version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 297
start: 7 8 117 3 56 11
data:
$ID,574
$MISSION,23
$DIVE,297
$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,29
$R_STBD_OVSHOOT,42
$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
$GPS1,080717,034937,-3010.0874,3105.3555,6,1.3,6,-25.0,0.0,0.0,7,26.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-79.7
$GPS2,080717,035524,-3010.1631,3105.3367,6,1.2,6,-25.0,1.3,240.2,7,58.8
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,-2959.528,3107.502
$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,-175.2,125,1946,1321,1211,0.0,0.0,0,73,0.00,0.00,-55.22,0.000,16386,0.000,0.000,125,1946,2803,2789,2817,0,0,0,0,0,0,26.34,28.83,26.35
$GC,75,-0.48,-175.2,125,1946,2790,2817,3.1,-3.3,7,101,9.62,2.15,-7.25,0.000,18948,0.213,0.037,2671,518,3181,3212,3150,0,0,0,0,0,0,25.64,25.50,25.81
$GC,109,-0.48,-175.2,2670,518,3214,3150,16.5,-34.9,11,118,0.00,2.17,0.00,0.000,1030,0.000,0.025,2662,1939,3183,3219,3147,0,0,0,0,0,0,26.10,26.07,26.13
$GC,168,-0.48,-175.2,2661,1939,3223,3143,33.9,-28.3,20,177,0.00,2.12,0.00,0.000,260,0.000,0.029,2651,3357,3183,3224,3143,0,0,0,0,0,0,26.40,26.10,26.41
$GC,211,-0.48,-175.2,2651,3357,3224,3143,45.8,-22.0,27,218,0.00,2.12,0.00,0.000,1030,0.000,0.026,2651,1927,3183,3226,3141,0,0,0,0,0,0,26.20,26.13,26.22
$GC,538,-0.48,-175.2,2650,1926,3230,3139,115.7,-20.9,81,542,0.00,2.08,0.00,0.000,260,0.000,0.026,2641,3360,3184,3230,3139,0,0,0,0,0,0,26.56,26.26,26.58
$GC,587,-0.48,-175.2,2640,3360,3230,3139,123.9,-17.8,85,595,0.12,2.08,0.00,0.000,3078,0.148,0.023,2681,1932,3185,3231,3139,0,0,0,0,0,0,26.06,26.28,26.22
$GC,895,-0.48,-175.2,2680,1930,3234,3138,170.2,-12.7,116,898,0.00,2.08,0.00,0.000,260,0.000,0.029,2672,3353,3186,3234,3138,0,0,0,0,0,0,26.61,26.32,26.62
$GC,1026,-0.48,-175.2,2671,3353,3234,3139,184.5,-10.7,129,1035,0.00,2.05,0.00,0.000,1030,0.000,0.023,2672,1940,3186,3235,3138,0,0,0,0,0,0,26.43,26.36,26.45
$GC,1336,-0.48,-175.2,2672,1940,3235,3138,230.8,-14.2,150,1342,0.00,2.08,0.00,0.000,516,0.000,0.030,2672,539,3187,3236,3138,0,0,0,0,0,0,26.66,26.36,26.67
$GC,1364,-0.48,-175.2,2671,538,3235,3138,233.6,-14.3,151,1368,0.00,2.08,0.00,0.000,1030,0.000,0.025,2662,1950,3186,3235,3138,0,0,0,0,0,0,26.46,26.39,26.48
$GC,2171,-0.48,-175.2,2661,1953,3235,3135,353.2,-15.1,191,2177,0.00,2.08,0.00,0.000,516,0.000,0.029,2662,540,3185,3235,3135,0,0,0,0,0,0,26.74,26.40,26.75
$GC,2224,-0.48,-175.2,2661,540,3235,3135,358.9,-14.7,193,2234,0.00,2.08,0.00,0.000,1030,0.000,0.028,2652,1939,3184,3235,3134,0,0,0,0,0,0,26.50,26.42,26.52
$STATE,2869,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2869,begin apogee
$GC,2874,0.00,0.0,2652,1823,3235,3131,467.3,-17.1,226,3012,0.57,0.00,133.62,0.907,10246,0.135,0.000,2830,1820,2464,2536,2393,0,0,0,0,0,0,26.15,24.92,24.35
$STATE,3013,end apogee,CONTROL_FINISHED_OK
