version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 308
start: 7 9 117 1 52 50
data:
$ID,574
$MISSION,23
$DIVE,308
$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,97
$R_STBD_OVSHOOT,54
$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
$GPS1,090717,013754,-3011.0850,3111.6389,40,0.9,40,-25.1,0.6,223.2,10,9.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-77.2
$GPS2,090717,015203,-3011.1165,3111.6050,6,1.0,6,-25.1,0.5,47.4,10,48.7
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,TGT1
$TGT_LATLONG,-3011.272,3115.201
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,118.0,5764,-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,-175.2,127,1889,527,452,0.0,0.0,0,104,0.00,0.00,-85.93,0.000,16386,0.000,0.000,127,1890,2906,2918,2895,0,0,0,0,0,0,26.21,28.83,26.22
$GC,106,-0.48,-175.2,127,1890,2918,2895,3.6,-5.0,11,132,9.65,1.98,-5.00,0.000,18948,0.212,0.037,2671,580,3182,3214,3150,0,0,0,0,0,0,25.54,24.56,25.72
$GC,233,-0.48,-175.2,2670,579,3219,3150,38.9,-17.0,31,242,0.00,2.08,0.00,0.000,1030,0.000,0.028,2663,1928,3184,3222,3147,0,0,0,0,0,0,26.10,26.06,26.10
$GC,374,-0.48,-175.2,2662,1929,3224,3145,74.8,-23.9,56,382,0.00,2.15,0.00,0.000,260,0.000,0.032,2652,3350,3184,3224,3145,0,0,0,0,0,0,26.45,26.13,26.46
$GC,490,-0.48,-175.2,2651,3350,3226,3142,93.2,-12.7,77,496,0.00,2.00,0.00,0.000,1030,0.000,0.024,2652,1986,3184,3227,3141,0,0,0,0,0,0,26.27,26.20,26.29
$GC,804,-0.48,-175.2,2651,1985,3228,3140,153.1,-17.8,112,808,0.00,2.12,0.00,0.000,516,0.000,0.028,2651,537,3184,3228,3140,0,0,0,0,0,0,26.59,26.27,26.60
$GC,840,-0.48,-175.2,2651,536,3228,3140,159.0,-16.5,115,845,0.12,2.10,0.00,0.000,3078,0.148,0.028,2681,1942,3184,3228,3141,0,0,0,0,0,0,26.07,26.29,26.22
$GC,1145,-0.48,-175.2,2681,1943,3229,3141,197.9,-11.9,145,1149,0.00,2.08,0.00,0.000,260,0.000,0.031,2672,3360,3184,3229,3140,0,0,0,0,0,0,26.65,26.32,26.67
$GC,1257,-0.48,-175.2,2672,3360,3229,3140,207.2,-8.6,151,1264,0.00,2.05,0.00,0.000,1030,0.000,0.022,2672,1939,3184,3229,3139,0,0,0,0,0,0,26.44,26.37,26.46
$GC,2064,-0.48,-175.2,2671,1934,3229,3135,311.5,-14.3,192,2070,0.00,2.05,0.00,0.000,516,0.000,0.028,2672,539,3181,3229,3134,0,0,0,0,0,0,26.70,26.38,26.71
$GC,2231,-0.48,-175.2,2672,538,3230,3134,330.7,-11.3,200,2236,0.00,2.08,0.00,0.000,1030,0.000,0.027,2662,1944,3182,3230,3134,0,0,0,0,0,0,26.49,26.42,26.51
$GC,3045,-0.48,-175.2,2661,1946,3230,3125,446.3,-13.4,241,3050,0.00,2.08,0.00,0.000,516,0.000,0.030,2662,533,3177,3229,3126,0,0,0,0,0,0,26.75,26.39,26.77
$GC,3117,-0.48,-175.2,2661,533,3229,3126,453.7,-12.7,244,3124,0.00,2.10,0.00,0.000,1030,0.000,0.028,2653,1942,3177,3229,3126,0,0,0,0,0,0,26.50,26.42,26.52
$STATE,3444,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3444,begin apogee
$GC,3448,0.00,0.0,2652,1816,3227,3122,500.2,-14.6,261,3585,0.57,0.05,132.48,0.938,10246,0.122,0.117,2833,1903,2465,2525,2405,0,0,0,0,0,0,26.13,24.89,24.32
$STATE,3586,end apogee,CONTROL_FINISHED_OK
$STATE,3586,begin climb
$GC,3588,0.48,175.2,2832,1902,2524,2405,504.9,0.0,268,3738,0.40,2.17,138.27,0.934,10500,0.115,0.028,3011,3250,1748,1825,1672,0,0,0,0,0,0,24.98,24.75,24.16
