version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 326
start: 7 10 117 12 48 1
data:
$ID,574
$MISSION,23
$DIVE,326
$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,0
$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,79
$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
$GPS1,100717,124113,-2957.8503,3113.6443,7,0.9,7,-24.8,0.0,0.0,9,42.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-74.8
$GPS2,100717,124714,-2957.7559,3113.6909,5,0.9,5,-24.8,1.4,210.5,9,60.6
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,-2946.957,3113.691
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,24.8,20000,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.48,-175.2,126,1881,532,444,0.0,0.0,0,104,0.00,0.00,-86.20,0.000,16386,0.000,0.000,126,1882,2961,2979,2944,0,0,0,0,0,0,26.22,28.83,26.23
$GC,106,-0.48,-175.2,126,1882,2979,2945,4.2,-5.9,11,132,9.62,2.15,-3.67,0.000,18692,0.213,0.039,2658,3319,3183,3216,3150,0,0,0,0,0,0,25.61,24.64,25.78
$GC,141,-0.48,-175.2,2658,3319,3218,3150,22.5,-47.6,15,150,0.00,2.12,0.00,0.000,1030,0.000,0.026,2658,1927,3184,3219,3150,0,0,0,0,0,0,26.04,26.01,26.06
$GC,285,-0.48,-175.2,2658,1924,3222,3147,66.7,-28.9,40,292,0.00,2.10,0.00,0.000,260,0.000,0.032,2648,3306,3184,3222,3147,0,0,0,0,0,0,26.40,26.09,26.41
$GC,411,-0.48,-175.2,2648,3306,3224,3146,89.0,-13.8,63,422,0.10,2.03,0.00,0.000,3078,0.165,0.023,2680,1932,3184,3225,3144,0,0,0,0,0,0,25.97,26.18,26.12
$GC,728,-0.48,-175.2,2679,1930,3228,3142,140.7,-15.3,99,729,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,1930,3185,3227,3143,0,0,0,0,0,0,26.54,26.55,26.55
$GC,1027,-0.48,-175.2,2679,1930,3228,3142,186.2,-14.9,129,1031,0.00,2.03,0.00,0.000,260,0.000,0.031,2671,3313,3185,3228,3143,0,0,0,0,0,0,26.63,26.32,26.64
$GC,1126,-0.48,-175.2,2671,3313,3229,3142,197.7,-10.7,138,1133,0.00,2.00,0.00,0.000,1030,0.000,0.022,2671,1938,3186,3229,3143,0,0,0,0,0,0,26.42,26.36,26.44
$GC,1435,-0.48,-175.2,2671,1937,3229,3142,242.4,-14.5,155,1440,0.00,2.00,0.00,0.000,260,0.000,0.031,2662,3310,3186,3229,3143,0,0,0,0,0,0,26.65,26.36,26.67
$GC,1521,-0.48,-175.2,2661,3310,3229,3142,252.2,-12.2,159,1525,0.00,2.00,0.00,0.000,1030,0.000,0.023,2661,1935,3185,3229,3142,0,0,0,0,0,0,26.46,26.39,26.47
$GC,2334,-0.48,-175.2,2661,1934,3229,3139,377.5,-15.2,200,2340,0.00,2.03,0.00,0.000,260,0.000,0.033,2652,3311,3183,3228,3139,0,0,0,0,0,0,26.73,26.40,26.74
$GC,2488,-0.48,-175.2,2651,3311,3229,3137,394.8,-11.3,207,2494,0.00,2.00,0.00,0.000,1030,0.000,0.023,2652,1940,3183,3229,3137,0,0,0,0,0,0,26.50,26.43,26.52
$STATE,2613,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2613,begin apogee
$GC,2618,0.00,0.0,2651,1809,3229,3136,416.0,-16.3,214,2755,0.57,0.00,132.48,0.871,10246,0.127,0.000,2831,1807,2464,2519,2409,0,0,0,0,0,0,26.15,24.95,24.41
$STATE,2756,end apogee,CONTROL_FINISHED_OK
$STATE,2756,begin climb
