version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 578
start: 8 1 117 13 35 21
data:
$ID,574
$MISSION,23
$DIVE,578
$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,36
$R_STBD_OVSHOOT,76
$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
$GPS1,010817,133341,-3341.6062,2717.9575,4,0.8,4,-27.7,0.6,219.8,10,13.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-77.2
$GPS2,010817,133434,-3341.6111,2717.9309,4,0.8,4,-27.7,0.7,263.8,10,13.4
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3343.486,2730.718
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,127.7,20000,-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,-175.2,125,2087,1149,993,0.0,0.0,0,88,0.00,0.00,-70.20,0.000,16386,0.000,0.000,125,2087,2990,3000,2981,0,0,0,0,0,0,26.39,28.83,26.41
$GC,91,-0.45,-175.2,125,2087,3001,2981,3.2,-3.8,9,117,9.70,2.03,-3.90,0.000,18692,0.213,0.039,2646,3433,3182,3205,3160,0,0,0,0,0,0,25.41,24.32,25.60
$GC,184,-0.45,-175.2,2646,3433,3207,3157,20.2,-11.4,23,193,0.00,2.12,0.00,0.000,1030,0.000,0.027,2646,2041,3182,3210,3154,0,0,0,0,0,0,26.12,26.09,26.12
$GC,243,-0.45,-175.2,2645,2036,3212,3151,27.4,-12.4,32,252,0.00,2.12,0.00,0.000,516,0.000,0.026,2646,638,3181,3213,3150,0,0,0,0,0,0,26.46,26.10,26.46
$GC,281,-0.45,-175.2,2645,638,3213,3150,32.2,-12.5,37,290,0.00,2.12,0.00,0.000,1030,0.000,0.024,2636,2025,3181,3213,3150,0,0,0,0,0,0,26.16,26.14,26.20
$GC,340,-0.45,-175.2,2636,2025,3213,3150,38.9,-12.1,46,349,0.00,2.15,0.00,0.000,260,0.000,0.032,2625,3447,3181,3213,3150,0,0,0,0,0,0,26.48,26.10,26.50
$GC,376,-0.45,-175.2,2625,3447,3213,3150,43.1,-10.9,51,383,0.12,2.10,0.00,0.000,3078,0.138,0.025,2665,2039,3181,3213,3150,0,0,0,0,0,0,25.88,26.14,26.03
$GC,428,-0.45,-175.2,2664,2037,3214,3150,48.3,-10.2,60,436,0.00,2.12,0.00,0.000,516,0.000,0.028,2664,637,3182,3214,3150,0,0,0,0,0,0,26.51,26.14,26.51
$GC,465,-0.45,-175.2,2664,638,3214,3150,51.7,-9.3,66,474,0.00,2.17,0.00,0.000,1030,0.000,0.027,2655,2052,3182,3214,3150,0,0,0,0,0,0,26.19,26.17,26.22
$GC,518,-0.45,-175.2,2655,2055,3214,3150,56.8,-8.5,75,525,0.00,2.12,0.00,0.000,516,0.000,0.030,2655,643,3182,3214,3150,0,0,0,0,0,0,26.53,26.14,26.54
$GC,554,-0.45,-175.2,2655,643,3214,3150,60.6,-11.4,81,561,0.00,2.12,0.00,0.000,1030,0.000,0.024,2646,2057,3182,3214,3150,0,0,0,0,0,0,26.25,26.18,26.28
$GC,604,-0.45,-175.2,2645,2057,3214,3150,66.8,-11.5,90,613,0.00,2.15,0.00,0.000,516,0.000,0.026,2645,642,3182,3214,3150,0,0,0,0,0,0,26.54,26.17,26.55
$GC,626,-0.45,-175.2,2645,642,3214,3150,69.0,-10.4,93,633,0.00,2.15,0.00,0.000,1030,0.000,0.028,2635,2057,3182,3214,3150,0,0,0,0,0,0,26.26,26.17,26.28
$GC,677,-0.45,-175.2,2635,2057,3214,3150,74.4,-10.8,102,685,0.00,2.12,0.00,0.000,260,0.000,0.034,2624,3460,3182,3214,3151,0,0,0,0,0,0,26.55,26.15,26.56
$STATE,732,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,732,begin apogee
