version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 306
start: 7 8 117 21 48 20
data:
$ID,574
$MISSION,23
$DIVE,306
$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,41
$R_STBD_OVSHOOT,74
$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
$GPS1,080717,214130,-3011.2241,3109.6860,30,0.7,30,-25.1,0.0,0.0,12,7.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-77.6
$GPS2,080717,214733,-3011.2964,3109.6606,5,0.7,5,-25.1,0.9,96.9,11,46.0
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,TGT1
$TGT_LATLONG,-3011.272,3115.201
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,114.8,8869,-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,-175.2,126,1976,530,445,0.0,0.0,0,103,0.00,0.00,-85.70,0.000,16386,0.000,0.000,126,1976,2908,2917,2899,0,0,0,0,0,0,26.30,28.83,26.32
$GC,106,-0.48,-175.2,126,1976,2917,2899,3.8,-5.8,11,132,9.60,2.20,-4.93,0.000,18948,0.210,0.040,2671,528,3182,3216,3149,0,0,0,0,0,0,25.63,24.60,25.78
$GC,159,-0.48,-175.2,2670,528,3219,3148,26.8,-45.3,18,168,0.00,2.12,0.00,0.000,1030,0.000,0.024,2662,1917,3183,3219,3148,0,0,0,0,0,0,26.11,26.08,26.13
$GC,303,-0.48,-175.2,2662,1918,3223,3145,65.6,-27.6,43,310,0.00,2.10,0.00,0.000,260,0.000,0.028,2651,3353,3184,3224,3145,0,0,0,0,0,0,26.46,26.14,26.47
$GC,373,-0.48,-175.2,2651,3353,3225,3142,79.8,-14.0,55,380,0.00,2.10,0.00,0.000,1030,0.000,0.026,2651,1937,3184,3227,3141,0,0,0,0,0,0,26.25,26.17,26.27
$GC,691,-0.48,-175.2,2650,1937,3229,3140,143.7,-20.4,95,695,0.00,2.10,0.00,0.000,516,0.000,0.031,2651,521,3184,3229,3140,0,0,0,0,0,0,26.59,26.25,26.60
$GC,717,-0.48,-175.2,2651,521,3229,3140,149.1,-20.4,97,722,0.12,2.10,0.00,0.000,3078,0.157,0.024,2678,1942,3184,3229,3140,0,0,0,0,0,0,26.03,26.30,26.20
$GC,1022,-0.48,-175.2,2678,1942,3231,3140,195.2,-14.7,127,1026,0.00,2.05,0.00,0.000,260,0.000,0.029,2669,3350,3185,3231,3140,0,0,0,0,0,0,26.65,26.33,26.67
$GC,1118,-0.48,-175.2,2668,3350,3232,3140,204.9,-9.0,134,1124,0.00,2.08,0.00,0.000,1030,0.000,0.022,2669,1925,3186,3232,3140,0,0,0,0,0,0,26.44,26.36,26.45
$GC,1939,-0.48,-175.2,2668,1921,3233,3138,313.1,-13.4,175,1944,0.00,2.05,0.00,0.000,516,0.000,0.030,2669,535,3185,3232,3138,0,0,0,0,0,0,26.73,26.38,26.74
$GC,2062,-0.48,-175.2,2669,534,3232,3138,325.4,-9.3,181,2066,0.00,2.08,0.00,0.000,1030,0.000,0.028,2659,1934,3184,3232,3137,0,0,0,0,0,0,26.48,26.41,26.51
$GC,2874,-0.48,-175.2,2658,1938,3232,3130,446.0,-15.0,222,2880,0.00,2.08,0.00,0.000,516,0.000,0.029,2659,538,3181,3233,3130,0,0,0,0,0,0,26.76,26.39,26.77
$GC,2916,-0.48,-175.2,2658,537,3232,3130,451.1,-13.9,224,2920,0.00,2.12,0.00,0.000,1030,0.000,0.027,2649,1941,3181,3232,3130,0,0,0,0,0,0,26.47,26.43,26.49
$STATE,3253,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3253,begin apogee
$GC,3258,0.00,0.0,2649,1819,3230,3129,500.3,-16.3,241,3397,0.60,0.05,133.93,0.959,10246,0.156,0.116,2833,1901,2465,2525,2406,0,0,0,0,0,0,26.11,24.86,24.27
