version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 300
start: 7 8 117 9 28 16
data:
$ID,574
$MISSION,23
$DIVE,300
$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,39
$R_STBD_OVSHOOT,55
$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
$GPS1,080717,092117,-3009.6187,3106.9255,7,0.9,7,-25.0,0.0,0.0,9,237.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-77.7
$GPS2,080717,092731,-3009.6790,3106.9023,7,0.9,7,-25.0,0.9,113.6,9,190.6
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,-3004.279,3117.709
$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,-175.2,125,1972,1323,1208,0.0,0.0,0,73,0.00,0.00,-55.05,0.000,16386,0.000,0.000,125,1972,2807,2791,2823,0,0,0,0,0,0,26.32,28.83,26.33
$GC,75,-0.48,-175.2,125,1972,2793,2823,3.2,-3.4,7,100,9.55,0.00,-7.15,0.000,18950,0.218,0.000,2669,1970,3181,3213,3150,0,0,0,0,0,0,25.65,25.56,25.82
$GC,150,-0.48,-175.2,2668,1972,3225,3143,29.2,-30.0,18,158,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,1972,3184,3225,3143,0,0,0,0,0,0,26.38,26.39,26.39
$GC,294,-0.48,-175.2,2668,1973,3227,3141,68.2,-22.7,43,301,0.00,2.03,0.00,0.000,260,0.000,0.031,2660,3346,3184,3227,3141,0,0,0,0,0,0,26.46,26.15,26.47
$GC,354,-0.48,-175.2,2659,3346,3227,3141,79.8,-16.0,54,364,0.00,2.12,0.00,0.000,1030,0.000,0.024,2660,1934,3184,3229,3139,0,0,0,0,0,0,26.21,26.20,26.25
$GC,672,-0.48,-175.2,2659,1933,3232,3138,137.5,-15.4,95,676,0.00,2.08,0.00,0.000,516,0.000,0.028,2660,525,3185,3233,3138,0,0,0,0,0,0,26.59,26.26,26.60
$GC,708,-0.48,-175.2,2659,524,3232,3138,142.9,-15.1,98,712,0.00,2.10,0.00,0.000,1030,0.000,0.025,2650,1938,3186,3233,3139,0,0,0,0,0,0,26.36,26.29,26.38
$GC,1013,-0.48,-175.2,2649,1942,3234,3138,195.5,-18.0,128,1018,0.08,2.10,0.00,0.000,2564,0.210,0.028,2678,532,3186,3234,3138,0,0,0,0,0,0,26.15,26.29,26.22
$GC,1163,-0.48,-175.2,2677,530,3234,3140,212.5,-11.3,136,1169,0.00,2.10,0.00,0.000,1030,0.000,0.028,2669,1941,3187,3234,3140,0,0,0,0,0,0,26.43,26.36,26.45
$GC,1970,-0.48,-175.2,2668,1944,3234,3137,322.4,-14.0,177,1976,0.00,2.08,0.00,0.000,516,0.000,0.028,2669,535,3185,3234,3137,0,0,0,0,0,0,26.70,26.39,26.71
$GC,2058,-0.48,-175.2,2668,534,3234,3137,331.5,-11.3,181,2062,0.00,2.12,0.00,0.000,1030,0.000,0.028,2659,1934,3185,3234,3137,0,0,0,0,0,0,26.45,26.41,26.48
$GC,2870,-0.48,-175.2,2658,1934,3234,3131,454.5,-15.0,222,2876,0.00,2.08,0.00,0.000,516,0.000,0.030,2659,534,3182,3234,3131,0,0,0,0,0,0,26.76,26.39,26.77
$GC,2912,-0.48,-175.2,2658,534,3234,3131,460.0,-14.4,224,2916,0.00,2.15,0.00,0.000,1030,0.000,0.028,2649,1944,3182,3234,3131,0,0,0,0,0,0,26.46,26.43,26.49
$STATE,3088,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3088,begin apogee
