version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 302
start: 7 8 117 13 24 4
data:
$ID,574
$MISSION,23
$DIVE,302
$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,482.00665
$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,36
$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
$GPS1,080717,131124,-3009.8435,3107.9619,6,1.3,6,-25.0,0.9,209.0,7,63.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-75.9
$GPS2,080717,132317,-3009.9939,3107.7427,6,1.3,6,-25.0,0.0,0.0,7,29.5
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,-3004.594,3118.550
$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,-175.2,126,1942,538,437,0.0,0.0,0,104,0.00,0.00,-85.88,0.000,16386,0.000,0.000,126,1942,2889,2901,2877,0,0,0,0,0,0,26.36,28.83,26.37
$GC,106,-0.48,-175.2,126,1942,2902,2877,3.3,-3.7,11,132,9.62,2.12,-5.40,0.000,18948,0.214,0.037,2671,522,3182,3217,3148,0,0,0,0,0,0,25.70,24.70,25.86
$GC,148,-0.48,-175.2,2670,521,3219,3148,20.2,-42.8,16,156,0.00,2.17,0.00,0.000,1030,0.000,0.027,2662,1937,3183,3221,3146,0,0,0,0,0,0,26.16,26.13,26.15
$GC,293,-0.48,-175.2,2661,1937,3225,3142,58.3,-27.6,41,303,0.00,2.08,0.00,0.000,260,0.000,0.030,2651,3351,3183,3224,3142,0,0,0,0,0,0,26.47,26.17,26.48
$GC,359,-0.48,-175.2,2651,3351,3227,3140,72.9,-16.1,52,366,0.00,2.12,0.00,0.000,1030,0.000,0.024,2651,1932,3183,3228,3138,0,0,0,0,0,0,26.25,26.21,26.26
$GC,675,-0.48,-175.2,2650,1932,3230,3138,136.5,-16.9,94,679,0.00,2.08,0.00,0.000,516,0.000,0.029,2651,525,3184,3230,3138,0,0,0,0,0,0,26.60,26.27,26.60
$GC,705,-0.48,-175.2,2650,525,3230,3138,141.0,-17.6,96,713,0.10,2.15,0.00,0.000,3078,0.145,0.027,2673,1940,3184,3230,3138,0,0,0,0,0,0,26.08,26.29,26.17
$GC,1012,-0.48,-175.2,2673,1939,3232,3137,185.0,-13.6,127,1016,0.00,2.10,0.00,0.000,516,0.000,0.028,2673,530,3184,3232,3137,0,0,0,0,0,0,26.65,26.32,26.66
$GC,1161,-0.48,-175.2,2672,529,3232,3137,201.1,-10.0,141,1169,0.00,2.08,0.00,0.000,1030,0.000,0.028,2665,1933,3185,3232,3138,0,0,0,0,0,0,26.40,26.36,26.42
$GC,1970,-0.48,-175.2,2665,1935,3232,3134,320.5,-13.5,182,1975,0.00,2.05,0.00,0.000,516,0.000,0.028,2665,534,3183,3232,3134,0,0,0,0,0,0,26.71,26.39,26.72
$GC,2049,-0.48,-175.2,2664,533,3232,3134,330.5,-12.3,186,2055,0.00,2.10,0.00,0.000,1030,0.000,0.028,2655,1943,3183,3232,3134,0,0,0,0,0,0,26.49,26.41,26.51
$GC,2871,-0.48,-175.2,2654,1943,3232,3127,455.5,-13.7,227,2876,0.00,2.05,0.00,0.000,260,0.000,0.034,2644,3345,3179,3232,3127,0,0,0,0,0,0,26.76,26.41,26.77
$GC,2917,-0.48,-175.2,2644,3345,3232,3126,460.8,-13.7,229,2921,0.10,2.05,0.00,0.000,3078,0.152,0.024,2678,1937,3179,3232,3126,0,0,0,0,0,0,26.23,26.44,26.38
$STATE,3262,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3262,begin apogee
$GC,3267,0.00,0.0,2679,1812,3232,3122,501.9,-12.0,246,3405,0.47,0.08,132.80,0.936,10246,0.127,0.090,2831,1909,2464,2530,2399,0,0,0,0,0,0,26.19,24.90,24.32
$STATE,3406,end apogee,CONTROL_FINISHED_OK
$STATE,3406,begin climb
