version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 328
start: 7 10 117 16 24 56
data:
$ID,574
$MISSION,23
$DIVE,328
$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,39
$R_STBD_OVSHOOT,51
$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
$GPS1,100717,161832,-2956.1624,3114.4607,27,0.8,27,-24.8,0.0,0.0,10,7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-72.6
$GPS2,100717,162408,-2956.1140,3114.5171,5,0.8,5,-24.8,1.1,92.7,10,39.7
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,-2945.315,3114.517
$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,-175.2,127,1887,529,444,0.0,0.0,0,104,0.00,0.00,-85.78,0.000,16386,0.000,0.000,127,1886,2932,2946,2918,0,0,0,0,0,0,26.28,28.83,26.29
$GC,106,-0.48,-175.2,127,1886,2946,2918,3.9,-5.5,11,132,9.65,2.08,-4.38,0.000,19204,0.213,0.041,2682,519,3182,3214,3150,0,0,0,0,0,0,25.65,24.63,25.80
$GC,217,-0.48,-175.2,2682,518,3219,3150,38.9,-17.6,28,226,0.00,2.17,0.00,0.000,1030,0.000,0.031,2674,1918,3184,3221,3148,0,0,0,0,0,0,26.11,26.09,26.17
$GC,358,-0.48,-175.2,2673,1917,3223,3146,70.7,-23.1,53,365,0.00,2.12,0.00,0.000,260,0.000,0.034,2662,3348,3184,3223,3146,0,0,0,0,0,0,26.44,26.15,26.45
$GC,461,-0.48,-175.2,2662,3347,3225,3143,88.9,-14.0,72,470,0.00,2.15,0.00,0.000,1030,0.000,0.027,2663,1933,3184,3227,3141,0,0,0,0,0,0,26.25,26.21,26.26
$GC,780,-0.48,-175.2,2662,1932,3228,3141,144.3,-15.9,109,784,0.00,2.08,0.00,0.000,516,0.000,0.028,2662,526,3184,3228,3141,0,0,0,0,0,0,26.60,26.27,26.61
$GC,798,-0.48,-175.2,2662,526,3227,3141,146.9,-16.1,110,805,0.00,2.15,0.00,0.000,1030,0.000,0.024,2652,1947,3184,3228,3141,0,0,0,0,0,0,26.34,26.31,26.36
$GC,1106,-0.48,-175.2,2652,1947,3229,3141,196.2,-15.3,141,1109,0.00,2.08,0.00,0.000,260,0.000,0.034,2642,3350,3185,3229,3141,0,0,0,0,0,0,26.65,26.32,26.67
$GC,1266,-0.48,-175.2,2641,3350,3230,3141,217.3,-12.8,151,1271,0.12,2.08,0.00,0.000,3078,0.153,0.023,2682,1928,3185,3230,3141,0,0,0,0,0,0,26.15,26.38,26.30
$GC,2084,-0.48,-175.2,2682,1925,3230,3139,315.3,-12.6,192,2088,0.00,2.08,0.00,0.000,516,0.000,0.029,2682,530,3184,3230,3139,0,0,0,0,0,0,26.73,26.39,26.74
$GC,2198,-0.48,-175.2,2681,529,3230,3139,326.0,-10.0,197,2205,0.00,2.10,0.00,0.000,1030,0.000,0.028,2674,1939,3184,3230,3139,0,0,0,0,0,0,26.48,26.41,26.51
$STATE,2804,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2804,begin apogee
$GC,2809,0.00,0.0,2673,1811,3230,3133,408.6,-13.6,228,2947,0.50,0.08,132.57,0.881,10246,0.126,0.093,2830,1901,2465,2523,2408,0,0,0,0,0,0,26.17,24.95,24.39
$STATE,2948,end apogee,CONTROL_FINISHED_OK
$STATE,2948,begin climb
$GC,2950,0.48,175.2,2830,1901,2522,2408,414.4,0.0,235,3094,0.40,2.30,136.12,0.879,10756,0.034,0.031,3047,467,1749,1818,1681,0,0,0,0,0,0,25.18,24.79,24.22