$GC,740,0.00,0.0,2624,1803,3214,3150,80.3,-12.1,111,875,0.55,0.00,128.48,0.640,10246,0.112,0.000,2803,1799,2464,2521,2407,0,0,0,0,0,0,25.86,25.08,24.51
$STATE,876,end apogee,CONTROL_FINISHED_OK
$STATE,876,begin climb
$GC,878,0.45,175.2,2803,1799,2522,2407,88.9,0.0,133,1017,0.38,2.25,132.18,0.635,10500,0.041,0.028,2970,3210,1749,1838,1660,0,0,0,0,0,0,25.29,24.97,24.40
$GC,1028,0.45,175.2,2970,3210,1835,1660,78.8,10.6,157,1035,0.00,2.20,0.00,0.000,1030,0.000,0.028,2980,1799,1747,1835,1660,0,0,0,0,0,0,25.29,25.22,25.32
$GC,1079,0.45,175.2,2980,1799,1833,1657,72.7,12.2,166,1085,0.00,2.20,0.00,0.000,516,0.000,0.032,2992,382,1744,1831,1657,0,0,0,0,0,0,25.78,25.46,25.79
$GC,1092,0.45,175.2,2991,381,1825,1658,71.0,12.1,168,1101,0.10,2.25,0.00,0.000,5126,0.141,0.028,2962,1798,1741,1825,1657,0,0,0,0,0,0,25.32,25.55,25.41
$GC,1146,0.45,175.2,2961,1800,1826,1658,64.5,11.4,177,1153,0.00,2.15,0.00,0.000,260,0.000,0.031,2962,3210,1742,1826,1658,0,0,0,0,0,0,26.00,25.67,26.01
$GC,1319,0.60,297.0,2962,3210,1827,1657,47.9,6.9,209,1426,0.12,2.15,95.20,0.607,11270,0.063,0.028,3047,1786,1253,1367,1139,0,0,0,0,0,0,25.93,25.93,24.58
$GC,1478,0.60,297.0,3046,1786,1363,1139,26.0,16.0,233,1487,0.12,2.20,0.00,0.000,4356,0.163,0.024,3005,3212,1250,1362,1139,0,0,0,0,0,0,25.36,25.51,25.44
$GC,1573,0.60,297.0,3004,3213,1358,1139,13.6,12.2,248,1582,0.00,2.20,0.00,0.000,1030,0.000,0.029,3013,1798,1248,1358,1139,0,0,0,0,0,0,25.82,25.79,25.85
$GC,1632,0.60,297.0,3013,1798,1355,1139,6.1,13.3,257,1641,0.00,2.20,0.00,0.000,516,0.000,0.036,3025,397,1246,1353,1139,0,0,0,0,0,0,26.20,25.81,26.20
$STATE,1660,end climb,SURFACE_DEPTH_REACHED
$STATE,1660,begin surface coast
$FINISH,0.5,1.002779
$STATE,1685,end surface coast,CONTROL_FINISHED_OK
$STATE,1685,begin surface
$SM_CCo,1704,13.77,0.047,0,0,1118,330.17
$SM_GC,1.21,7.55,2.58,13.77,0.026,0.020,0.047,126,2069,1118,-8.33,-1.07,330.17,0,0,0,0,0,0,25.95,25.94,25.89
$IRIDIUM_FIX,-3327.96,2721.39,010817,125148
$TT8_MAMPS,0.025466,0.289114
$HUMID,57.71
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,17.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.3,14.1
$24V_AH,24.32,53.786
$10V_AH,10.17,27.854
$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,18.650,52.525,355.850,13.775,0.000,0.000,0.000,0.000,1.750,0.000,11.568,562.683,96.391,390.506,687.217,68.292,0.000,776.949,0.000,679.230,0.000,12.952,0.000
$DEVICE_MAMPS,212.670,39.015,640.305,46.665,0.000,0.000,0.000,0.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,178.269,89.441,446.408,449.680,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343608
$DATA_FILE_SIZE,20399,265
$CAP_FILE_SIZE,41346,0
$CFSIZE,2097086464,2032435200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,010817,140440,-3341.967,2717.685,4,0.8,4,-27.7,0.6,258.8,10,14.0