version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 298
start: 7 8 117 5 42 52
data:
$ID,574
$MISSION,23
$DIVE,298
$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,95
$R_STBD_OVSHOOT,38
$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
$GPS1,080717,053621,-3009.8799,3105.9717,6,1.8,7,-25.0,0.0,0.0,4,298.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-81.5
$GPS2,080717,054206,-3009.9377,3105.8860,6,1.2,6,-25.0,0.0,0.0,5,189.6
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,-2959.302,3108.051
$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,-175.2,127,1921,1320,1215,0.0,0.0,0,73,0.00,0.00,-55.10,0.000,16386,0.000,0.000,127,1921,2795,2780,2811,0,0,0,0,0,0,26.33,28.83,26.35
$GC,75,-0.48,-175.2,127,1921,2782,2810,3.0,-2.8,7,101,9.55,2.03,-7.45,0.000,18948,0.210,0.038,2672,582,3179,3210,3149,0,0,0,0,0,0,25.65,25.50,25.81
$GC,167,-0.48,-175.2,2670,582,3218,3145,29.8,-17.7,21,176,0.00,2.10,0.00,0.000,1030,0.000,0.028,2662,1946,3181,3222,3141,0,0,0,0,0,0,26.13,26.10,26.16
$GC,309,-0.48,-175.2,2662,1949,3224,3140,64.4,-25.9,46,315,0.00,2.08,0.00,0.000,260,0.000,0.030,2652,3354,3182,3224,3140,0,0,0,0,0,0,26.48,26.16,26.48
$GC,392,-0.48,-175.2,2651,3354,3225,3138,79.1,-16.8,61,402,0.00,2.00,0.00,0.000,1030,0.000,0.024,2651,1986,3181,3226,3137,0,0,0,0,0,0,26.29,26.22,26.30
$GC,709,-0.48,-175.2,2651,1982,3229,3136,139.8,-16.6,101,713,0.00,2.00,0.00,0.000,260,0.000,0.028,2642,3358,3182,3228,3137,0,0,0,0,0,0,26.60,26.29,26.62
$GC,798,-0.48,-175.2,2641,3358,3229,3137,152.3,-14.9,109,806,0.12,2.05,0.00,0.000,3078,0.156,0.017,2681,1908,3184,3231,3137,0,0,0,0,0,0,26.10,26.36,26.25
$GC,1105,-0.48,-175.2,2681,1903,3233,3135,196.0,-14.5,140,1109,0.00,2.15,0.00,0.000,260,0.000,0.033,2672,3364,3184,3233,3135,0,0,0,0,0,0,26.67,26.34,26.68
$GC,1154,-0.48,-175.2,2672,3364,3232,3136,200.6,-9.9,144,1161,0.00,2.08,0.00,0.000,1030,0.000,0.022,2672,1928,3184,3233,3136,0,0,0,0,0,0,26.45,26.38,26.46
$GC,1961,-0.48,-175.2,2672,1925,3232,3134,317.8,-15.2,185,1965,0.00,2.10,0.00,0.000,260,0.000,0.031,2662,3360,3183,3233,3134,0,0,0,0,0,0,26.74,26.41,26.74
$GC,2057,-0.48,-175.2,2661,3360,3233,3133,328.8,-10.7,190,2061,0.00,2.08,0.00,0.000,1030,0.000,0.024,2662,1943,3183,3233,3133,0,0,0,0,0,0,26.50,26.43,26.53
$GC,2883,-0.48,-175.2,2662,1940,3232,3130,450.6,-15.5,231,2888,0.00,2.10,0.00,0.000,260,0.000,0.032,2652,3359,3181,3233,3130,0,0,0,0,0,0,26.74,26.43,26.75
$GC,3009,-0.48,-175.2,2651,3359,3232,3130,465.8,-11.4,237,3013,0.00,2.08,0.00,0.000,1030,0.000,0.024,2652,1933,3181,3233,3130,0,0,0,0,0,0,26.52,26.45,26.54
$STATE,3059,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3059,begin apogee
$GC,3064,0.00,0.0,2651,1827,3232,3130,473.4,-12.1,240,3201,0.57,0.00,133.38,0.913,10246,0.137,0.000,2830,1825,2464,2536,2393,0,0,0,0,0,0,26.15,24.91,24.34
