version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 305
start: 7 8 117 19 51 17
data:
$ID,574
$MISSION,23
$DIVE,305
$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,200
$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,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$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,31
$R_STBD_OVSHOOT,43
$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
$GPS1,080717,194453,-3011.2256,3108.8081,6,1.0,6,-25.1,0.8,265.9,8,50.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-77.9
$GPS2,080717,195029,-3011.2942,3108.7456,6,1.6,6,-25.1,1.3,1.5,7,24.7
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,TGT1
$TGT_LATLONG,-3011.272,3115.201
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,114.9,10334,-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,-175.2,126,1936,527,447,0.0,0.0,0,104,0.00,0.00,-86.15,0.000,16386,0.000,0.000,126,1936,2916,2936,2897,0,0,0,0,0,0,26.30,28.83,26.32
$GC,106,-0.48,-175.2,126,1937,2936,2898,3.5,-4.3,11,132,9.60,2.15,-4.90,0.000,18948,0.215,0.038,2669,515,3182,3216,3149,0,0,0,0,0,0,25.67,24.66,25.83
$GC,140,-0.48,-175.2,2669,515,3218,3150,19.1,-40.8,15,149,0.00,2.20,0.00,0.000,1030,0.000,0.026,2661,1943,3184,3219,3149,0,0,0,0,0,0,26.10,26.07,26.13
$GC,199,-0.48,-175.2,2660,1943,3223,3146,36.7,-27.3,24,208,0.00,2.12,0.00,0.000,260,0.000,0.030,2649,3356,3184,3223,3145,0,0,0,0,0,0,26.40,26.10,26.41
$GC,226,-0.48,-175.2,2649,3356,3224,3144,44.4,-27.5,28,234,0.08,2.17,0.00,0.000,3078,0.243,0.026,2671,1924,3184,3225,3143,0,0,0,0,0,0,25.78,26.12,25.91
$GC,557,-0.48,-175.2,2670,1923,3227,3142,115.6,-18.1,82,558,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1923,3185,3228,3142,0,0,0,0,0,0,26.55,26.57,26.57
$GC,856,-0.48,-175.2,2670,1923,3230,3142,164.3,-15.3,112,857,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1923,3185,3229,3141,0,0,0,0,0,0,26.63,26.65,26.64
$GC,1166,-0.48,-175.2,2670,1921,3231,3142,210.0,-11.9,139,1172,0.00,2.10,0.00,0.000,260,0.000,0.031,2662,3353,3187,3232,3142,0,0,0,0,0,0,26.65,26.35,26.66
$GC,1234,-0.48,-175.2,2662,3353,3232,3142,216.2,-10.8,142,1238,0.00,2.08,0.00,0.000,1030,0.000,0.023,2662,1926,3187,3232,3142,0,0,0,0,0,0,26.46,26.39,26.47
$GC,2047,-0.48,-175.2,2661,1922,3232,3139,334.7,-12.4,183,2052,0.00,2.05,0.00,0.000,516,0.000,0.030,2662,534,3185,3232,3139,0,0,0,0,0,0,26.74,26.39,26.75
$GC,2216,-0.48,-175.2,2662,533,3232,3138,353.4,-11.0,191,2220,0.00,2.10,0.00,0.000,1030,0.000,0.027,2652,1953,3185,3232,3138,0,0,0,0,0,0,26.51,26.43,26.53
$GC,3029,-0.48,-175.2,2650,1955,3232,3130,479.4,-15.3,232,3035,0.00,2.10,0.00,0.000,516,0.000,0.030,2652,541,3181,3232,3130,0,0,0,0,0,0,26.76,26.40,26.77
$GC,3076,-0.48,-175.2,2651,540,3232,3130,485.0,-14.2,234,3081,0.10,2.08,0.00,0.000,3078,0.226,0.028,2673,1937,3181,3232,3130,0,0,0,0,0,0,26.05,26.43,26.27