$STATE,3398,end apogee,CONTROL_FINISHED_OK
$STATE,3398,begin climb
$GC,3400,0.48,175.2,2833,1901,2524,2406,506.9,0.0,248,3548,0.40,2.35,139.02,0.962,10756,0.036,0.032,3026,476,1749,1822,1676,0,0,0,0,0,0,25.08,24.72,24.13
$GC,3595,0.48,175.2,3026,476,1809,1675,482.0,21.9,258,3601,0.12,2.15,0.00,0.000,5126,0.184,0.027,2994,1835,1742,1809,1675,0,0,0,0,0,0,25.12,25.28,25.29
$GC,4415,0.48,175.2,2994,1839,1808,1668,320.7,18.9,299,4419,0.00,2.15,0.00,0.000,260,0.000,0.030,2994,3283,1738,1808,1668,0,0,0,0,0,0,26.51,26.20,26.52
$GC,4454,0.48,175.2,2994,3283,1807,1667,313.9,18.8,301,4458,0.00,2.10,0.00,0.000,1030,0.000,0.027,3003,1873,1738,1808,1668,0,0,0,0,0,0,26.29,26.22,26.32
$GC,5261,0.48,175.2,3002,1873,1805,1664,155.1,16.9,353,5265,0.00,2.15,0.00,0.000,516,0.000,0.036,3014,458,1735,1806,1664,0,0,0,0,0,0,26.66,26.30,26.67
$GC,5437,0.48,175.2,3013,457,1798,1664,129.8,14.8,370,5441,0.00,2.12,0.00,0.000,1030,0.000,0.025,3014,1877,1730,1797,1664,0,0,0,0,0,0,26.44,26.37,26.46
$GC,5749,0.48,175.2,3013,1881,1800,1664,81.0,11.7,413,5755,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1881,1731,1800,1663,0,0,0,0,0,0,26.70,26.71,26.70
$GC,6071,0.48,175.2,3014,1881,1801,1664,48.6,10.4,474,6080,0.00,2.17,0.00,0.000,516,0.000,0.032,3024,465,1731,1799,1664,0,0,0,0,0,0,26.71,26.35,26.72
$GC,6107,0.48,175.2,3024,465,1797,1663,44.8,11.1,480,6116,0.10,2.15,0.00,0.000,5126,0.164,0.026,2994,1884,1731,1799,1663,0,0,0,0,0,0,26.14,26.41,26.24
$GC,6463,0.49,181.0,2993,1888,1803,1662,12.5,9.8,541,6471,0.00,2.15,0.00,0.000,516,0.000,0.030,3003,470,1732,1802,1662,0,0,0,0,0,0,26.72,26.37,26.74
$GC,6498,0.52,204.3,3002,470,1799,1662,8.9,9.4,546,6516,0.00,2.12,11.15,0.505,9222,0.000,0.027,3002,1864,1631,1708,1554,0,0,0,0,0,0,26.45,26.41,25.70
$STATE,6553,end climb,SURFACE_DEPTH_REACHED
$STATE,6553,begin surface coast
$FINISH,0.7,1.011238
$STATE,6584,end surface coast,CONTROL_FINISHED_OK
$STATE,6585,begin surface
$SM_CCo,6600,119.82,0.049,0,0,499,482.01
$SM_GC,1.69,7.35,0.10,119.82,0.027,0.070,0.049,125,2054,499,-8.39,-0.99,482.01,0,0,0,0,0,0,26.34,26.44,26.18
$IRIDIUM_FIX,-2957.51,3110.65,080717,214243
$TT8_MAMPS,0.024717,0.26215
$HUMID,54.92
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,21.00
$XPDR_PINGS,0
$24V_AH,24.13,25.890
$10V_AH,10.28,13.068
$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,18.300,47.025,284.100,119.825,0.000,33.142,40.844,191.276,11.500,0.000,12.786,1380.778,3620.908,459.956,1559.512,94.750,0.000,1036.449,0.000,1240.551,0.000,71.680,0.000
$DEVICE_MAMPS,210.375,116.280,961.605,48.960,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,389.972,100.002,437.294,442.176,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343224
$DATA_FILE_SIZE,37066,559
$CAP_FILE_SIZE,73395,0
$CFSIZE,2097086464,2062188544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,080717,234102,-3011.225,3110.631,6,1.0,6,-25.1,1.3,256.4,8,45.0