version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 581
start: 8 1 117 15 33 20
data:
$ID,574
$MISSION,23
$DIVE,581
$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,120
$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,38
$R_STBD_OVSHOOT,70
$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
$GPS1,010817,152352,-3342.7932,2716.9119,5,0.9,5,-27.7,0.6,287.7,7,139.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-78.5
$GPS2,010817,153232,-3342.8945,2716.6587,4,0.9,4,-27.7,0.8,344.3,7,167.3
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3348.294,2727.914
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,147.7,20000,-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,-175.2,126,2081,1020,831,0.0,0.0,0,96,0.00,0.00,-77.18,0.000,16386,0.000,0.000,126,2082,3053,3065,3041,0,0,0,0,0,0,26.20,28.83,26.22
$GC,99,-0.45,-175.2,126,2082,3066,3041,3.5,-4.7,10,117,9.80,2.08,-2.50,0.000,19204,0.213,0.037,2646,3450,3183,3204,3162,0,0,0,0,0,0,25.27,24.18,25.47
$GC,161,-0.45,-175.2,2646,3449,3207,3159,17.5,-12.6,19,170,0.00,2.15,0.00,0.000,1030,0.000,0.025,2646,2045,3182,3210,3154,0,0,0,0,0,0,26.00,25.97,26.03
$GC,221,-0.45,-175.2,2646,2041,3212,3153,26.0,-15.4,28,229,0.00,2.15,0.00,0.000,516,0.000,0.029,2646,642,3182,3212,3153,0,0,0,0,0,0,26.35,25.98,26.36
$GC,262,-0.45,-175.2,2646,641,3212,3152,32.3,-14.8,34,271,0.00,2.12,0.00,0.000,1030,0.000,0.026,2636,2020,3182,3212,3152,0,0,0,0,0,0,26.08,26.03,26.09
$GC,322,-0.45,-175.2,2636,2020,3213,3152,40.3,-13.6,43,328,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2020,3182,3213,3152,0,0,0,0,0,0,26.39,26.40,26.39
$GC,371,-0.45,-175.2,2636,2023,3213,3152,46.0,-10.6,52,379,0.00,2.10,0.00,0.000,516,0.000,0.024,2636,639,3182,3213,3152,0,0,0,0,0,0,26.44,26.08,26.45
$GC,449,-0.45,-175.2,2636,637,3213,3152,53.6,-9.7,66,459,0.10,2.17,0.00,0.000,3078,0.148,0.027,2657,2048,3182,3213,3152,0,0,0,0,0,0,25.79,26.12,25.89
$GC,503,-0.45,-175.2,2656,2047,3213,3152,58.0,-7.4,75,510,0.00,2.12,0.00,0.000,516,0.000,0.025,2657,630,3182,3213,3152,0,0,0,0,0,0,26.48,26.11,26.49
$GC,534,-0.45,-175.2,2657,629,3213,3152,60.4,-7.6,80,542,0.00,2.20,0.00,0.000,1030,0.000,0.029,2648,2046,3182,3213,3152,0,0,0,0,0,0,26.15,26.12,26.18
$GC,586,-0.45,-175.2,2647,2048,3213,3152,65.5,-10.3,89,592,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2048,3182,3213,3152,0,0,0,0,0,0,26.51,26.52,26.52
$GC,637,-0.45,-175.2,2647,2048,3213,3152,70.9,-9.2,98,644,0.00,2.10,0.00,0.000,516,0.000,0.026,2648,638,3182,3213,3152,0,0,0,0,0,0,26.51,26.14,26.52
$GC,661,-0.45,-175.2,2647,639,3213,3152,73.5,-10.9,102,670,0.00,2.20,0.00,0.000,1030,0.000,0.029,2639,2057,3182,3213,3152,0,0,0,0,0,0,26.20,26.15,26.21
$GC,714,-0.45,-175.2,2638,2056,3213,3152,79.4,-11.8,111,720,0.00,2.10,0.00,0.000,260,0.000,0.036,2628,3459,3182,3213,3151,0,0,0,0,0,0,26.53,26.12,26.55
$STATE,752,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,752,begin apogee
$GC,760,0.00,0.0,2628,1790,3214,3151,83.9,-12.1,117,895,0.55,0.00,128.52,0.646,10246,0.119,0.000,2803,1787,2464,2518,2410,0,0,0,0,0,0,25.80,25.09,24.51
$STATE,896,end apogee,CONTROL_FINISHED_OK
$STATE,896,begin climb
