version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 320
start: 7 10 117 1 52 10
data:
$ID,574
$MISSION,23
$DIVE,320
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$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,167
$T_MISSION,177
$T_ABORT,200
$T_TURN,500
$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,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$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,482.00665
$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,2835
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,-6.8056469e+38
$PITCH_GAIN,50
$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,1940
$C_ROLL_CLIMB,1870
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,38
$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,50
$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
$GPS1,100717,014523,-3002.9275,3113.9199,6,2.0,6,-24.9,1.8,3.1,6,60.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-75.0
$GPS2,100717,015123,-3002.8325,3114.0359,5,2.0,5,-24.9,0.0,0.0,6,63.5
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,TGT3
$TGT_LATLONG,-3003.000,3104.800
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,293.7,14809,-13.3,-9.980,-16.52,4015
$D_GRID,500
$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,14,begin dive
$GC,16,-0.48,-175.2,126,1921,530,443,0.0,0.0,0,96,0.00,0.00,-77.72,0.000,16386,0.000,0.000,126,1921,2672,2664,2680,0,0,0,0,0,0,26.17,28.83,26.18
$GC,99,-0.48,-175.2,126,1921,2665,2681,3.3,-4.3,10,125,9.75,2.20,-9.82,0.000,18692,0.216,0.041,2660,3362,3182,3225,3139,0,0,0,0,0,0,25.58,24.60,25.73
$GC,156,-0.48,-175.2,2659,3367,3228,3139,20.8,-22.9,18,165,0.00,2.17,0.00,0.000,1030,0.000,0.026,2659,1941,3183,3227,3139,0,0,0,0,0,0,26.02,25.98,26.04
$GC,303,-0.48,-175.2,2659,1941,3228,3138,54.7,-22.5,43,310,0.00,2.10,0.00,0.000,260,0.000,0.031,2649,3350,3183,3228,3138,0,0,0,0,0,0,26.39,26.07,26.39
$GC,360,-0.48,-175.2,2649,3351,3229,3138,66.8,-17.5,53,367,0.10,2.10,0.00,0.000,3078,0.161,0.024,2681,1934,3184,3230,3138,0,0,0,0,0,0,25.94,26.13,26.08
$GC,685,-0.48,-175.2,2680,1933,3234,3138,117.3,-14.5,104,688,0.00,2.12,0.00,0.000,260,0.000,0.031,2673,3355,3185,3233,3138,0,0,0,0,0,0,26.54,26.22,26.55
$GC,758,-0.48,-175.2,2672,3360,3234,3138,126.0,-11.0,111,766,0.00,2.12,0.00,0.000,1030,0.000,0.024,2672,1940,3186,3234,3138,0,0,0,0,0,0,26.30,26.27,26.32
$GC,1065,-0.48,-175.2,2672,1940,3235,3138,169.5,-13.7,142,1069,0.00,2.12,0.00,0.000,516,0.000,0.031,2672,522,3187,3236,3138,0,0,0,0,0,0,26.63,26.29,26.64
$GC,1084,-0.48,-175.2,2672,521,3236,3138,171.7,-13.8,143,1092,0.00,2.17,0.00,0.000,1030,0.000,0.027,2662,1952,3186,3235,3138,0,0,0,0,0,0,26.36,26.32,26.38
$GC,1401,-0.48,-175.2,2661,1952,3235,3138,218.8,-15.0,169,1405,0.00,2.05,0.00,0.000,260,0.000,0.034,2652,3342,3186,3236,3137,0,0,0,0,0,0,26.67,26.34,26.68
$GC,1559,-0.48,-175.2,2651,3342,3236,3138,236.9,-10.5,177,1563,0.00,2.08,0.00,0.000,1030,0.000,0.024,2651,1925,3187,3236,3138,0,0,0,0,0,0,26.45,26.38,26.47
