version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 299
start: 7 8 117 7 33 55
data:
$ID,574
$MISSION,23
$DIVE,299
$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,60
$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,90
$R_STBD_OVSHOOT,70
$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
$GPS1,080717,072700,-3009.4121,3106.4756,34,1.4,34,-25.0,0.0,0.0,5,25.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-77.9
$GPS2,080717,073309,-3009.4780,3106.4375,5,1.4,5,-25.0,2.3,160.5,5,31.1
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,-3004.078,3117.244
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,85.0,20000,-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,-175.2,125,1975,1324,1209,0.0,0.0,0,73,0.00,0.00,-55.03,0.000,16386,0.000,0.000,125,1975,2797,2780,2814,0,0,0,0,0,0,26.32,28.83,26.33
$GC,75,-0.48,-175.2,125,1975,2785,2813,3.1,-3.1,7,101,9.62,2.10,-7.43,0.000,18948,0.213,0.040,2673,576,3181,3212,3150,0,0,0,0,0,0,25.63,25.48,25.80
$GC,128,-0.48,-175.2,2672,576,3219,3147,22.4,-38.6,14,137,0.00,2.05,0.00,0.000,1030,0.000,0.027,2664,1910,3183,3221,3146,0,0,0,0,0,0,26.10,26.07,26.13
$GC,272,-0.48,-175.2,2663,1911,3225,3143,61.7,-30.8,39,279,0.00,2.12,0.00,0.000,260,0.000,0.031,2653,3344,3183,3225,3142,0,0,0,0,0,0,26.44,26.13,26.46
$GC,362,-0.48,-175.2,2652,3345,3227,3141,78.9,-14.2,55,369,0.00,2.00,0.00,0.000,1030,0.000,0.024,2653,1985,3184,3228,3141,0,0,0,0,0,0,26.26,26.19,26.28
$GC,678,-0.48,-175.2,2653,1984,3233,3139,137.9,-15.8,96,682,0.00,2.12,0.00,0.000,516,0.000,0.028,2653,535,3185,3232,3139,0,0,0,0,0,0,26.59,26.26,26.60
$GC,706,-0.48,-175.2,2653,534,3232,3139,141.6,-14.1,98,714,0.08,2.15,0.00,0.000,3078,0.177,0.027,2676,1949,3185,3232,3138,0,0,0,0,0,0,26.03,26.29,26.20
$GC,1014,-0.48,-175.2,2675,1949,3234,3139,174.2,-10.8,129,1022,0.00,2.08,0.00,0.000,260,0.000,0.034,2667,3346,3186,3233,3139,0,0,0,0,0,0,26.65,26.32,26.66
$GC,1135,-0.48,-175.2,2666,3346,3234,3139,186.4,-10.3,141,1144,0.00,2.05,0.00,0.000,1030,0.000,0.023,2667,1938,3187,3235,3139,0,0,0,0,0,0,26.44,26.36,26.46
$GC,1447,-0.48,-175.2,2666,1936,3235,3138,233.2,-17.6,162,1452,0.00,2.05,0.00,0.000,516,0.000,0.030,2667,530,3186,3235,3138,0,0,0,0,0,0,26.68,26.35,26.69
$GC,1477,-0.48,-175.2,2666,530,3235,3138,236.7,-17.7,163,1484,0.00,2.10,0.00,0.000,1030,0.000,0.028,2657,1941,3186,3235,3138,0,0,0,0,0,0,26.46,26.39,26.48
$GC,2285,-0.48,-175.2,2656,1942,3235,3134,367.0,-15.4,204,2291,0.00,2.08,0.00,0.000,516,0.000,0.028,2657,533,3184,3235,3134,0,0,0,0,0,0,26.74,26.40,26.75
$GC,2317,-0.48,-175.2,2656,533,3235,3135,370.1,-15.6,205,2325,0.10,2.10,0.00,0.000,3078,0.207,0.028,2678,1944,3184,3235,3134,0,0,0,0,0,0,26.09,26.41,26.30
$GC,3125,-0.48,-175.2,2678,1945,3235,3130,467.6,-12.2,246,3131,0.00,2.10,0.00,0.000,516,0.000,0.031,2678,529,3182,3234,3130,0,0,0,0,0,0,26.76,26.39,26.77
$GC,3186,-0.48,-175.2,2678,529,3234,3130,473.7,-10.7,249,3191,0.00,2.10,0.00,0.000,1030,0.000,0.030,2670,1940,3182,3234,3130,0,0,0,0,0,0,26.46,26.43,26.49
