version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 323
start: 7 10 117 7 27 20
data:
$ID,574
$MISSION,23
$DIVE,323
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,340
$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,92
$R_STBD_OVSHOOT,32
$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
$GPS1,100717,071154,-3001.0193,3113.1675,45,1.1,45,-24.9,1.5,359.6,8,10.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-71.8
$GPS2,100717,072633,-3000.6538,3113.2283,6,1.3,6,-24.9,0.0,0.0,7,70.0
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,-2950.506,3108.970
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,4.9,20000,-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,-175.2,127,1942,529,440,0.0,0.0,0,96,0.00,0.00,-78.05,0.000,16386,0.000,0.000,127,1943,2674,2670,2679,0,0,0,0,0,0,26.17,28.83,26.18
$GC,99,-0.48,-175.2,127,1943,2670,2680,3.0,-3.3,10,125,9.70,2.12,-9.90,0.000,18948,0.215,0.044,2671,582,3182,3224,3141,0,0,0,0,0,0,25.56,24.63,25.72
$GC,226,-0.48,-175.2,2670,581,3226,3141,36.6,-23.1,30,235,0.00,2.15,0.00,0.000,1030,0.000,0.037,2662,1941,3183,3226,3141,0,0,0,0,0,0,26.06,26.02,26.08
$GC,367,-0.48,-175.2,2661,1945,3227,3141,73.6,-26.8,55,374,0.00,2.12,0.00,0.000,260,0.000,0.038,2651,3356,3184,3227,3141,0,0,0,0,0,0,26.41,26.09,26.42
$GC,412,-0.48,-175.2,2651,3356,3226,3140,83.4,-17.5,63,419,0.00,2.03,0.00,0.000,1030,0.000,0.024,2651,1985,3183,3227,3139,0,0,0,0,0,0,26.21,26.15,26.23
$GC,727,-0.48,-175.2,2651,1982,3228,3139,141.3,-17.6,102,736,0.00,2.03,0.00,0.000,260,0.000,0.035,2642,3357,3183,3228,3138,0,0,0,0,0,0,26.53,26.23,26.53
$GC,818,-0.48,-175.2,2641,3357,3228,3138,154.9,-13.7,111,822,0.12,2.08,0.00,0.000,3078,0.148,0.023,2682,1940,3183,3228,3138,0,0,0,0,0,0,26.07,26.27,26.22
$GC,1123,-0.48,-175.2,2682,1940,3229,3138,193.4,-11.6,141,1127,0.00,2.15,0.00,0.000,260,0.000,0.035,2674,3367,3183,3229,3138,0,0,0,0,0,0,26.62,26.29,26.63
$GC,1149,-0.48,-175.2,2673,3367,3229,3138,196.3,-11.3,143,1153,0.00,2.10,0.00,0.000,1030,0.000,0.023,2674,1933,3183,3229,3138,0,0,0,0,0,0,26.40,26.33,26.41
$GC,1455,-0.48,-175.2,2673,1933,3229,3138,236.1,-14.0,160,1461,0.00,2.12,0.00,0.000,260,0.000,0.034,2663,3365,3183,3229,3137,0,0,0,0,0,0,26.66,26.33,26.67
$GC,1514,-0.48,-175.2,2663,3365,3230,3137,243.7,-13.4,163,1518,0.00,2.10,0.00,0.000,1030,0.000,0.023,2663,1929,3183,3230,3137,0,0,0,0,0,0,26.44,26.37,26.46
$GC,2331,-0.48,-175.2,2663,1929,3230,3131,369.9,-15.2,204,2336,0.00,2.12,0.00,0.000,260,0.000,0.036,2653,3356,3180,3229,3131,0,0,0,0,0,0,26.72,26.37,26.73
$GC,2463,-0.48,-175.2,2652,3356,3230,3130,383.9,-10.7,210,2470,0.00,2.08,0.00,0.000,1030,0.000,0.024,2653,1937,3180,3229,3131,0,0,0,0,0,0,26.49,26.42,26.51
$STATE,2729,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2729,begin apogee
$GC,2734,0.00,0.0,2653,1804,3229,3129,426.7,-15.5,224,2871,0.57,0.12,131.98,0.881,10246,0.138,0.069,2829,1929,2465,2524,2407,0,0,0,0,0,0,26.13,24.94,24.39
