version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 325
start: 7 10 117 11 2 23
data:
$ID,574
$MISSION,23
$DIVE,325
$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,35
$R_STBD_OVSHOOT,37
$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
$GPS1,100717,105555,-2958.6770,3113.3740,37,1.0,37,-24.8,0.8,43.6,7,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-72.6
$GPS2,100717,110135,-2958.5762,3113.4092,6,0.8,6,-24.8,0.0,0.0,11,34.6
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,-2948.428,3109.153
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,4.8,20000,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.48,-175.2,126,1946,530,441,0.0,0.0,0,104,0.00,0.00,-85.45,0.000,16386,0.000,0.000,127,1947,2937,2955,2920,0,0,0,0,0,0,26.22,28.83,26.23
$GC,106,-0.48,-175.2,126,1947,2954,2920,4.0,-5.7,11,132,9.57,2.20,-4.30,0.000,18948,0.211,0.041,2671,520,3184,3219,3149,0,0,0,0,0,0,25.61,24.64,25.78
$GC,230,-0.48,-175.2,2670,520,3222,3148,41.0,-17.6,30,238,0.00,2.22,0.00,0.000,1030,0.000,0.032,2662,1944,3184,3221,3148,0,0,0,0,0,0,26.10,26.04,26.12
$GC,559,-0.48,-175.2,2661,1946,3225,3146,117.6,-15.8,83,563,0.00,2.10,0.00,0.000,516,0.000,0.027,2662,523,3185,3225,3146,0,0,0,0,0,0,26.52,26.21,26.53
$GC,660,-0.48,-175.2,2661,523,3225,3146,131.5,-13.1,93,664,0.00,2.15,0.00,0.000,1030,0.000,0.030,2652,1949,3185,3225,3146,0,0,0,0,0,0,26.32,26.25,26.34
$GC,965,-0.48,-175.2,2651,1949,3227,3146,185.3,-16.8,123,969,0.00,2.08,0.00,0.000,260,0.000,0.036,2641,3352,3187,3228,3146,0,0,0,0,0,0,26.62,26.29,26.63
$GC,1181,-0.48,-175.2,2640,3351,3228,3144,213.5,-12.8,139,1188,0.12,2.08,0.00,0.000,3078,0.142,0.023,2682,1928,3186,3228,3144,0,0,0,0,0,0,26.16,26.36,26.30
$GC,2002,-0.48,-175.2,2682,1928,3228,3141,317.6,-13.3,180,2006,0.00,2.10,0.00,0.000,260,0.000,0.033,2674,3347,3184,3228,3141,0,0,0,0,0,0,26.72,26.39,26.73
$GC,2125,-0.48,-175.2,2673,3348,3229,3140,330.5,-9.9,186,2131,0.00,2.03,0.00,0.000,1030,0.000,0.023,2674,1943,3184,3228,3140,0,0,0,0,0,0,26.46,26.43,26.48
$STATE,2741,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2742,begin apogee
$GC,2747,0.00,0.0,2674,1813,3228,3136,416.3,-13.7,217,2885,0.50,0.08,132.70,0.871,10246,0.128,0.090,2830,1905,2464,2520,2408,0,0,0,0,0,0,26.17,24.95,24.40
$STATE,2886,end apogee,CONTROL_FINISHED_OK
$STATE,2886,begin climb
$GC,2887,0.48,175.2,2830,1905,2519,2408,422.1,0.0,224,3032,0.40,2.35,135.77,0.855,10756,0.034,0.032,3050,448,1749,1817,1681,0,0,0,0,0,0,25.17,24.81,24.25
$GC,3184,0.48,175.2,3050,448,1803,1680,376.9,20.2,239,3191,0.20,2.15,0.00,0.000,5126,0.177,0.029,2996,1837,1741,1803,1680,0,0,0,0,0,0,25.45,25.67,25.65
$GC,4004,0.48,175.2,2995,1841,1803,1672,228.1,17.4,280,4008,0.00,2.15,0.00,0.000,260,0.000,0.033,2996,3281,1737,1803,1672,0,0,0,0,0,0,26.55,26.23,26.55
$GC,4088,0.48,175.2,2995,3281,1803,1672,215.8,15.9,284,4092,0.00,2.10,0.00,0.000,1030,0.000,0.028,3005,1870,1737,1803,1672,0,0,0,0,0,0,26.34,26.27,26.36
$GC,4896,0.48,175.2,3004,1870,1802,1670,95.5,13.2,364,4903,0.00,2.17,0.00,0.000,516,0.000,0.035,3016,463,1735,1801,1669,0,0,0,0,0,0,26.67,26.32,26.70
$GC,5005,0.48,175.2,3015,463,1796,1669,82.5,12.2,384,5014,0.00,2.17,0.00,0.000,1030,0.000,0.030,3016,1872,1733,1799,1668,0,0,0,0,0,0,26.41,26.37,26.44
$GC,5334,0.63,294.5,3015,1875,1801,1668,51.8,6.9,445,5431,0.00,2.20,90.25,0.641,8964,0.000,0.033,3016,3284,1265,1367,1163,0,0,0,0,0,0,26.70,25.23,24.89
$GC,5457,0.63,295.3,3015,3284,1365,1164,41.2,10.0,465,5463,0.00,2.17,0.00,0.000,1030,0.000,0.028,3024,1874,1264,1365,1163,0,0,0,0,0,0,25.65,25.58,25.66
$STATE,5766,end climb,SURFACE_DEPTH_REACHED
$STATE,5766,begin surface coast
$FINISH,0.8,1.005517
$STATE,5791,end surface coast,CONTROL_FINISHED_OK
$STATE,5791,begin surface
$SM_CCo,5807,82.40,0.047,0,0,499,482.01
$SM_GC,1.62,7.53,0.10,82.40,0.027,0.083,0.047,127,1988,499,-8.42,-0.99,482.01,0,0,0,0,0,0,26.08,26.13,26.00
$IRIDIUM_FIX,-2947.56,3106.79,100717,105707
$TT8_MAMPS,0.025466,0.260652
$HUMID,57.83
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,402.5,27.2
$24V_AH,24.25,27.768
$10V_AH,10.27,14.058
$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,18.325,34.675,358.725,82.400,0.000,31.849,17.898,193.811,9.250,0.000,14.101,1249.115,2983.579,458.549,1486.466,85.261,0.000,1016.552,0.000,1188.401,0.000,58.662,0.000
$DEVICE_MAMPS,211.140,97.920,871.335,47.430,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,364.085,92.175,398.982,409.662,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343308
$DATA_FILE_SIZE,33709,522
$CAP_FILE_SIZE,64018,0
$CFSIZE,2097086464,2060353536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,100717,124113,-2957.850,3113.644,7,0.9,7,-24.8,0.0,0.0,9,42.5