$GC,3106,0.48,175.2,3046,467,1810,1681,398.7,18.2,243,3113,0.20,2.15,0.00,0.000,5126,0.182,0.024,2995,1839,1745,1810,1681,0,0,0,0,0,0,24.94,25.10,25.09
$GC,3927,0.48,175.2,2994,1843,1808,1671,250.9,16.6,284,3932,0.00,2.15,0.00,0.000,260,0.000,0.031,2995,3284,1739,1807,1671,0,0,0,0,0,0,26.51,26.20,26.53
$GC,3999,0.48,175.2,2994,3284,1808,1670,240.7,17.2,287,4006,0.00,2.10,0.00,0.000,1030,0.000,0.028,3004,1870,1739,1808,1671,0,0,0,0,0,0,26.31,26.23,26.33
$GC,4807,0.48,175.2,3003,1869,1807,1668,107.9,14.8,357,4816,0.00,2.12,0.00,0.000,516,0.000,0.034,3015,465,1736,1804,1668,0,0,0,0,0,0,26.67,26.32,26.68
$GC,4841,0.48,175.2,3014,464,1802,1668,103.5,14.7,360,4848,0.00,2.10,0.00,0.000,1030,0.000,0.025,3015,1872,1735,1803,1668,0,0,0,0,0,0,26.44,26.37,26.46
$GC,5163,0.58,254.5,3014,1876,1804,1667,72.4,8.0,419,5231,0.00,2.20,60.25,0.676,8708,0.000,0.033,3025,467,1425,1518,1332,0,0,0,0,0,0,26.70,25.60,25.08
$GC,5284,0.60,269.7,3024,467,1505,1332,61.3,9.6,439,5306,0.00,2.15,13.00,0.615,9222,0.000,0.027,3025,1867,1363,1459,1268,0,0,0,0,0,0,25.87,25.81,25.09
$GC,5645,0.61,279.2,3024,1869,1452,1266,21.2,9.7,502,5655,0.00,2.17,4.28,0.425,8452,0.000,0.030,3025,3286,1324,1421,1227,0,0,0,0,0,0,26.39,25.96,25.34
$GC,5694,0.70,350.8,3024,3287,1420,1227,16.7,8.1,509,5734,0.00,2.17,34.47,0.584,9222,0.000,0.027,3035,1867,1034,1148,921,0,0,0,0,0,0,26.13,26.09,25.16
$GC,5784,0.70,350.8,3034,1867,1141,920,6.2,15.6,522,5793,0.00,2.20,0.00,0.000,516,0.000,0.034,3045,463,1028,1136,920,0,0,0,0,0,0,26.10,25.81,26.12
$STATE,5806,end climb,SURFACE_DEPTH_REACHED
$STATE,5806,begin surface coast
$FINISH,0.8,1.025172
$STATE,5831,end surface coast,CONTROL_FINISHED_OK
$STATE,5831,begin surface
$SM_CCo,5849,58.30,0.047,0,0,499,482.01
$SM_GC,1.52,7.62,2.28,58.30,0.025,0.016,0.047,125,1952,499,-8.43,-1.19,482.01,0,0,0,0,0,0,25.94,25.94,25.89
$IRIDIUM_FIX,-2942.59,3114.46,100717,161943
$TT8_MAMPS,0.025466,0.265895
$HUMID,58.42
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,392.3,30.6
$24V_AH,24.22,28.049
$10V_AH,10.28,14.210
$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,18.500,47.325,380.700,58.300,0.000,30.175,18.111,188.296,9.000,0.000,14.574,1261.275,3004.505,471.767,1449.721,89.722,0.000,1038.604,0.000,1160.234,0.000,58.003,0.000
$DEVICE_MAMPS,212.670,93.330,880.515,47.430,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,362.290,94.263,415.276,420.962,0.000,0.000,0.000,0.000,0.000,0.000
$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,33771,529
$CAP_FILE_SIZE,67798,0
$CFSIZE,2097086464,2060025856
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,5289.87,0x2338b8,1,24
$WARN,PPS timeout
$GPS,100717,180405,-2955.528,3114.761,7,1.1,7,-24.8,0.7,326.8,7,39.2