$STATE,3202,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3202,begin apogee
$GC,3207,0.00,0.0,2673,1813,3232,3129,500.3,-11.7,240,3345,0.50,0.08,133.65,0.944,10246,0.155,0.090,2831,1906,2465,2525,2405,0,0,0,0,0,0,26.17,24.89,24.32
$STATE,3346,end apogee,CONTROL_FINISHED_OK
$STATE,3346,begin climb
$GC,3348,0.48,175.2,2831,1907,2525,2405,504.8,0.0,247,3497,0.40,2.15,138.55,0.939,10500,0.034,0.028,3022,3247,1748,1824,1673,0,0,0,0,0,0,25.11,24.74,24.16
$GC,3592,0.48,175.2,3022,3247,1817,1672,472.0,19.8,259,3597,0.15,2.10,0.00,0.000,5126,0.186,0.028,2993,1879,1745,1818,1672,0,0,0,0,0,0,25.29,25.50,25.47
$GC,4399,0.48,175.2,2992,1879,1815,1661,305.1,22.1,299,4403,0.00,2.15,0.00,0.000,516,0.000,0.034,3002,463,1737,1814,1661,0,0,0,0,0,0,26.52,26.19,26.53
$GC,4495,0.48,175.2,3002,463,1805,1662,286.1,19.3,304,4499,0.00,2.08,0.00,0.000,1030,0.000,0.029,3002,1831,1733,1805,1662,0,0,0,0,0,0,26.32,26.25,26.35
$GC,5301,0.48,175.2,3002,1837,1808,1659,133.7,15.5,363,5305,0.00,2.15,0.00,0.000,260,0.000,0.031,3002,3284,1733,1808,1659,0,0,0,0,0,0,26.67,26.35,26.68
$GC,5547,0.48,175.2,3002,3284,1808,1659,100.2,13.8,387,5552,0.00,2.10,0.00,0.000,1030,0.000,0.028,3012,1866,1733,1808,1659,0,0,0,0,0,0,26.45,26.37,26.48
$GC,5869,0.49,182.9,3012,1867,1807,1658,61.0,9.8,446,5882,0.00,2.15,4.57,0.487,8708,0.000,0.034,3023,465,1718,1794,1642,0,0,0,0,0,0,26.70,26.26,25.61
$GC,6020,0.49,182.9,3022,464,1788,1643,45.8,10.2,474,6028,0.00,2.15,0.00,0.000,1030,0.000,0.028,3023,1872,1716,1789,1643,0,0,0,0,0,0,26.44,26.41,26.44
$GC,6380,0.49,182.9,3023,1877,1792,1643,3.4,11.7,535,6389,0.00,2.15,0.00,0.000,516,0.000,0.032,3034,466,1716,1788,1644,0,0,0,0,0,0,26.71,26.34,26.72
$STATE,6395,end climb,SURFACE_DEPTH_REACHED
$STATE,6396,begin surface coast
$FINISH,0.6,1.022323
$STATE,6403,end surface coast,CONTROL_FINISHED_OK
$STATE,6403,begin surface
$SM_CCo,6421,128.85,0.049,0,0,499,482.01
$SM_GC,1.50,7.38,2.22,128.85,0.024,0.019,0.049,127,1972,499,-8.37,-1.33,482.01,0,0,0,0,0,0,26.39,26.43,26.23
$IRIDIUM_FIX,-3000.00,3106.38,080717,194602
$TT8_MAMPS,0.025466,0.260652
$HUMID,55.82
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,20.50
$XPDR_PINGS,0
$24V_AH,24.16,25.797
$10V_AH,10.28,13.014
$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,18.200,42.850,276.775,128.850,0.000,28.768,19.083,188.240,11.500,0.000,13.750,1333.688,3529.983,462.486,1505.643,86.760,0.000,1027.255,0.000,1207.363,0.000,70.870,0.000
$DEVICE_MAMPS,242.505,89.505,944.010,48.960,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,371.132,87.937,383.663,383.413,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343180
$DATA_FILE_SIZE,33735,538
$CAP_FILE_SIZE,71331,0
$CFSIZE,2097086464,2062286848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,080717,214130,-3011.224,3109.686,30,0.7,30,-25.1,0.0,0.0,12,7.7