version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 322
start: 7 10 117 5 35 55
data:
$ID,574
$MISSION,23
$DIVE,322
$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,33
$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
$GPS1,100717,052900,-3001.4546,3113.5403,6,1.1,6,-24.9,0.5,43.4,6,94.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-72.9
$GPS2,100717,053506,-3001.2886,3113.6035,6,1.1,6,-24.9,0.7,356.1,6,146.9
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,TGT3
$TGT_LATLONG,-3003.000,3104.800
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,282.2,14464,-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,-175.2,127,1888,531,440,0.0,0.0,0,88,0.00,0.00,-70.82,0.000,16386,0.000,0.000,127,1884,2507,2497,2517,0,0,0,0,0,0,26.29,28.83,26.30
$GC,91,-0.48,-175.2,127,1886,2498,2517,3.2,-3.8,9,124,9.80,2.30,-13.35,0.000,18692,0.219,0.051,2662,3350,3182,3224,3140,0,0,0,0,0,0,25.57,25.49,25.76
$GC,197,-0.48,-175.2,2661,3357,3226,3140,31.8,-19.8,25,206,0.00,2.17,0.00,0.000,1030,0.000,0.031,2662,1942,3183,3226,3140,0,0,0,0,0,0,26.08,26.06,26.12
$GC,338,-0.48,-175.2,2661,1941,3227,3139,65.2,-24.9,50,344,0.00,2.12,0.00,0.000,260,0.000,0.035,2652,3352,3183,3227,3139,0,0,0,0,0,0,26.45,26.12,26.46
$GC,372,-0.48,-175.2,2651,3352,3228,3139,73.0,-20.6,56,380,0.00,2.17,0.00,0.000,1030,0.000,0.027,2652,1926,3183,3228,3138,0,0,0,0,0,0,26.20,26.15,26.22
$GC,689,-0.48,-175.2,2651,1925,3230,3138,133.2,-18.2,99,693,0.00,2.15,0.00,0.000,260,0.000,0.036,2642,3361,3184,3230,3138,0,0,0,0,0,0,26.57,26.22,26.58
$GC,818,-0.48,-175.2,2641,3361,3232,3138,152.2,-13.1,111,826,0.10,2.15,0.00,0.000,3078,0.148,0.024,2675,1926,3185,3233,3138,0,0,0,0,0,0,26.08,26.29,26.16
$GC,1125,-0.48,-175.2,2674,1926,3233,3138,197.0,-14.0,142,1129,0.00,2.05,0.00,0.000,516,0.000,0.029,2675,535,3185,3233,3138,0,0,0,0,0,0,26.65,26.31,26.65
$GC,1141,-0.48,-175.2,2674,534,3233,3138,199.2,-14.0,143,1146,0.00,2.12,0.00,0.000,1030,0.000,0.030,2666,1949,3185,3234,3137,0,0,0,0,0,0,26.40,26.32,26.42
$GC,1457,-0.48,-175.2,2666,1949,3233,3138,246.1,-14.6,159,1463,0.00,2.08,0.00,0.000,260,0.000,0.038,2655,3345,3185,3233,3138,0,0,0,0,0,0,26.68,26.33,26.69
$GC,1596,-0.48,-175.2,2655,3345,3233,3138,262.7,-10.9,166,1600,0.00,2.08,0.00,0.000,1030,0.000,0.023,2655,1935,3185,3233,3138,0,0,0,0,0,0,26.46,26.39,26.48
$GC,2419,-0.48,-175.2,2655,1934,3233,3134,390.0,-15.8,207,2423,0.00,2.12,0.00,0.000,260,0.000,0.037,2646,3345,3183,3233,3134,0,0,0,0,0,0,26.71,26.37,26.72
$GC,2593,-0.48,-175.2,2645,3346,3233,3132,410.9,-12.1,215,2600,0.10,2.05,0.00,0.000,3078,0.156,0.024,2678,1942,3182,3232,3132,0,0,0,0,0,0,26.20,26.42,26.35
$STATE,2758,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2758,begin apogee
$GC,2763,0.00,0.0,2678,1821,3233,3131,435.0,-13.5,224,2902,0.47,0.03,133.52,0.903,10246,0.129,0.173,2828,1884,2464,2522,2407,0,0,0,0,0,0,26.14,24.88,24.33
$STATE,2903,end apogee,CONTROL_FINISHED_OK
$STATE,2903,begin climb
$GC,2904,0.48,175.2,2828,1884,2522,2408,440.8,0.0,231,3046,0.43,0.00,138.20,0.906,10502,0.034,0.000,3031,1887,1750,1820,1680,0,0,0,0,0,0,25.11,24.71,24.18
$GC,3840,0.48,175.2,3030,1889,1808,1670,256.6,21.6,278,3846,0.12,2.10,0.00,0.000,4612,0.193,0.031,2999,511,1739,1808,1670,0,0,0,0,0,0,25.92,26.13,26.04
$GC,3882,0.48,175.2,2998,509,1804,1669,249.0,20.3,280,3887,0.00,2.10,0.00,0.000,1030,0.000,0.033,2998,1858,1736,1804,1669,0,0,0,0,0,0,26.22,26.19,26.25
$GC,4692,0.48,175.2,2998,1862,1806,1668,122.1,13.3,346,4698,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,1862,1737,1806,1668,0,0,0,0,0,0,26.65,26.66,26.66
$GC,5009,0.48,175.2,2998,1862,1805,1668,82.3,10.2,391,5016,0.00,2.15,0.00,0.000,260,0.000,0.039,2999,3285,1736,1805,1667,0,0,0,0,0,0,26.67,26.32,26.69
$GC,5080,0.48,175.2,2998,3285,1805,1667,73.8,12.1,404,5087,0.00,2.08,0.00,0.000,1030,0.000,0.028,3008,1921,1736,1806,1667,0,0,0,0,0,0,26.40,26.33,26.43
$GC,5406,0.83,456.9,3007,1921,1805,1666,45.1,2.8,465,5598,0.22,2.25,182.95,0.640,10756,0.057,0.037,3140,523,599,680,518,0,0,0,0,0,0,26.43,24.91,24.62
$STATE,5636,end climb,SURFACE_DEPTH_REACHED
$STATE,5636,begin surface coast
$FINISH,0.8,1.024930
$STATE,5649,end surface coast,CONTROL_FINISHED_OK
$STATE,5650,begin surface
$SM_CCo,5667,11.55,0.049,0,0,498,482.01
$SM_GC,1.29,8.00,2.25,11.55,0.028,0.024,0.049,128,1937,498,-8.37,-1.13,482.01,0,0,0,0,0,0,25.53,25.49,25.51
$IRIDIUM_FIX,-2952.53,3114.91,100717,014651
$TT8_MAMPS,0.025466,0.260652
$HUMID,59.09
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,421.6,26.8
$24V_AH,24.18,27.450
$10V_AH,10.25,13.903
$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,19.250,38.700,454.675,11.550,0.000,35.359,41.040,191.761,9.750,0.000,15.358,1179.939,2979.982,472.515,1361.167,85.681,0.000,1018.712,0.000,1041.711,0.000,62.649,0.000
$DEVICE_MAMPS,218.790,172.890,905.760,48.960,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,340.449,70.077,301.249,312.604,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343352
$DATA_FILE_SIZE,33760,500
$CAP_FILE_SIZE,63390,0
$CFSIZE,2097086464,2060648448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,100717,071154,-3001.019,3113.167,45,1.1,45,-24.9,1.5,359.6,8,10.2