$STATE,2872,end apogee,CONTROL_FINISHED_OK
$STATE,2872,begin climb
$GC,2874,0.48,175.2,2829,1929,2523,2407,433.0,0.0,231,3020,0.40,2.35,136.40,0.872,10756,0.041,0.032,3030,467,1748,1821,1676,0,0,0,0,0,0,25.15,24.78,24.23
$GC,3060,0.48,175.2,3030,467,1809,1675,414.2,18.8,240,3068,0.12,2.25,0.00,0.000,5126,0.177,0.035,2997,1876,1741,1808,1675,0,0,0,0,0,0,25.13,25.28,25.30
$GC,3867,0.48,175.2,2996,1879,1808,1668,267.8,17.3,281,3871,0.00,2.12,0.00,0.000,260,0.000,0.036,2997,3287,1737,1807,1668,0,0,0,0,0,0,26.52,26.20,26.53
$GC,3903,0.48,175.2,2996,3287,1807,1668,261.5,17.2,283,3907,0.00,2.12,0.00,0.000,1030,0.000,0.028,3006,1867,1737,1807,1668,0,0,0,0,0,0,26.29,26.22,26.32
$GC,4710,0.48,175.2,3005,1867,1805,1666,128.1,14.8,346,4711,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1867,1735,1805,1666,0,0,0,0,0,0,26.67,26.68,26.67
$GC,5016,0.48,175.2,3005,1867,1805,1665,88.1,11.3,385,5022,0.00,2.12,0.00,0.000,516,0.000,0.034,3017,460,1733,1803,1664,0,0,0,0,0,0,26.69,26.34,26.70
$GC,5071,0.48,175.2,3016,460,1799,1664,81.6,10.9,395,5078,0.00,2.15,0.00,0.000,1030,0.000,0.032,3017,1877,1732,1800,1664,0,0,0,0,0,0,26.45,26.37,26.48
$GC,5395,0.59,266.4,3017,1878,1802,1663,51.1,7.6,456,5470,0.00,2.28,68.60,0.654,8708,0.000,0.034,3027,465,1377,1473,1282,0,0,0,0,0,0,26.71,25.55,25.05
$GC,5488,0.66,320.3,3026,464,1466,1281,43.8,8.6,471,5540,0.00,2.20,44.17,0.630,9222,0.000,0.031,3027,1875,1158,1268,1049,0,0,0,0,0,0,25.75,25.67,24.79
$GC,5683,0.66,320.3,3027,1879,1262,1045,23.5,13.3,503,5692,0.00,2.22,0.00,0.000,516,0.000,0.036,3037,471,1151,1260,1043,0,0,0,0,0,0,26.08,25.76,26.08
$GC,5712,0.66,320.3,3037,472,1257,1043,20.0,12.2,507,5721,0.00,2.20,0.00,0.000,1030,0.000,0.031,3037,1864,1149,1256,1043,0,0,0,0,0,0,25.86,25.84,25.90
$STATE,5862,end climb,SURFACE_DEPTH_REACHED
$STATE,5863,begin surface coast
$FINISH,1.1,1.025070
$STATE,5888,end surface coast,CONTROL_FINISHED_OK
$STATE,5888,begin surface
$SM_CCo,5904,71.90,0.047,0,0,499,482.01
$SM_GC,1.79,7.57,0.10,71.90,0.026,0.076,0.047,125,2007,499,-8.43,-1.02,482.01,0,0,0,0,0,0,26.03,26.11,25.97
$IRIDIUM_FIX,-2947.56,3112.33,100717,072250
$TT8_MAMPS,0.025466,0.290612
$HUMID,58.50
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,411.1,29.6
$24V_AH,24.23,27.571
$10V_AH,10.22,13.958
$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,18.500,47.525,381.150,71.900,0.000,104.209,99.162,401.360,9.500,0.000,12.739,1271.403,3162.785,485.767,1863.597,104.856,0.000,1046.304,0.000,1161.309,0.000,61.043,0.000
$DEVICE_MAMPS,214.965,93.330,881.280,47.430,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,370.922,96.190,421.526,427.831,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343332
$DATA_FILE_SIZE,36989,536
$CAP_FILE_SIZE,76860,0
$CFSIZE,2097086464,2060517376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,100717,090738,-2959.658,3113.211,6,1.3,6,-24.9,1.1,352.7,6,75.2