version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 673
start: 8 11 117 8 49 52
data:
$ID,574
$MISSION,23
$DIVE,673
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,100
$D_ABORT,200
$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,35
$T_ABORT,50
$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,330
$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,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$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,53
$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,1880
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,54
$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,20
$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
$GPS1,110817,083620,-3401.9019,2717.4229,41,0.9,41,-28.1,1.6,196.5,9,8.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-79.1
$GPS2,110817,084857,-3402.3582,2717.2776,4,0.9,5,-28.1,1.2,200.9,10,24.0
$SPEED_LIMITS,0.033,0.043
$TGT_NAME,HEADING
$TGT_LATLONG,-3353.006,2710.773
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,358.1,20000,-0.0,-1.001,-13.18,2363
$D_GRID,100
$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,-0.02,-16.5,126,1904,1297,1132,0.0,0.0,0,72,0.00,0.00,-49.53,0.000,16390,0.000,0.000,126,1905,2533,2510,2557,0,0,0,0,0,0,26.09,25.16,26.10
$GC,75,-0.02,-16.5,126,1905,2514,2555,2.9,-1.8,7,92,10.75,2.22,0.00,0.000,2564,0.218,0.031,2796,472,2535,2526,2544,0,0,0,0,0,0,24.89,25.22,25.06
$GC,143,-0.02,-16.5,2795,472,2534,2540,10.8,-8.8,17,152,0.00,2.20,0.00,0.000,1030,0.000,0.027,2794,1868,2537,2541,2534,0,0,0,0,0,0,25.78,25.72,25.79
$GC,203,-0.02,-16.5,2793,1868,2543,2532,14.5,-6.7,26,212,0.00,2.17,0.00,0.000,260,0.000,0.030,2783,3294,2537,2543,2531,0,0,0,0,0,0,26.24,25.74,26.25
$GC,257,-0.02,-16.5,2783,3294,2543,2531,17.3,-4.2,34,266,0.00,2.17,0.00,0.000,1030,0.000,0.025,2783,1868,2537,2546,2529,0,0,0,0,0,0,25.86,25.82,25.89
$GC,319,-0.02,-16.5,2782,1870,2547,2529,20.8,-5.9,43,327,0.00,2.17,0.00,0.000,516,0.000,0.034,2783,481,2537,2547,2528,0,0,0,0,0,0,26.31,25.75,26.32
$GC,342,-0.02,-16.5,2782,481,2547,2528,22.1,-5.2,46,351,0.00,2.20,0.00,0.000,1030,0.000,0.028,2773,1884,2537,2548,2527,0,0,0,0,0,0,25.87,25.83,25.90
$GC,566,-0.02,-16.5,2773,1884,2549,2527,33.6,-5.4,83,575,0.00,2.15,0.00,0.000,260,0.000,0.032,2763,3290,2538,2549,2527,0,0,0,0,0,0,26.41,25.86,26.43
$GC,717,-0.02,-16.5,2762,3290,2550,2528,41.6,-4.8,108,726,0.10,2.15,0.00,0.000,3078,0.103,0.026,2799,1875,2539,2552,2527,0,0,0,0,0,0,25.75,25.97,25.79
$GC,920,-0.02,-16.5,2799,1875,2555,2526,50.5,-4.2,145,927,0.00,2.10,0.00,0.000,516,0.000,0.031,2800,481,2540,2555,2526,0,0,0,0,0,0,26.50,25.93,26.51
$GC,981,-0.02,-16.5,2799,481,2556,2526,53.5,-4.7,156,990,0.00,2.17,0.00,0.000,1030,0.000,0.027,2797,1891,2541,2556,2526,0,0,0,0,0,0,26.06,26.02,26.07
$STATE,1059,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1060,begin apogee
$GC,1065,0.00,0.0,2797,1891,2557,2526,56.4,-3.7,170,1084,0.00,0.00,15.25,0.581,8198,0.000,0.000,2797,1891,2465,2491,2439,0,0,0,0,0,0,26.46,25.51,24.71
$STATE,1085,end apogee,CONTROL_FINISHED_OK
$STATE,1085,begin climb
$GC,1087,0.02,16.5,2797,1891,2491,2438,57.1,0.0,173,1107,0.00,2.15,14.18,0.568,8708,0.000,0.028,2797,502,2396,2424,2368,0,0,0,0,0,0,26.29,25.15,24.68
$GC,1268,0.11,87.6,2796,501,2422,2370,60.8,-2.1,206,1329,0.20,2.12,53.62,0.607,11270,0.115,0.027,2855,1900,2106,2162,2051,0,0,0,0,0,0,25.56,25.90,24.49
$GC,1522,0.11,87.6,2854,1899,2161,2049,52.4,3.6,252,1530,0.00,2.17,0.00,0.000,260,0.000,0.033,2852,3297,2105,2157,2053,0,0,0,0,0,0,26.18,25.73,26.19
$GC,1685,0.11,87.6,2851,3296,2156,2053,46.5,2.2,282,1694,0.00,2.12,0.00,0.000,1030,0.000,0.027,2852,1904,2104,2157,2051,0,0,0,0,0,0,25.93,25.89,25.95
$GC,1897,0.11,87.6,2851,1906,2157,2051,38.1,2.8,319,1905,0.00,2.17,0.00,0.000,516,0.000,0.031,2852,500,2103,2153,2054,0,0,0,0,0,0,26.41,25.91,26.43
$GC,2006,0.11,87.6,2851,500,2152,2054,33.7,4.7,337,2015,0.00,2.15,0.00,0.000,1030,0.000,0.027,2851,1897,2104,2155,2053,0,0,0,0,0,0,26.06,26.01,26.08
$GC,2113,0.59,482.0,2850,1897,2155,2052,30.1,2.5,354,2316,0.38,2.25,196.45,0.567,10500,0.067,0.028,3000,3307,497,574,420,0,0,0,0,0,0,25.94,24.90,24.28
$STATE,2417,end climb,SURFACE_DEPTH_REACHED
$STATE,2417,begin surface coast
$FINISH,0.9,1.012939
$STATE,2449,end surface coast,CONTROL_FINISHED_OK
$STATE,2449,begin surface
$SM_CCo,2528,0.00,0.000,0,0,487,485.20
$SM_GC,1.77,7.47,2.20,0.00,0.019,0.024,0.000,126,1883,487,-8.31,1.53,485.20,0,0,0,0,0,0,25.69,25.64,25.73
$IRIDIUM_FIX,-3340.91,2920.19,110817,083857
$TT8_MAMPS,0.025466,0.29211
$HUMID,52.36
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,20.20
$XPDR_PINGS,0
$24V_AH,24.28,64.276
$10V_AH,9.90,35.150
$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,18.900,39.075,279.500,0.000,0.000,48.009,80.040,410.001,1.000,0.000,12.585,917.285,307.143,263.695,1661.391,141.075,0.000,724.525,0.000,1111.988,0.000,8.521,0.000
$DEVICE_MAMPS,218.025,33.660,607.410,0.000,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,282.658,166.398,831.759,825.136,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343432
$DATA_FILE_SIZE,27101,402
$CAP_FILE_SIZE,51103,1
$CFSIZE,2097086464,2020900864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,110817,093239,-3403.862,2716.510,4,0.9,5,-28.1,1.0,211.7,10,135.8