$GC,898,0.45,175.2,2803,1787,2517,2409,91.3,0.0,139,1036,0.38,0.00,131.90,0.640,10758,0.053,0.000,2959,1788,1748,1837,1660,0,0,0,0,0,0,25.26,24.95,24.42
$GC,1083,0.45,175.2,2958,1788,1835,1657,77.3,13.4,170,1090,0.00,2.17,0.00,0.000,260,0.000,0.030,2958,3212,1746,1835,1657,0,0,0,0,0,0,25.74,25.44,25.74
$GC,1103,0.45,175.2,2958,3212,1833,1657,74.4,13.8,173,1110,0.00,2.15,0.00,0.000,1030,0.000,0.025,2968,1801,1745,1834,1657,0,0,0,0,0,0,25.61,25.53,25.63
$GC,1154,0.45,175.2,2968,1801,1833,1655,67.4,13.3,182,1161,0.00,2.12,0.00,0.000,260,0.000,0.028,2968,3215,1744,1833,1655,0,0,0,0,0,0,25.98,25.67,26.00
$GC,1178,0.45,175.2,2968,3215,1833,1655,64.3,12.9,186,1186,0.00,2.20,0.00,0.000,1030,0.000,0.028,2978,1804,1744,1833,1655,0,0,0,0,0,0,25.76,25.72,25.79
$GC,1231,0.45,175.2,2978,1804,1832,1655,58.4,10.6,195,1237,0.00,2.17,0.00,0.000,516,0.000,0.032,2989,390,1742,1830,1655,0,0,0,0,0,0,26.14,25.77,26.15
$GC,1313,0.51,222.9,2988,389,1821,1656,51.1,8.8,210,1358,0.00,2.20,37.00,0.607,9222,0.000,0.027,2989,1803,1555,1655,1456,0,0,0,0,0,0,25.96,25.96,24.86
$GC,1403,0.51,222.9,2988,1804,1654,1454,41.9,11.4,225,1410,0.00,2.20,0.00,0.000,516,0.000,0.031,2999,382,1553,1652,1454,0,0,0,0,0,0,26.02,25.68,26.03
$GC,1471,0.51,222.9,2999,382,1643,1454,34.8,10.8,236,1480,0.00,2.22,0.00,0.000,1030,0.000,0.025,2999,1806,1549,1645,1454,0,0,0,0,0,0,25.89,25.85,25.91
$GC,1531,0.51,222.9,2999,1808,1646,1454,27.4,13.0,245,1538,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,1808,1550,1646,1454,0,0,0,0,0,0,26.24,26.25,26.25
$GC,1589,0.51,222.9,2999,1809,1646,1454,20.0,12.1,254,1598,0.00,2.20,0.00,0.000,516,0.000,0.032,3010,394,1548,1643,1454,0,0,0,0,0,0,26.29,25.91,26.30
$GC,1631,0.51,222.9,3009,394,1638,1454,15.1,11.9,260,1641,0.10,2.20,0.00,0.000,5126,0.122,0.028,2977,1807,1548,1641,1455,0,0,0,0,0,0,25.77,25.99,25.89
$GC,1691,0.51,222.9,2977,1809,1644,1454,8.6,10.1,269,1700,0.00,2.12,0.00,0.000,260,0.000,0.031,2977,3209,1549,1644,1454,0,0,0,0,0,0,26.36,26.02,26.38
$STATE,1755,end climb,SURFACE_DEPTH_REACHED
$STATE,1755,begin surface coast
$FINISH,1.4,1.026092
$STATE,1774,end surface coast,CONTROL_FINISHED_OK
$STATE,1774,begin surface
$SM_CCo,1792,45.92,0.045,0,0,1116,330.17
$SM_GC,1.57,7.40,1.75,45.92,0.025,0.019,0.045,125,2038,1116,-8.34,1.16,330.17,0,0,0,0,0,0,26.10,26.11,25.99
$IRIDIUM_FIX,-3327.96,2715.60,010817,141621
$TT8_MAMPS,0.025466,0.289114
$HUMID,58.15
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.8,17.7
$24V_AH,24.18,54.017
$10V_AH,10.14,27.970
$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,18.325,51.775,297.425,45.925,0.000,25.221,54.980,312.092,1.750,0.000,11.619,627.293,108.158,399.466,1129.172,129.016,0.000,790.199,0.000,717.792,0.000,12.962,0.000
$DEVICE_MAMPS,212.670,37.485,646.425,45.135,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,190.618,97.073,465.900,469.892,0.000,0.000,0.000,0.000,0.000,0.000
$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,20460,282
$CAP_FILE_SIZE,52415,0
$CFSIZE,2097086464,2032140288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,010817,160440,-3343.200,2716.604,4,1.0,4,-27.7,0.0,0.0,7,39.1