$STATE,3013,begin climb
$GC,3014,0.48,175.2,2829,1820,2535,2393,474.0,0.0,233,3161,0.40,2.08,137.88,0.904,10756,0.034,0.031,3031,517,1748,1831,1666,0,0,0,0,0,0,25.12,24.60,24.20
$GC,3176,0.48,175.2,3031,517,1824,1664,459.8,16.6,241,3181,0.15,2.10,0.00,0.000,5126,0.182,0.024,2992,1871,1744,1824,1664,0,0,0,0,0,0,24.94,25.10,25.09
$GC,3983,0.48,175.2,2992,1876,1819,1659,295.2,20.1,281,3984,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,1876,1738,1819,1658,0,0,0,0,0,0,26.50,26.51,26.51
$GC,4783,0.48,175.2,2992,1876,1816,1656,144.0,18.6,336,4787,0.00,2.03,0.00,0.000,516,0.000,0.032,3001,519,1736,1816,1656,0,0,0,0,0,0,26.65,26.32,26.67
$GC,4797,0.48,175.2,3001,519,1814,1655,142.4,17.5,337,4804,0.00,2.00,0.00,0.000,1030,0.000,0.023,3001,1877,1734,1814,1655,0,0,0,0,0,0,26.43,26.37,26.46
$GC,5106,0.48,175.2,3001,1881,1814,1655,94.4,15.6,371,5112,0.00,2.05,0.00,0.000,260,0.000,0.031,3001,3275,1734,1814,1655,0,0,0,0,0,0,26.68,26.36,26.70
$GC,5356,0.48,175.2,3001,3275,1814,1655,61.4,11.5,418,5362,0.00,1.98,0.00,0.000,1030,0.000,0.026,3011,1923,1734,1814,1655,0,0,0,0,0,0,26.47,26.40,26.49
$GC,5698,0.48,175.2,3010,1923,1814,1655,22.6,11.2,479,5706,0.00,2.12,0.00,0.000,516,0.000,0.034,3022,526,1734,1814,1654,0,0,0,0,0,0,26.72,26.37,26.73
$GC,5774,0.48,175.2,3021,526,1809,1654,14.0,10.8,491,5783,0.00,2.03,0.00,0.000,1030,0.000,0.026,3022,1865,1733,1812,1654,0,0,0,0,0,0,26.45,26.42,26.47
$GC,5833,0.48,175.2,3021,1869,1813,1654,7.3,11.8,500,5842,0.10,2.10,0.00,0.000,4356,0.207,0.026,2986,3282,1734,1814,1654,0,0,0,0,0,0,26.13,26.32,26.24
$GC,5857,0.48,175.2,2985,3281,1814,1654,4.0,13.0,503,5866,0.00,2.03,0.00,0.000,1030,0.000,0.025,2994,1926,1734,1815,1654,0,0,0,0,0,0,26.45,26.42,26.47
$STATE,5874,end climb,SURFACE_DEPTH_REACHED
$STATE,5874,begin surface coast
$FINISH,0.9,1.025267
$STATE,5905,end surface coast,CONTROL_FINISHED_OK
$STATE,5905,begin surface
$SM_CCo,5920,47.40,0.050,0,0,1281,290.19
$SM_GC,1.55,7.30,0.00,47.40,0.025,0.000,0.050,127,1923,1281,-8.37,-0.45,290.19,0,0,0,0,0,0,26.39,26.73,26.31
$IRIDIUM_FIX,-2957.51,3107.23,080717,035052
$TT8_MAMPS,0.025466,0.26215
$HUMID,57.71
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,450.3,29.0
$24V_AH,24.20,25.025
$10V_AH,10.29,12.600
$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,18.275,45.800,271.500,47.400,0.000,34.926,19.905,196.644,10.500,0.000,12.756,1255.059,3250.016,380.868,1377.417,84.454,0.000,884.105,0.000,1070.801,0.000,67.134,0.000
$DEVICE_MAMPS,213.435,105.570,906.525,50.490,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,350.212,87.315,375.999,380.840,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342308
$DATA_FILE_SIZE,33753,510
$CAP_FILE_SIZE,67076,0
$CFSIZE,2097086464,2063073280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,080717,053621,-3009.880,3105.972,6,1.8,7,-25.0,0.0,0.0,4,298.2