version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 321
start: 7 10 117 3 38 11
data:
$ID,574
$MISSION,23
$DIVE,321
$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,33
$R_STBD_OVSHOOT,43
$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
$GPS1,100717,033124,-3002.1492,3113.8804,37,1.0,37,-24.9,0.9,355.8,8,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-75.7
$GPS2,100717,033723,-3002.0103,3113.9697,5,1.0,5,-24.9,1.5,36.1,8,19.3
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,TGT3
$TGT_LATLONG,-3003.000,3104.800
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,287.8,14813,-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,13,begin dive
$GC,15,-0.48,-175.2,126,1945,528,446,0.0,0.0,0,96,0.00,0.00,-77.75,0.000,16386,0.000,0.000,126,1942,2657,2649,2666,0,0,0,0,0,0,26.25,28.83,26.27
$GC,98,-0.48,-175.2,126,1942,2649,2666,3.1,-3.1,10,124,9.77,0.00,-10.25,0.000,18950,0.218,0.000,2672,1940,3182,3225,3140,0,0,0,0,0,0,25.60,24.83,25.78
$GC,174,-0.48,-175.2,2671,1942,3227,3140,27.5,-30.3,21,182,0.00,2.20,0.00,0.000,516,0.000,0.036,2671,528,3183,3228,3139,0,0,0,0,0,0,26.34,26.03,26.36
$GC,203,-0.48,-175.2,2671,528,3228,3139,35.2,-25.5,25,212,0.00,2.17,0.00,0.000,1030,0.000,0.025,2662,1948,3183,3228,3139,0,0,0,0,0,0,26.11,26.08,26.13
$GC,341,-0.48,-175.2,2662,1948,3228,3139,64.7,-20.4,50,348,0.00,2.08,0.00,0.000,260,0.000,0.032,2651,3352,3183,3228,3139,0,0,0,0,0,0,26.44,26.13,26.46
$GC,397,-0.48,-175.2,2651,3352,3229,3139,74.4,-14.3,60,406,0.00,2.15,0.00,0.000,1030,0.000,0.024,2651,1926,3184,3229,3139,0,0,0,0,0,0,26.21,26.18,26.24
$GC,719,-0.48,-175.2,2651,1924,3233,3139,134.2,-18.0,104,723,0.00,2.12,0.00,0.000,260,0.000,0.034,2641,3347,3185,3232,3139,0,0,0,0,0,0,26.58,26.25,26.59
$GC,888,-0.48,-175.2,2641,3347,3234,3138,158.0,-13.1,120,896,0.10,2.10,0.00,0.000,3078,0.145,0.023,2675,1937,3186,3234,3138,0,0,0,0,0,0,26.10,26.32,26.18
$GC,1197,-0.48,-175.2,2674,1937,3235,3139,200.6,-13.8,151,1203,0.00,2.08,0.00,0.000,260,0.000,0.034,2666,3345,3186,3235,3138,0,0,0,0,0,0,26.64,26.33,26.65
$GC,1243,-0.48,-175.2,2665,3345,3235,3139,206.0,-13.8,153,1247,0.00,2.05,0.00,0.000,1030,0.000,0.023,2666,1935,3186,3235,3138,0,0,0,0,0,0,26.44,26.36,26.45
$GC,2055,-0.48,-175.2,2665,1935,3235,3134,319.5,-14.1,194,2059,0.00,2.10,0.00,0.000,260,0.000,0.035,2656,3348,3184,3235,3134,0,0,0,0,0,0,26.72,26.38,26.74
$GC,2186,-0.48,-175.2,2655,3348,3235,3133,333.2,-11.0,200,2193,0.00,2.05,0.00,0.000,1030,0.000,0.024,2656,1941,3184,3235,3133,0,0,0,0,0,0,26.48,26.42,26.51
$GC,2994,-0.48,-175.2,2655,1935,3235,3129,450.7,-9.3,241,3000,0.00,2.08,0.00,0.000,260,0.000,0.041,2656,3338,3182,3235,3129,0,0,0,0,0,0,26.75,26.38,26.76
$STATE,3171,end dive,NO_VERTICAL_VELOCITY
$STATE,3171,begin apogee
