0.61,307.3,2981,411,1829,1652,88.3,6.6,181,1278,0.00,2.15,105.68,0.646,9222,0.000,0.028,2982,1791,1211,1339,1084,0,0,0,0,0,0,25.53,25.46,24.32
$GC,1324,0.61,307.3,2981,1790,1337,1082,67.7,14.1,208,1331,0.00,2.20,0.00,0.000,260,0.000,0.029,2982,3204,1209,1337,1082,0,0,0,0,0,0,25.70,25.41,25.70
$GC,1349,0.61,307.3,2981,3204,1335,1082,63.9,14.9,212,1357,0.00,2.17,0.00,0.000,1030,0.000,0.026,2991,1815,1208,1335,1082,0,0,0,0,0,0,25.56,25.52,25.60
$GC,1401,0.61,307.3,2991,1815,1330,1082,56.7,14.9,221,1408,0.00,2.20,0.00,0.000,516,0.000,0.034,3002,396,1205,1329,1082,0,0,0,0,0,0,25.96,25.60,25.97
$GC,1420,0.61,307.3,3002,395,1325,1082,53.3,16.5,224,1428,0.00,2.20,0.00,0.000,1030,0.000,0.025,3003,1793,1203,1325,1082,0,0,0,0,0,0,25.74,25.71,25.77
$GC,1472,0.61,307.3,3002,1794,1325,1082,44.9,18.1,233,1479,0.00,2.15,0.00,0.000,260,0.000,0.031,3003,3214,1203,1325,1082,0,0,0,0,0,0,26.10,25.76,26.11
$GC,1540,0.61,307.3,3002,3213,1324,1082,35.0,12.9,244,1548,0.00,2.17,0.00,0.000,1030,0.000,0.028,3011,1807,1203,1325,1082,0,0,0,0,0,0,25.90,25.86,25.92
$GC,1599,0.61,307.3,3011,1807,1324,1082,26.8,12.7,253,1608,0.00,2.22,0.00,0.000,516,0.000,0.036,3022,397,1202,1322,1082,0,0,0,0,0,0,26.25,25.86,26.26
$GC,1692,0.61,307.3,3022,397,1317,1082,14.7,12.5,268,1701,0.00,2.20,0.00,0.000,1030,0.000,0.025,3022,1812,1199,1317,1082,0,0,0,0,0,0,26.03,25.99,26.06
$GC,1751,0.61,307.3,3022,1813,1316,1082,6.5,14.8,277,1760,0.00,2.12,0.00,0.000,260,0.000,0.029,3022,3208,1199,1317,1082,0,0,0,0,0,0,26.36,26.01,26.37
$STATE,1774,end climb,SURFACE_DEPTH_REACHED
$STATE,1774,begin surface coast
$FINISH,0.4,1.026723
$STATE,1793,end surface coast,CONTROL_FINISHED_OK
$STATE,1793,begin surface
$SM_CCo,1812,9.40,0.050,0,0,1118,330.17
$SM_GC,1.66,7.53,1.75,9.40,0.026,0.017,0.050,125,2035,1118,-8.33,1.07,330.17,0,0,0,0,0,0,26.05,26.12,25.96
$IRIDIUM_FIX,-3327.96,2357.22,010817,094918
$TT8_MAMPS,0.025466,0.261401
$HUMID,59.52
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,15.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.3,13.1
$24V_AH,24.17,53.409
$10V_AH,10.17,27.681
$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,18.600,55.000,368.750,9.400,0.000,41.509,23.274,201.958,2.000,0.000,11.568,608.424,110.959,407.013,992.473,107.754,0.000,809.916,0.000,707.296,0.000,14.437,0.000
$DEVICE_MAMPS,221.085,44.370,655.605,49.725,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,191.281,93.168,444.063,458.385,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343368
$DATA_FILE_SIZE,20390,283
$CAP_FILE_SIZE,50123,0
$CFSIZE,2097086464,2032926720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,010817,110503,-3339.732,2719.660,4,1.1,4,-27.6,0.5,278.5,8,16.9