$GC,2375,-0.48,-175.2,2651,1924,3235,3132,363.8,-15.9,218,2379,0.00,2.05,0.00,0.000,516,0.000,0.031,2652,537,3184,3235,3133,0,0,0,0,0,0,26.73,26.38,26.74
$GC,2492,-0.48,-175.2,2651,536,3235,3132,378.4,-11.7,224,2498,0.12,2.12,0.00,0.000,3078,0.168,0.031,2681,1941,3183,3235,3132,0,0,0,0,0,0,26.15,26.40,26.32
$STATE,3050,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3050,begin apogee
$GC,3055,0.00,0.0,2680,1801,3236,3129,444.1,-11.6,252,3193,0.47,0.10,133.15,0.907,10246,0.121,0.077,2832,1914,2464,2522,2407,0,0,0,0,0,0,26.17,24.91,24.34
$STATE,3194,end apogee,CONTROL_FINISHED_OK
$STATE,3194,begin climb
$GC,3196,0.48,175.2,2833,1914,2522,2407,450.2,0.0,259,3338,0.40,0.00,137.68,0.896,10502,0.034,0.000,3029,1918,1749,1818,1681,0,0,0,0,0,0,25.13,24.72,24.19
$GC,4131,0.48,175.2,3028,1919,1807,1670,252.2,21.8,306,4136,0.10,1.98,0.00,0.000,4356,0.244,0.031,2995,3237,1739,1807,1671,0,0,0,0,0,0,25.86,26.10,26.02
$GC,4168,0.48,175.2,2995,3238,1808,1671,244.6,21.5,308,4172,0.00,2.05,0.00,0.000,1030,0.000,0.028,3004,1869,1739,1807,1671,0,0,0,0,0,0,26.27,26.20,26.29
$GC,4973,0.48,175.2,3004,1869,1805,1668,95.4,16.2,378,4982,0.00,2.17,0.00,0.000,516,0.000,0.035,3015,465,1735,1803,1668,0,0,0,0,0,0,26.65,26.29,26.66
$GC,5084,0.48,175.2,3015,464,1796,1667,78.3,14.3,398,5091,0.00,2.08,0.00,0.000,1030,0.000,0.031,3015,1838,1732,1797,1667,0,0,0,0,0,0,26.42,26.34,26.44
$GC,5413,0.48,175.2,3014,1842,1799,1667,35.1,10.8,459,5422,0.00,2.12,0.00,0.000,516,0.000,0.031,3025,456,1731,1796,1667,0,0,0,0,0,0,26.68,26.34,26.70
$GC,5496,0.48,175.2,3025,456,1794,1667,26.1,13.2,472,5505,0.10,2.17,0.00,0.000,5126,0.152,0.030,2992,1872,1733,1799,1667,0,0,0,0,0,0,26.15,26.39,26.25
$GC,5648,0.55,229.2,2992,1878,1801,1666,14.2,8.6,497,5680,0.00,2.17,22.77,0.565,8708,0.000,0.031,3002,463,1526,1608,1444,0,0,0,0,0,0,26.70,26.08,25.57
$GC,5696,0.55,229.2,3002,463,1601,1444,8.3,14.5,503,5704,0.00,2.17,0.00,0.000,1030,0.000,0.028,3002,1872,1523,1603,1444,0,0,0,0,0,0,26.22,26.17,26.21
$STATE,5729,end climb,SURFACE_DEPTH_REACHED
$STATE,5729,begin surface coast
$FINISH,0.7,1.024366
$STATE,5755,end surface coast,CONTROL_FINISHED_OK
$STATE,5755,begin surface
$SM_CCo,5771,110.03,0.049,0,0,499,482.01
$SM_GC,1.61,7.55,0.08,110.03,0.034,0.080,0.049,125,2018,499,-8.43,-1.19,482.01,0,0,0,0,0,0,26.20,26.32,26.08
$IRIDIUM_FIX,-2952.53,3114.91,100717,014635
$TT8_MAMPS,0.025466,0.263648
$HUMID,56.26
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,420.8,36.9
$24V_AH,24.19,27.227
$10V_AH,10.29,13.807
$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,18.600,42.625,293.600,110.025,0.000,31.194,45.819,186.765,9.750,0.000,12.766,1256.468,3026.556,473.875,1429.033,88.441,0.000,988.583,0.000,1117.029,0.000,62.797,0.000
$DEVICE_MAMPS,244.035,79.560,906.525,48.960,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,354.288,93.667,422.456,422.441,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343280
$DATA_FILE_SIZE,33726,512
$CAP_FILE_SIZE,66834,0
$CFSIZE,2097086464,2060812288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,100717,033124,-3002.149,3113.880,37,1.0,37,-24.9,0.9,355.8,8,8.3