$GC,2758,0.48,175.2,2831,1807,2519,2409,422.5,0.0,221,2904,0.43,2.30,135.68,0.851,10500,0.031,0.030,3036,3238,1748,1814,1683,0,0,0,0,0,0,25.16,24.82,24.27
$GC,2964,0.48,175.2,3036,3238,1811,1679,399.1,21.5,231,2969,0.20,2.10,0.00,0.000,5126,0.200,0.028,2992,1878,1744,1811,1678,0,0,0,0,0,0,25.22,25.40,25.39
$GC,3771,0.48,175.2,2991,1878,1808,1672,260.7,16.0,271,3775,0.00,2.15,0.00,0.000,516,0.000,0.034,3001,464,1739,1807,1672,0,0,0,0,0,0,26.52,26.19,26.54
$GC,3890,0.48,175.2,3001,463,1799,1670,243.7,13.9,277,3894,0.00,2.08,0.00,0.000,1030,0.000,0.028,3002,1836,1734,1799,1670,0,0,0,0,0,0,26.33,26.26,26.36
$GC,4698,0.48,175.2,3001,1840,1802,1669,118.1,13.9,344,4707,0.00,2.12,0.00,0.000,260,0.000,0.033,3002,3283,1735,1802,1669,0,0,0,0,0,0,26.67,26.35,26.69
$GC,4731,0.48,175.2,3001,3283,1802,1669,113.7,14.4,347,4738,0.00,2.10,0.00,0.000,1030,0.000,0.028,3011,1868,1736,1803,1669,0,0,0,0,0,0,26.44,26.36,26.47
$GC,5049,0.48,175.2,3011,1868,1802,1668,76.8,10.6,398,5056,0.00,2.12,0.00,0.000,516,0.000,0.034,3022,458,1734,1801,1668,0,0,0,0,0,0,26.70,26.34,26.71
$GC,5218,0.54,225.3,3022,458,1795,1667,61.0,8.7,429,5260,0.00,2.12,37.30,0.641,9222,0.000,0.028,3023,1871,1546,1625,1467,0,0,0,0,0,0,26.47,26.39,25.37
$GC,5595,0.54,225.3,3022,1876,1621,1461,26.2,10.1,496,5604,0.00,2.12,0.00,0.000,260,0.000,0.031,3022,3279,1540,1620,1461,0,0,0,0,0,0,26.48,26.17,26.49
$GC,5671,0.54,225.3,3022,3279,1618,1461,17.8,10.1,508,5680,0.00,2.15,0.00,0.000,1030,0.000,0.028,3032,1869,1539,1618,1461,0,0,0,0,0,0,26.27,26.22,26.27
$GC,5729,0.54,225.3,3032,1868,1619,1460,10.2,13.6,517,5738,0.00,2.17,0.00,0.000,516,0.000,0.037,3043,466,1538,1617,1460,0,0,0,0,0,0,26.53,26.17,26.54
$GC,5752,0.54,225.3,3043,466,1615,1460,7.2,12.6,520,5761,0.08,2.15,0.00,0.000,5126,0.173,0.026,3019,1875,1538,1616,1460,0,0,0,0,0,0,26.04,26.25,26.13
$STATE,5798,end climb,SURFACE_DEPTH_REACHED
$STATE,5798,begin surface coast
$FINISH,0.6,1.011679
$STATE,5836,end surface coast,CONTROL_FINISHED_OK
$STATE,5836,begin surface
$SM_CCo,5851,112.15,0.047,0,0,497,482.01
$SM_GC,1.61,7.43,0.05,112.15,0.028,0.119,0.047,126,1975,497,-8.37,-1.53,482.01,0,0,0,0,0,0,26.24,26.40,26.15
$IRIDIUM_FIX,-2945.08,3114.46,100717,124224
$TT8_MAMPS,0.025466,0.261401
$HUMID,57.63
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,403.0,25.6
$24V_AH,24.27,27.857
$10V_AH,10.27,14.108
$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,18.425,46.350,305.450,112.150,0.000,30.179,41.321,193.276,9.250,0.000,12.749,1295.088,2976.715,490.580,1502.333,93.193,0.000,1048.422,0.000,1186.297,0.000,58.649,0.000
$DEVICE_MAMPS,212.670,119.340,871.335,46.665,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,369.413,96.393,417.736,423.187,0.000,0.000,0.000,0.000,0.000,0.000
$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,33751,533
$CAP_FILE_SIZE,70002,0
$CFSIZE,2097086464,2060222464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,100717,142808,-2956.996,3114.106,6,0.8,7,-24.8,0.6,50.6,11,198.7