version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 291
start: 7 7 117 18 13 10
data:
$ID,574
$MISSION,23
$DIVE,291
$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,360
$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,10
$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,290
$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,45
$R_STBD_OVSHOOT,47
$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
$GPS1,070717,180230,-3012.6169,3059.5154,6,1.1,6,-25.0,0.6,69.5,7,18.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-77.8
$GPS2,070717,181224,-3012.6614,3059.6050,5,1.1,5,-25.0,1.1,108.0,7,53.3
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,-3002.026,3101.771
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,35.0,20000,-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,-175.2,127,1954,1320,1209,0.0,0.0,0,73,0.00,0.00,-55.12,0.000,16386,0.000,0.000,127,1955,2812,2800,2824,0,0,0,0,0,0,26.28,28.83,26.29
$GC,75,-0.48,-175.2,127,1955,2801,2824,3.2,-4.0,7,101,9.62,2.12,-7.12,0.000,19204,0.213,0.042,2661,3355,3180,3210,3150,0,0,0,0,0,0,25.66,25.49,25.82
$GC,132,-0.48,-175.2,2660,3355,3219,3143,22.5,-28.9,15,141,0.00,2.15,0.00,0.000,1030,0.000,0.028,2661,1950,3181,3222,3141,0,0,0,0,0,0,26.09,26.06,26.12
$GC,277,-0.48,-175.2,2660,1950,3228,3135,55.1,-22.1,40,283,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1950,3181,3228,3135,0,0,0,0,0,0,26.45,26.46,26.46
$GC,597,-0.48,-175.2,2660,1947,3230,3135,119.8,-18.8,91,601,0.00,2.05,0.00,0.000,260,0.000,0.027,2651,3355,3182,3230,3135,0,0,0,0,0,0,26.58,26.29,26.59
$GC,646,-0.48,-175.2,2650,3355,3229,3135,126.5,-14.5,95,654,0.00,2.12,0.00,0.000,1030,0.000,0.023,2651,1933,3182,3229,3135,0,0,0,0,0,0,26.34,26.31,26.36
$GC,954,-0.48,-175.2,2650,1933,3232,3134,182.2,-17.7,126,962,0.00,2.08,0.00,0.000,260,0.000,0.028,2640,3355,3183,3232,3134,0,0,0,0,0,0,26.65,26.36,26.67
$GC,1037,-0.48,-175.2,2640,3354,3232,3134,196.1,-16.2,134,1045,0.10,2.10,0.00,0.000,3078,0.158,0.024,2675,1940,3183,3232,3134,0,0,0,0,0,0,26.16,26.37,26.26
$GC,1345,-0.48,-175.2,2674,1939,3233,3133,242.1,-14.9,151,1346,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,1939,3182,3232,3133,0,0,0,0,0,0,26.67,26.69,26.68
$STATE,2003,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2003,begin apogee
$GC,2008,0.00,0.0,2675,1770,3232,3131,333.5,-10.7,184,2146,0.50,0.15,130.70,0.806,10246,0.138,0.057,2835,1939,2464,2534,2394,0,0,0,0,0,0,26.20,25.05,24.51
$STATE,2147,end apogee,CONTROL_FINISHED_OK
$STATE,2147,begin climb
$GC,2148,0.48,175.2,2835,1939,2533,2394,337.8,0.0,191,2293,0.45,2.40,134.55,0.809,10756,0.050,0.031,3059,472,1748,1825,1672,0,0,0,0,0,0,25.25,24.89,24.36
$GC,2328,0.48,175.2,3059,470,1818,1670,313.2,23.3,200,2333,0.22,2.22,0.00,0.000,5126,0.185,0.028,2997,1866,1743,1817,1670,0,0,0,0,0,0,25.18,25.34,25.28
$GC,3135,0.48,175.2,2997,1873,1819,1662,162.6,16.9,250,3139,0.00,2.12,0.00,0.000,516,0.000,0.033,3007,465,1739,1818,1661,0,0,0,0,0,0,26.55,26.23,26.56
$GC,3181,0.48,175.2,3006,464,1814,1661,155.3,15.9,254,3186,0.00,2.12,0.00,0.000,1030,0.000,0.025,3007,1882,1737,1814,1661,0,0,0,0,0,0,26.34,26.28,26.37
$GC,3488,0.48,175.2,3007,1886,1816,1659,97.7,18.6,285,3494,0.00,2.08,0.00,0.000,260,0.000,0.030,3007,3285,1737,1816,1659,0,0,0,0,0,0,26.63,26.32,26.63
$GC,3523,0.48,175.2,3006,3285,1814,1659,90.9,19.1,291,3530,0.00,2.10,0.00,0.000,1030,0.000,0.025,3017,1868,1737,1815,1659,0,0,0,0,0,0,26.41,26.34,26.44
$GC,3847,0.48,175.2,3016,1867,1814,1659,43.5,12.5,352,3854,0.00,2.12,0.00,0.000,260,0.000,0.028,3017,3284,1737,1815,1659,0,0,0,0,0,0,26.67,26.39,26.68
$GC,3955,0.48,175.2,3016,3284,1814,1659,32.5,10.3,370,3964,0.10,2.12,0.00,0.000,5126,0.195,0.027,2997,1874,1736,1814,1659,0,0,0,0,0,0,26.11,26.39,26.25
$GC,4109,0.48,175.2,2997,1874,1814,1658,15.2,12.4,395,4118,0.00,2.15,0.00,0.000,516,0.000,0.033,3006,468,1736,1814,1658,0,0,0,0,0,0,26.70,26.36,26.71
$GC,4139,0.48,175.2,3006,467,1809,1658,11.3,12.9,399,4148,0.00,2.12,0.00,0.000,1030,0.000,0.024,3007,1880,1735,1813,1658,0,0,0,0,0,0,26.45,26.42,26.47
$GC,4198,0.48,175.2,3006,1884,1815,1658,4.3,11.6,408,4206,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1884,1736,1814,1658,0,0,0,0,0,0,26.70,26.71,26.71
$STATE,4213,end climb,SURFACE_DEPTH_REACHED
$STATE,4213,begin surface coast
$FINISH,0.6,1.014940
$STATE,4239,end surface coast,CONTROL_FINISHED_OK
$STATE,4239,begin surface
$SM_CCo,4254,47.47,0.049,0,0,1281,290.19
$SM_GC,1.38,7.35,0.00,47.47,0.028,0.000,0.049,126,1885,1281,-8.38,-1.64,290.19,0,0,0,0,0,0,26.39,26.71,26.32
$IRIDIUM_FIX,-3000.00,3057.40,070717,180741
$TT8_MAMPS,0.025466,0.289114
$HUMID,57.32
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,322.3,26.2
$24V_AH,24.36,24.501
$10V_AH,10.29,12.322
$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,18.350,34.425,265.250,47.475,0.000,63.810,58.551,283.217,7.250,0.000,12.751,1022.708,2056.569,370.740,1399.647,79.535,0.000,797.092,0.000,921.673,0.000,46.518,0.000
$DEVICE_MAMPS,213.435,84.150,809.370,48.960,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,283.255,86.062,383.099,380.884,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342280
$DATA_FILE_SIZE,27137,414
$CAP_FILE_SIZE,60412,0
$CFSIZE,2097086464,2063728640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,070717,192534,-3011.751,3100.835,7,0.8,7,-25.0,0.9,239.0,10,216.7