$GC,3408,0.48,175.2,2831,1908,2529,2399,506.8,0.0,253,3555,0.40,2.15,138.40,0.953,10500,0.047,0.028,3014,3243,1749,1831,1668,0,0,0,0,0,0,25.09,24.72,24.14
$GC,3730,0.48,175.2,3014,3243,1823,1668,459.0,19.4,269,3735,0.12,2.08,0.00,0.000,5126,0.214,0.028,2991,1876,1745,1823,1668,0,0,0,0,0,0,25.44,25.69,25.64
$GC,4538,0.48,175.2,2990,1876,1821,1660,305.1,19.6,309,4543,0.00,2.15,0.00,0.000,516,0.000,0.035,3000,462,1740,1821,1660,0,0,0,0,0,0,26.54,26.20,26.55
$GC,4610,0.48,175.2,3000,462,1812,1660,293.2,19.7,312,4617,0.00,2.08,0.00,0.000,1030,0.000,0.026,3000,1844,1737,1814,1660,0,0,0,0,0,0,26.34,26.27,26.36
$GC,5417,0.48,175.2,3000,1849,1813,1660,138.2,18.1,370,5421,0.00,2.12,0.00,0.000,260,0.000,0.033,3001,3278,1737,1814,1660,0,0,0,0,0,0,26.67,26.35,26.68
$GC,5623,0.48,175.2,2999,3278,1814,1660,108.1,13.5,390,5627,0.00,2.10,0.00,0.000,1030,0.000,0.028,3011,1862,1737,1814,1660,0,0,0,0,0,0,26.45,26.38,26.48
$GC,5944,0.48,175.2,3010,1862,1814,1660,65.2,10.6,445,5950,0.00,2.10,0.00,0.000,260,0.000,0.028,3011,3290,1736,1814,1659,0,0,0,0,0,0,26.71,26.39,26.72
$GC,6204,0.48,175.2,3010,3290,1815,1659,36.7,11.5,493,6213,0.08,2.15,0.00,0.000,5126,0.194,0.028,2998,1867,1737,1815,1659,0,0,0,0,0,0,26.14,26.43,26.23
$GC,6359,0.48,175.2,2998,1867,1815,1659,20.5,11.6,518,6367,0.00,2.15,0.00,0.000,516,0.000,0.035,3008,467,1736,1813,1659,0,0,0,0,0,0,26.72,26.36,26.74
$GC,6412,0.48,175.2,3008,467,1808,1659,14.5,10.5,526,6421,0.00,2.12,0.00,0.000,1030,0.000,0.028,3008,1862,1735,1811,1659,0,0,0,0,0,0,26.45,26.41,26.48
$GC,6470,0.48,175.2,3008,1866,1814,1659,7.4,13.2,535,6479,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1866,1736,1813,1659,0,0,0,0,0,0,26.72,26.74,26.74
$STATE,6509,end climb,SURFACE_DEPTH_REACHED
$STATE,6509,begin surface coast
$FINISH,0.6,1.025074
$STATE,6541,end surface coast,CONTROL_FINISHED_OK
$STATE,6541,begin surface
$SM_CCo,6556,130.93,0.049,0,0,498,482.01
$SM_GC,1.53,7.38,0.10,130.93,0.028,0.067,0.049,125,2040,498,-8.43,-1.05,482.01,0,0,0,0,0,0,26.34,26.54,26.24
$IRIDIUM_FIX,-2955.02,3110.65,080717,132150
$TT8_MAMPS,0.024717,0.288365
$HUMID,55.55
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,20.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,492.3,35.1
$24V_AH,24.14,25.463
$10V_AH,10.27,12.850
$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,18.275,46.775,271.200,130.925,0.000,157.264,219.935,0.000,11.500,0.000,12.765,1354.993,3842.412,476.678,1659.753,99.592,0.000,1055.486,0.000,1232.886,0.000,73.248,0.000
$DEVICE_MAMPS,214.200,91.800,953.190,48.960,0.000,91.800,160.000,0.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,373.874,90.480,403.832,404.278,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342492
$DATA_FILE_SIZE,37035,546
$CAP_FILE_SIZE,71980,0
$CFSIZE,2097086464,2062319616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,080717,151630,-3010.130,3108.282,23,1.1,23,-25.0,0.0,0.0,7,10.0