$STATE,3202,end apogee,CONTROL_FINISHED_OK
$STATE,3202,begin climb
$GC,3204,0.48,175.2,2830,1825,2535,2393,479.3,0.0,247,3350,0.40,2.10,137.98,0.906,10756,0.044,0.031,3023,514,1749,1832,1666,0,0,0,0,0,0,25.09,24.60,24.19
$GC,3440,0.48,175.2,3022,513,1820,1662,448.4,20.5,259,3445,0.10,2.15,0.00,0.000,5126,0.184,0.028,2995,1873,1741,1820,1662,0,0,0,0,0,0,25.30,25.48,25.41
$GC,4258,0.48,175.2,2995,1879,1817,1658,282.8,20.3,300,4259,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,1879,1738,1818,1658,0,0,0,0,0,0,26.52,26.53,26.53
$GC,5058,0.48,175.2,2995,1879,1816,1656,136.1,16.7,357,5062,0.00,2.08,0.00,0.000,260,0.000,0.031,2995,3281,1735,1815,1655,0,0,0,0,0,0,26.66,26.34,26.67
$GC,5136,0.48,175.2,2995,3280,1814,1655,123.5,16.4,364,5143,0.00,2.05,0.00,0.000,1030,0.000,0.028,3004,1923,1735,1814,1656,0,0,0,0,0,0,26.39,26.36,26.42
$GC,5452,0.48,175.2,3003,1922,1814,1656,71.8,14.9,411,5459,0.00,2.12,0.00,0.000,516,0.000,0.033,3015,508,1734,1814,1655,0,0,0,0,0,0,26.70,26.34,26.70
$GC,5509,0.48,176.9,3014,507,1809,1655,65.7,9.9,421,5516,0.00,2.03,0.00,0.000,1030,0.000,0.025,3015,1876,1732,1810,1654,0,0,0,0,0,0,26.46,26.40,26.49
$GC,5844,0.48,176.9,3014,1880,1812,1655,28.7,10.2,482,5853,0.00,2.10,0.00,0.000,260,0.000,0.032,3015,3273,1733,1812,1655,0,0,0,0,0,0,26.71,26.39,26.72
$GC,5913,0.48,176.9,3014,3273,1812,1654,20.4,11.9,493,5922,0.10,2.03,0.00,0.000,5126,0.234,0.028,2996,1926,1734,1814,1654,0,0,0,0,0,0,26.00,26.40,26.17
$GC,6067,0.48,176.9,2995,1926,1814,1655,3.3,11.1,518,6076,0.00,2.15,0.00,0.000,516,0.000,0.034,3005,518,1733,1812,1654,0,0,0,0,0,0,26.72,26.37,26.72
$STATE,6083,end climb,SURFACE_DEPTH_REACHED
$STATE,6083,begin surface coast
$FINISH,0.8,1.015704
$STATE,6115,end surface coast,CONTROL_FINISHED_OK
$STATE,6115,begin surface
$SM_CCo,6132,47.55,0.050,0,0,1281,290.19
$SM_GC,2.62,7.43,2.15,47.55,0.032,0.021,0.050,125,1970,1281,-8.41,-1.27,290.19,0,0,0,0,0,0,26.41,26.45,26.30
$IRIDIUM_FIX,-2957.51,3105.09,080717,053731
$TT8_MAMPS,0.025466,0.261401
$HUMID,57.67
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,450.6,35.5
$24V_AH,24.19,25.110
$10V_AH,10.29,12.649
$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,18.275,45.825,271.350,47.550,0.000,30.838,19.340,199.303,10.500,0.000,13.805,1301.063,3328.400,375.815,1468.359,84.242,0.000,903.932,0.000,1165.210,0.000,67.934,0.000
$DEVICE_MAMPS,234.090,129.285,913.410,50.490,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,362.849,93.256,407.565,407.986,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342324
$DATA_FILE_SIZE,33721,525
$CAP_FILE_SIZE,68763,0
$CFSIZE,2097086464,2062974976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,080717,072700,-3009.412,3106.476,34,1.4,34,-25.0,0.0,0.0,5,25.4