$GC,3178,0.00,0.0,2655,1856,3235,3128,450.7,0.0,250,3314,0.50,0.00,132.62,0.900,10246,0.060,0.000,2851,1852,2465,2524,2406,0,0,0,0,0,0,26.40,24.92,24.35
$STATE,3315,end apogee,CONTROL_FINISHED_OK
$STATE,3315,begin climb
$GC,3317,0.48,175.2,2851,1851,2524,2407,450.7,0.0,257,3460,0.38,0.00,137.48,0.892,11014,0.075,0.000,2991,1853,1749,1840,1659,0,0,0,0,0,0,25.03,24.58,24.18
$GC,4274,0.62,285.9,2990,1853,1828,1649,391.8,7.1,305,4373,0.08,2.25,87.45,0.863,10756,0.171,0.034,3034,483,1295,1401,1189,0,0,0,0,0,0,26.15,25.04,24.46
$GC,4508,0.62,285.9,3034,482,1389,1189,371.4,10.4,316,4515,0.00,2.15,0.00,0.000,1030,0.000,0.031,3034,1871,1289,1390,1189,0,0,0,0,0,0,25.80,25.73,25.82
$GC,5315,0.62,285.9,3033,1875,1390,1188,192.9,20.6,358,5319,0.00,2.12,0.00,0.000,516,0.000,0.037,3043,481,1288,1389,1188,0,0,0,0,0,0,26.54,26.20,26.56
$GC,5424,0.62,285.9,3042,480,1380,1189,174.5,15.2,368,5431,0.00,2.15,0.00,0.000,1030,0.000,0.032,3043,1862,1284,1381,1188,0,0,0,0,0,0,26.30,26.27,26.33
$GC,5731,0.62,285.9,3042,1867,1381,1189,111.7,20.5,399,5735,0.00,2.12,0.00,0.000,516,0.000,0.037,3054,474,1285,1382,1189,0,0,0,0,0,0,26.62,26.27,26.63
$GC,5780,0.62,285.9,3053,473,1378,1189,103.4,18.1,403,5787,0.00,2.17,0.00,0.000,1030,0.000,0.033,3054,1870,1284,1379,1189,0,0,0,0,0,0,26.35,26.31,26.38
$GC,6102,0.62,285.9,3053,1874,1380,1189,49.0,15.1,462,6110,0.00,2.15,0.00,0.000,260,0.000,0.035,3054,3284,1284,1379,1189,0,0,0,0,0,0,26.66,26.33,26.67
$GC,6132,0.62,285.9,3053,3288,1379,1189,45.1,13.0,467,6139,0.00,2.10,0.00,0.000,1030,0.000,0.035,3064,1890,1284,1379,1189,0,0,0,0,0,0,26.41,26.32,26.44
$STATE,6473,end climb,SURFACE_DEPTH_REACHED
$STATE,6474,begin surface coast
$FINISH,0.7,1.024982
$STATE,6506,end surface coast,CONTROL_FINISHED_OK
$STATE,6506,begin surface
$SM_CCo,6522,85.95,0.048,0,0,498,482.01
$SM_GC,1.59,7.72,0.08,85.95,0.040,0.087,0.048,126,2006,498,-8.41,-0.96,482.01,0,0,0,0,0,0,26.36,26.51,26.25
$IRIDIUM_FIX,-2950.05,3117.04,100717,033236
$TT8_MAMPS,0.025466,0.26215
$HUMID,60.59
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,15.20
$XPDR_PINGS,0
$24V_AH,24.18,27.333
$10V_AH,10.29,13.858
$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,18.550,42.775,357.550,85.950,0.000,30.436,39.790,191.292,11.000,0.000,12.736,1307.517,3564.634,491.886,1542.676,93.569,0.000,1074.840,0.000,1223.980,0.000,71.767,0.000
$DEVICE_MAMPS,218.025,94.860,900.405,48.195,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,362.981,84.998,380.342,378.043,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343276
$DATA_FILE_SIZE,33727,530
$CAP_FILE_SIZE,70956,0
$CFSIZE,2097086464,2060713984
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,4301.87,0x2338b8,1,24
$WARN,PPS timeout
$GPS,100717,052900,-3001.455,3113.540,6,1.1,6,-24.9,0.5,43.4,6,94.3