version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 580
start: 8 1 117 14 48 44
data:
$ID,574
$MISSION,23
$DIVE,580
$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,29
$R_STBD_OVSHOOT,39
$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
$GPS1,010817,144702,-3342.4182,2717.0869,4,1.0,4,-27.7,0.0,0.0,8,20.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-80.9
$GPS2,010817,144756,-3342.4253,2717.0547,4,1.0,4,-27.7,0.8,304.3,8,20.1
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3344.301,2729.844
$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,15,-0.45,-175.2,123,2060,1184,1032,0.0,0.0,0,88,0.00,0.00,-70.15,0.000,16386,0.000,0.000,124,2060,3086,3093,3080,0,0,0,0,0,0,26.39,28.83,26.40
$GC,91,-0.45,-175.2,124,2060,3093,3080,3.8,-6.2,9,110,10.00,2.20,-1.77,0.000,18948,0.223,0.036,2658,615,3182,3199,3166,0,0,0,0,0,0,25.35,24.31,25.58
$GC,188,-0.45,-175.2,2658,615,3206,3162,23.7,-13.5,24,197,0.00,2.22,0.00,0.000,1030,0.000,0.028,2649,2050,3183,3209,3157,0,0,0,0,0,0,26.11,26.10,26.14
$GC,250,-0.45,-175.2,2648,2054,3211,3155,31.5,-11.9,33,259,0.00,2.12,0.00,0.000,260,0.000,0.031,2638,3461,3182,3211,3154,0,0,0,0,0,0,26.46,26.09,26.46
$GC,268,-0.45,-175.2,2638,3461,3211,3154,33.1,-10.1,35,277,0.00,2.17,0.00,0.000,1030,0.000,0.024,2638,2027,3182,3211,3154,0,0,0,0,0,0,26.15,26.11,26.18
$GC,326,-0.45,-175.2,2638,2023,3212,3152,41.7,-13.9,44,334,0.00,2.12,0.00,0.000,516,0.000,0.033,2638,642,3182,3213,3152,0,0,0,0,0,0,26.48,26.08,26.48
$GC,373,-0.45,-175.2,2638,642,3212,3152,47.8,-11.9,52,381,0.10,2.17,0.00,0.000,3078,0.168,0.029,2656,2050,3183,3214,3152,0,0,0,0,0,0,25.80,26.17,25.87
$GC,428,-0.45,-175.2,2656,2053,3213,3151,54.9,-14.1,61,435,0.00,2.08,0.00,0.000,260,0.000,0.031,2647,3462,3182,3213,3151,0,0,0,0,0,0,26.51,26.13,26.52
$GC,456,-0.45,-175.2,2645,3469,3209,3157,58.9,-15.0,66,465,0.00,2.20,0.00,0.000,1030,0.000,0.038,2646,2056,3182,3213,3151,0,0,0,0,0,0,26.15,26.10,26.18
$GC,510,-0.45,-175.2,2645,2055,3213,3150,59.7,-2.6,75,517,0.00,2.15,0.00,0.000,516,0.000,0.034,2646,636,3182,3214,3150,0,0,0,0,0,0,26.53,26.13,26.54
$GC,548,-0.45,-175.2,2645,635,3214,3150,63.5,-9.3,81,554,0.00,2.15,0.00,0.000,1030,0.000,0.028,2635,2055,3182,3214,3150,0,0,0,0,0,0,26.25,26.17,26.27
$GC,598,-0.45,-175.2,2635,2055,3214,3150,68.9,-11.0,90,607,0.00,2.10,0.00,0.000,260,0.000,0.031,2625,3457,3182,3214,3150,0,0,0,0,0,0,26.55,26.16,26.55
$GC,620,-0.45,-175.2,2624,3457,3213,3151,71.2,-10.4,93,628,0.12,2.12,0.00,0.000,3078,0.129,0.024,2665,2027,3181,3213,3150,0,0,0,0,0,0,25.94,26.19,26.08
$GC,672,-0.45,-175.2,2664,2026,3214,3150,75.7,-7.6,102,681,0.00,2.10,0.00,0.000,516,0.000,0.028,2665,638,3182,3214,3150,0,0,0,0,0,0,26.55,26.17,26.56
$GC,716,-0.45,-175.2,2665,638,3214,3150,79.4,-8.8,109,727,0.00,2.12,0.00,0.000,1030,0.000,0.028,2656,2049,3182,3215,3150,0,0,0,0,0,0,26.27,26.18,26.29
$GC,771,-0.45,-175.2,2656,2049,3215,3150,84.6,-10.0,118,778,0.00,2.08,0.00,0.000,260,0.000,0.031,2646,3460,3182,3215,3150,0,0,0,0,0,0,26.57,26.17,26.58