$GC,3093,0.00,0.0,2648,1808,3234,3130,487.5,-16.3,233,3232,0.57,0.08,134.20,0.936,10246,0.139,0.090,2828,1881,2464,2536,2393,0,0,0,0,0,0,26.14,24.89,24.32
$STATE,3233,end apogee,CONTROL_FINISHED_OK
$STATE,3233,begin climb
$GC,3234,0.48,175.2,2827,1905,2535,2393,493.9,0.0,240,3384,0.40,2.38,138.15,0.920,11012,0.039,0.031,3028,469,1747,1828,1667,0,0,0,0,0,0,25.10,24.74,24.17
$GC,3484,0.48,175.2,3027,469,1819,1664,461.1,21.7,252,3492,0.12,2.17,0.00,0.000,5126,0.187,0.029,2994,1861,1741,1819,1664,0,0,0,0,0,0,25.32,25.51,25.51
$GC,4291,0.48,175.2,2993,1866,1816,1659,295.0,19.9,293,4295,0.00,2.12,0.00,0.000,260,0.000,0.030,2994,3295,1737,1816,1659,0,0,0,0,0,0,26.52,26.22,26.53
$GC,4330,0.48,175.2,2993,3295,1815,1659,287.9,20.0,295,4334,0.00,2.10,0.00,0.000,1030,0.000,0.027,3003,1875,1736,1814,1659,0,0,0,0,0,0,26.30,26.23,26.33
$GC,5137,0.48,175.2,3002,1873,1812,1658,129.7,15.1,354,5146,0.00,2.12,0.00,0.000,516,0.000,0.034,3014,465,1734,1811,1657,0,0,0,0,0,0,26.66,26.32,26.67
$GC,5298,0.48,175.2,3013,465,1808,1657,108.0,13.6,370,5302,0.00,2.12,0.00,0.000,1030,0.000,0.027,3014,1884,1732,1808,1657,0,0,0,0,0,0,26.44,26.37,26.47
$GC,5616,0.48,175.2,3013,1889,1810,1657,64.6,12.5,425,5623,0.00,2.15,0.00,0.000,516,0.000,0.032,3024,459,1733,1810,1656,0,0,0,0,0,0,26.70,26.35,26.71
$GC,5809,0.48,175.2,3024,459,1808,1655,42.3,11.7,461,5816,0.10,2.12,0.00,0.000,5126,0.190,0.028,2994,1880,1731,1808,1655,0,0,0,0,0,0,26.14,26.39,26.34
$GC,6165,0.48,175.2,2994,1883,1813,1655,4.1,10.9,522,6174,0.00,2.10,0.00,0.000,260,0.000,0.030,2994,3284,1733,1812,1655,0,0,0,0,0,0,26.72,26.40,26.73
$STATE,6181,end climb,SURFACE_DEPTH_REACHED
$STATE,6181,begin surface coast
$FINISH,1.1,1.025195
$STATE,6189,end surface coast,CONTROL_FINISHED_OK
$STATE,6189,begin surface
$SM_CCo,6206,47.53,0.050,0,0,1281,290.19
$SM_GC,2.45,7.38,2.00,47.53,0.029,0.018,0.050,126,1928,1281,-8.42,1.13,290.19,0,0,0,0,0,0,26.44,26.45,26.30
$IRIDIUM_FIX,-2955.02,3110.65,080717,092233
$TT8_MAMPS,0.025466,0.261401
$HUMID,57.71
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,471.2,29.2
$24V_AH,24.17,25.288
$10V_AH,10.29,12.749
$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,18.200,42.525,272.350,47.525,0.000,36.067,22.434,216.810,11.000,0.000,14.793,1309.259,3389.691,370.954,1506.017,82.647,0.000,905.860,0.000,1174.411,0.000,70.134,0.000
$DEVICE_MAMPS,218.025,89.505,935.595,50.490,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,366.608,92.829,392.517,399.356,0.000,0.000,0.000,0.000,0.000,0.000
$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,33687,525
$CAP_FILE_SIZE,69024,0
$CFSIZE,2097086464,2062778368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,080717,111334,-3009.685,3107.434,29,0.9,29,-25.0,0.9,203.2,9,17.9