$STATE,3203,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3203,begin apogee
$GC,3208,0.00,0.0,2670,1795,3234,3129,475.7,-9.9,250,3346,0.52,0.10,133.90,0.928,10246,0.132,0.078,2835,1922,2464,2536,2393,0,0,0,0,0,0,26.17,24.89,24.32
$STATE,3347,end apogee,CONTROL_FINISHED_OK
$STATE,3347,begin climb
$GC,3349,0.48,175.2,2836,1922,2535,2393,481.1,0.0,257,3499,0.43,2.20,138.82,0.946,10500,0.038,0.031,3037,3284,1748,1827,1670,0,0,0,0,0,0,25.06,24.72,24.14
$GC,3655,0.48,175.2,3036,3284,1819,1670,435.0,20.3,272,3660,0.20,2.15,0.00,0.000,5126,0.215,0.028,2994,1868,1744,1819,1670,0,0,0,0,0,0,25.38,25.65,25.60
$GC,4461,0.48,175.2,2994,1868,1815,1663,277.7,19.2,312,4465,0.00,2.12,0.00,0.000,516,0.000,0.034,3004,465,1739,1815,1663,0,0,0,0,0,0,26.53,26.20,26.55
$GC,4530,0.48,175.2,3003,465,1808,1661,267.5,18.8,315,4537,0.00,2.12,0.00,0.000,1030,0.000,0.030,3004,1868,1735,1809,1661,0,0,0,0,0,0,26.32,26.25,26.35
$GC,5337,0.48,175.2,3003,1874,1810,1659,116.6,15.4,379,5341,0.00,2.10,0.00,0.000,260,0.000,0.031,3004,3294,1735,1811,1659,0,0,0,0,0,0,26.67,26.35,26.68
$GC,5443,0.48,175.2,3003,3294,1810,1659,101.0,14.1,389,5447,0.00,2.15,0.00,0.000,1030,0.000,0.031,3014,1864,1734,1810,1659,0,0,0,0,0,0,26.44,26.36,26.46
$GC,5765,0.48,175.2,3014,1864,1810,1659,60.4,12.2,449,5772,0.00,2.10,0.00,0.000,260,0.000,0.028,3014,3297,1734,1810,1659,0,0,0,0,0,0,26.70,26.39,26.72
$GC,5988,0.48,175.2,3013,3297,1810,1659,36.3,10.9,490,5997,0.10,2.15,0.00,0.000,5126,0.204,0.028,2995,1870,1735,1811,1659,0,0,0,0,0,0,26.04,26.39,26.19
$GC,6143,0.48,175.2,2995,1870,1811,1659,20.4,10.4,515,6151,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,1870,1735,1811,1659,0,0,0,0,0,0,26.72,26.73,26.73
$GC,6293,0.48,175.2,2995,1870,1812,1659,3.7,11.7,540,6302,0.00,2.15,0.00,0.000,516,0.000,0.034,3005,463,1735,1812,1658,0,0,0,0,0,0,26.72,26.36,26.73
$STATE,6309,end climb,SURFACE_DEPTH_REACHED
$STATE,6309,begin surface coast
$FINISH,0.8,1.025239
$STATE,6334,end surface coast,CONTROL_FINISHED_OK
$STATE,6335,begin surface
$SM_CCo,6352,47.78,0.050,0,0,1281,290.19
$SM_GC,2.40,7.35,2.25,47.78,0.026,0.019,0.050,126,1968,1281,-8.42,-0.88,290.19,0,0,0,0,0,0,26.38,26.43,26.30
$IRIDIUM_FIX,-2957.51,3107.23,080717,053746
$TT8_MAMPS,0.025466,0.264397
$HUMID,57.12
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,460.4,28.7
$24V_AH,24.14,25.199
$10V_AH,10.29,12.700
$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,18.400,50.875,272.725,47.775,0.000,32.953,41.948,197.850,10.750,0.000,12.724,1360.242,3426.702,385.332,1535.705,92.067,0.000,942.112,0.000,1208.839,0.000,67.782,0.000
$DEVICE_MAMPS,214.965,87.210,946.305,50.490,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,377.643,94.936,403.323,408.731,0.000,0.000,0.000,0.000,0.000,0.000
$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,37074,546
$CAP_FILE_SIZE,72534,0
$CFSIZE,2097086464,2062876672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,080717,092117,-3009.619,3106.926,7,0.9,7,-25.0,0.0,0.0,9,237.8