$STATE,791,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,791,begin apogee
$GC,799,0.00,0.0,2645,1794,3214,3150,86.9,-10.9,121,932,0.50,0.00,129.07,0.653,10246,0.125,0.000,2802,1792,2465,2523,2407,0,0,0,0,0,0,25.80,25.08,24.51
$STATE,933,end apogee,CONTROL_FINISHED_OK
$STATE,933,begin climb
$GC,936,0.45,175.2,2801,1792,2522,2407,93.9,0.0,143,1077,0.38,2.25,132.55,0.648,10756,0.044,0.031,2979,390,1748,1838,1659,0,0,0,0,0,0,25.28,24.79,24.39
$GC,1085,0.45,175.2,2977,390,1828,1659,84.9,10.5,167,1092,0.00,2.22,0.00,0.000,1030,0.000,0.028,2978,1797,1744,1829,1659,0,0,0,0,0,0,25.30,25.23,25.32
$GC,1136,0.45,175.2,2978,1797,1829,1659,78.8,12.5,176,1144,0.00,2.20,0.00,0.000,260,0.000,0.031,2978,3214,1744,1829,1659,0,0,0,0,0,0,25.79,25.49,25.81
$GC,1172,0.45,175.2,2978,3214,1830,1659,74.3,11.7,182,1179,0.12,2.15,0.00,0.000,5126,0.164,0.026,2955,1800,1744,1829,1659,0,0,0,0,0,0,25.35,25.63,25.53
$GC,1224,0.45,175.2,2955,1800,1829,1658,68.9,10.1,191,1230,0.00,2.15,0.00,0.000,260,0.000,0.028,2955,3218,1743,1829,1658,0,0,0,0,0,0,26.06,25.75,26.06
$GC,1249,0.45,175.2,2954,3218,1829,1658,65.8,12.0,195,1256,0.00,2.15,0.00,0.000,1030,0.000,0.028,2963,1805,1743,1829,1658,0,0,0,0,0,0,25.86,25.78,25.88
$GC,1300,0.55,256.3,2962,1805,1829,1657,61.2,7.9,204,1369,0.00,2.30,63.75,0.630,8708,0.000,0.034,2974,385,1418,1530,1307,0,0,0,0,0,0,26.18,25.23,24.61
$GC,1615,0.58,277.9,2973,383,1509,1307,35.6,9.5,260,1640,0.00,2.20,17.67,0.594,9222,0.000,0.024,2970,1810,1330,1446,1215,0,0,0,0,0,0,25.98,25.95,24.96
$GC,1692,0.69,373.1,2970,1810,1445,1211,29.6,7.6,271,1749,0.12,2.20,50.08,0.601,11012,0.093,0.028,3030,3213,941,1080,802,0,0,0,0,0,0,25.83,25.32,24.72
$GC,1927,0.69,373.1,3029,3213,1069,802,7.3,10.9,308,1936,0.00,2.20,0.00,0.000,1030,0.000,0.028,3036,1795,935,1069,802,0,0,0,0,0,0,25.90,25.87,25.94
$STATE,1966,end climb,SURFACE_DEPTH_REACHED
$STATE,1967,begin surface coast
$FINISH,0.6,1.001968
$STATE,1992,end surface coast,CONTROL_FINISHED_OK
$STATE,1992,begin surface
$SM_CCo,2070,0.00,0.000,0,0,929,376.53
$SM_GC,1.57,7.57,0.38,0.00,0.028,0.037,0.000,126,2076,929,-8.29,-1.39,376.53,0,0,0,0,0,0,25.94,26.03,26.00
$IRIDIUM_FIX,-3327.96,2715.60,010817,140626
$TT8_MAMPS,0.025466,0.268891
$HUMID,59.41
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.0,21.7
$24V_AH,24.31,53.940
$10V_AH,10.21,27.931
$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,18.925,57.175,393.125,0.000,0.000,0.000,0.000,0.000,1.750,0.000,11.565,679.048,191.153,398.685,811.567,74.211,0.000,831.070,0.000,804.785,0.000,12.954,0.000
$DEVICE_MAMPS,222.615,78.030,652.545,0.000,0.000,0.000,0.000,0.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,221.246,109.334,522.885,529.191,0.000,0.000,0.000,0.000,0.000,0.000
$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,23720,318
$CAP_FILE_SIZE,47091,0
$CFSIZE,2097086464,2032238592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,010817,152352,-3342.793,2716.912,5,0.9,5,-27.7,0.6,287.7,7,139.3