version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 579
start: 8 1 117 14 17 30
data:
$ID,574
$MISSION,23
$DIVE,579
$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,52
$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
$GPS1,010817,140440,-3341.9668,2717.6846,4,0.8,4,-27.7,0.6,258.8,10,14.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-77.6
$GPS2,010817,141644,-3342.0640,2717.2930,4,1.0,4,-27.7,1.0,74.3,9,17.6
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3343.939,2730.081
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.45,-175.2,126,2073,1175,1038,0.0,0.0,0,88,0.00,0.00,-69.53,0.000,16386,0.000,0.000,126,2073,3019,3029,3009,0,0,0,0,0,0,26.21,28.83,26.22
$GC,92,-0.45,-175.2,125,2073,3030,3009,3.3,-3.8,9,110,9.82,2.12,-3.20,0.000,18692,0.213,0.044,2646,3450,3181,3201,3162,0,0,0,0,0,0,25.25,24.19,25.44
$GC,138,-0.45,-175.2,2645,3450,3206,3159,15.3,-21.3,15,146,0.00,2.15,0.00,0.000,1030,0.000,0.026,2646,2046,3182,3208,3156,0,0,0,0,0,0,25.98,25.94,26.00
$GC,197,-0.45,-175.2,2645,2041,3209,3154,23.6,-14.0,24,206,0.00,2.15,0.00,0.000,516,0.000,0.029,2646,640,3181,3210,3152,0,0,0,0,0,0,26.34,25.97,26.34
$GC,228,-0.45,-175.2,2645,639,3211,3153,27.7,-14.0,28,236,0.00,2.17,0.00,0.000,1030,0.000,0.028,2636,2038,3182,3211,3153,0,0,0,0,0,0,26.06,25.99,26.06
$GC,288,-0.45,-175.2,2635,2038,3211,3152,36.1,-13.7,37,297,0.00,2.15,0.00,0.000,260,0.000,0.031,2625,3461,3181,3211,3151,0,0,0,0,0,0,26.39,26.03,26.40
$GC,306,-0.45,-175.2,2624,3460,3210,3152,38.4,-12.8,39,315,0.10,2.15,0.00,0.000,3078,0.125,0.026,2658,2049,3180,3210,3151,0,0,0,0,0,0,25.81,26.04,25.88
$GC,361,-0.45,-175.2,2658,2047,3213,3151,45.8,-12.7,48,370,0.00,2.15,0.00,0.000,516,0.000,0.029,2659,639,3181,3212,3151,0,0,0,0,0,0,26.42,26.06,26.44
$GC,406,-0.45,-175.2,2658,638,3212,3150,51.7,-14.1,55,413,0.00,2.15,0.00,0.000,1030,0.000,0.027,2649,2062,3181,3213,3150,0,0,0,0,0,0,26.16,26.08,26.18
$GC,457,-0.45,-175.2,2649,2063,3213,3151,58.7,-11.8,64,464,0.00,2.15,0.00,0.000,516,0.000,0.023,2649,640,3181,3213,3150,0,0,0,0,0,0,26.46,26.11,26.47
$GC,546,-0.45,-175.2,2649,635,3213,3150,61.8,-5.4,80,553,0.00,2.17,0.00,0.000,1030,0.000,0.028,2639,2046,3181,3212,3151,0,0,0,0,0,0,26.16,26.10,26.19
$GC,597,-0.45,-175.2,2639,2046,3213,3150,69.1,-16.6,89,604,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2046,3181,3213,3150,0,0,0,0,0,0,26.51,26.52,26.52
$GC,648,-0.45,-175.2,2638,2046,3213,3150,76.7,-12.5,98,655,0.00,2.10,0.00,0.000,260,0.000,0.034,2628,3460,3181,3213,3150,0,0,0,0,0,0,26.52,26.11,26.53
$STATE,690,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,690,begin apogee
$GC,699,0.00,0.0,2628,1802,3212,3151,80.5,-8.2,105,833,0.55,0.00,128.75,0.641,10246,0.116,0.000,2805,1798,2465,2523,2407,0,0,0,0,0,0,25.81,25.08,24.51