$GC,3793,0.48,175.2,3011,3249,1819,1671,482.1,19.1,278,3798,0.10,2.12,0.00,0.000,5126,0.185,0.028,2995,1875,1745,1819,1671,0,0,0,0,0,0,25.19,25.35,25.35
$GC,4600,0.48,175.2,2994,1874,1815,1661,327.9,19.4,318,4604,0.00,2.15,0.00,0.000,516,0.000,0.035,3005,465,1737,1815,1660,0,0,0,0,0,0,26.51,26.17,26.53
$GC,4696,0.48,175.2,3004,464,1806,1661,310.1,18.2,323,4700,0.00,2.08,0.00,0.000,1030,0.000,0.027,3005,1838,1733,1806,1661,0,0,0,0,0,0,26.32,26.25,26.34
$GC,5502,0.48,175.2,3004,1843,1807,1659,156.5,17.5,374,5506,0.00,2.15,0.00,0.000,260,0.000,0.031,3005,3291,1733,1807,1659,0,0,0,0,0,0,26.67,26.34,26.68
$GC,5621,0.48,175.2,3004,3291,1808,1659,137.2,15.7,385,5628,0.00,2.12,0.00,0.000,1030,0.000,0.031,3015,1864,1732,1807,1658,0,0,0,0,0,0,26.43,26.34,26.46
$GC,5933,0.48,175.2,3014,1864,1807,1658,85.4,16.1,424,5940,0.00,2.15,0.00,0.000,516,0.000,0.035,3026,469,1732,1806,1658,0,0,0,0,0,0,26.70,26.34,26.71
$GC,6059,0.48,175.2,3025,467,1800,1658,68.1,11.7,447,6066,0.12,2.12,0.00,0.000,5126,0.155,0.026,2989,1884,1730,1802,1658,0,0,0,0,0,0,26.13,26.39,26.33
$GC,6382,0.57,246.3,2988,1885,1805,1658,41.5,8.2,508,6441,0.00,0.00,52.78,0.651,8198,0.000,0.000,2989,1888,1460,1557,1364,0,0,0,0,0,0,26.72,25.54,25.22
$GC,6583,0.57,246.3,2988,1889,1552,1362,22.1,10.1,540,6592,0.00,2.22,0.00,0.000,516,0.000,0.033,2998,460,1455,1549,1362,0,0,0,0,0,0,26.27,25.96,26.28
$GC,6619,0.57,246.3,2998,461,1543,1362,18.1,11.4,545,6628,0.00,2.17,0.00,0.000,1030,0.000,0.024,2998,1870,1453,1545,1362,0,0,0,0,0,0,26.06,26.03,26.08
$GC,6676,0.57,246.3,2998,1873,1547,1362,11.6,11.7,554,6685,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,1874,1454,1547,1362,0,0,0,0,0,0,26.34,26.36,26.36
$GC,6734,0.57,246.3,2998,1874,1546,1362,4.1,12.4,563,6742,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,1874,1454,1546,1362,0,0,0,0,0,0,26.39,26.41,26.40
$STATE,6749,end climb,SURFACE_DEPTH_REACHED
$STATE,6749,begin surface coast
$FINISH,0.6,1.013574
$STATE,6780,end surface coast,CONTROL_FINISHED_OK
$STATE,6781,begin surface
$SM_CCo,6796,102.50,0.046,0,0,499,482.01
$SM_GC,1.40,7.47,0.08,102.50,0.036,0.094,0.046,125,1982,499,-8.42,-1.30,482.01,0,0,0,0,0,0,26.10,26.22,26.05
$IRIDIUM_FIX,-2957.51,3114.07,090717,014726
$TT8_MAMPS,0.024717,0.289114
$HUMID,55.71
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,20.50
$XPDR_PINGS,0
$24V_AH,24.16,26.091
$10V_AH,10.26,13.177
$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,18.450,46.525,323.525,102.500,0.000,114.577,112.001,333.794,11.500,0.000,12.756,1392.621,3851.235,481.238,1951.671,103.601,0.000,1093.588,0.000,1270.138,0.000,70.873,0.000
$DEVICE_MAMPS,211.905,117.045,937.890,45.900,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,395.114,95.963,427.086,433.104,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343176
$DATA_FILE_SIZE,37092,570
$CAP_FILE_SIZE,81234,0
$CFSIZE,2097086464,2061991936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,090717,034832,-3010.883,3112.425,9,1.0,9,-25.1,0.6,220.9,8,356.7