$STATE,834,end apogee,CONTROL_FINISHED_OK
$STATE,834,begin climb
$GC,836,0.45,175.2,2804,1797,2522,2407,86.4,0.0,127,976,0.38,2.25,132.32,0.642,10500,0.040,0.029,2977,3207,1749,1837,1661,0,0,0,0,0,0,25.30,24.98,24.41
$GC,986,0.45,175.2,2976,3207,1835,1661,78.3,10.3,151,994,0.10,2.17,0.00,0.000,5126,0.170,0.026,2961,1800,1747,1834,1661,0,0,0,0,0,0,25.05,25.25,25.21
$GC,1038,0.45,175.2,2960,1799,1832,1659,69.8,19.4,160,1045,0.00,2.20,0.00,0.000,260,0.000,0.032,2961,3203,1745,1833,1658,0,0,0,0,0,0,25.80,25.48,25.81
$GC,1074,0.45,175.2,2960,3208,1832,1658,63.0,18.6,166,1081,0.00,2.12,0.00,0.000,1030,0.000,0.020,2968,1779,1745,1833,1657,0,0,0,0,0,0,25.72,25.66,25.73
$GC,1128,0.45,175.2,2968,1777,1832,1656,56.3,12.9,175,1134,0.00,2.15,0.00,0.000,260,0.000,0.029,2968,3208,1744,1832,1656,0,0,0,0,0,0,26.06,25.74,26.07
$GC,1282,0.45,175.2,2967,3214,1828,1658,38.8,10.2,203,1291,0.00,2.15,0.00,0.000,1030,0.000,0.027,2978,1804,1743,1829,1658,0,0,0,0,0,0,25.98,25.95,25.99
$GC,1342,0.45,175.2,2977,1804,1829,1657,31.9,10.8,212,1351,0.00,2.20,0.00,0.000,516,0.000,0.033,2989,395,1740,1824,1656,0,0,0,0,0,0,26.32,25.94,26.34
$GC,1424,0.45,175.2,2988,395,1818,1657,23.0,10.1,225,1434,0.10,2.17,0.00,0.000,5126,0.124,0.028,2957,1797,1739,1822,1657,0,0,0,0,0,0,25.83,26.04,25.92
$GC,1485,0.53,243.6,2956,1800,1823,1656,17.5,8.3,234,1525,0.00,2.17,30.62,0.553,8452,0.000,0.028,2957,3216,1472,1580,1364,0,0,0,0,0,0,26.41,25.44,25.06
$GC,1599,0.56,262.8,2957,3216,1574,1363,7.3,9.5,251,1616,0.00,2.17,8.45,0.464,9222,0.000,0.026,2964,1800,1393,1504,1283,0,0,0,0,0,0,25.94,25.91,24.98
$STATE,1646,end climb,SURFACE_DEPTH_REACHED
$STATE,1646,begin surface coast
$FINISH,0.5,1.000785
$STATE,1683,end surface coast,CONTROL_FINISHED_OK
$STATE,1684,begin surface
$SM_CCo,1701,29.08,0.047,0,0,1118,330.17
$SM_GC,1.66,7.43,0.38,29.08,0.027,0.028,0.047,123,2139,1118,-8.35,-1.13,330.17,0,0,0,0,0,0,25.95,26.06,25.88
$IRIDIUM_FIX,-3327.96,2715.60,010817,140626
$TT8_MAMPS,0.025466,0.289863
$HUMID,57.00
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,18.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.5,14.7
$24V_AH,24.19,53.869
$10V_AH,10.15,27.894
$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,18.475,48.300,300.150,29.075,0.000,48.864,62.688,392.366,1.750,0.000,11.575,590.650,161.094,359.893,1241.974,134.796,0.000,733.275,0.000,697.237,0.000,12.943,0.000
$DEVICE_MAMPS,213.435,43.605,641.835,46.665,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,182.347,93.912,474.638,476.634,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343416
$DATA_FILE_SIZE,20386,264
$CAP_FILE_SIZE,51539,0
$CFSIZE,2097086464,2032336896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,010817,144702,-3342.418,2717.087,4,1.0,4,-27.7,0.0,0.0,8,20.0