version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 309
start: 7 9 117 3 55 20
data:
$ID,574
$MISSION,23
$DIVE,309
$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,27
$R_STBD_OVSHOOT,84
$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
$GPS1,090717,034832,-3010.8826,3112.4246,9,1.0,9,-25.1,0.6,220.9,8,356.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-78.2
$GPS2,090717,035433,-3010.8540,3112.3428,18,1.0,18,-25.1,0.5,64.4,8,34.6
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,TGT1
$TGT_LATLONG,-3011.272,3115.201
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,124.7,4640,-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,-175.2,125,1950,525,449,0.0,0.0,0,104,0.00,0.00,-86.03,0.000,16386,0.000,0.000,125,1951,2911,2922,2901,0,0,0,0,0,0,26.25,28.83,26.27
$GC,106,-0.48,-175.2,125,1950,2922,2901,3.7,-4.8,11,132,9.68,2.17,-4.85,0.000,18948,0.215,0.035,2672,502,3184,3219,3150,0,0,0,0,0,0,25.61,24.64,25.79
$GC,187,-0.48,-175.2,2672,502,3222,3150,29.2,-17.4,23,196,0.00,2.15,0.00,0.000,1030,0.000,0.029,2663,1890,3186,3223,3149,0,0,0,0,0,0,26.08,26.06,26.11
$GC,330,-0.48,-175.2,2663,1891,3225,3147,64.4,-24.3,48,339,0.00,2.20,0.00,0.000,260,0.000,0.030,2652,3350,3185,3225,3146,0,0,0,0,0,0,26.44,26.13,26.45
$GC,446,-0.48,-175.2,2652,3350,3227,3144,84.0,-13.7,69,453,0.00,2.12,0.00,0.000,1030,0.000,0.026,2652,1922,3185,3228,3143,0,0,0,0,0,0,26.27,26.20,26.29
$GC,763,-0.48,-175.2,2652,1921,3231,3142,147.3,-19.5,108,764,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,1921,3186,3231,3142,0,0,0,0,0,0,26.59,26.60,26.60
$GC,1064,-0.48,-175.2,2652,1919,3233,3143,201.3,-16.8,138,1070,0.00,2.10,0.00,0.000,260,0.000,0.030,2642,3350,3187,3232,3142,0,0,0,0,0,0,26.62,26.33,26.63
$GC,1131,-0.48,-175.2,2641,3350,3233,3142,209.5,-14.2,141,1136,0.12,2.05,0.00,0.000,3078,0.138,0.023,2683,1932,3187,3233,3142,0,0,0,0,0,0,26.15,26.36,26.29
$GC,1939,-0.48,-175.2,2683,1928,3233,3140,308.6,-11.5,181,1945,0.00,2.05,0.00,0.000,516,0.000,0.029,2683,540,3186,3233,3140,0,0,0,0,0,0,26.72,26.38,26.74
$GC,2099,-0.48,-175.2,2683,539,3233,3140,324.7,-9.7,189,2104,0.00,2.10,0.00,0.000,1030,0.000,0.028,2675,1948,3186,3233,3140,0,0,0,0,0,0,26.49,26.41,26.51
$GC,2918,-0.48,-175.2,2674,1950,3233,3131,425.7,-12.9,230,2924,0.00,2.08,0.00,0.000,260,0.000,0.034,2664,3353,3181,3233,3130,0,0,0,0,0,0,26.75,26.40,26.77
$GC,2961,-0.48,-175.2,2663,3353,3233,3131,430.1,-11.8,232,2965,0.00,2.10,0.00,0.000,1030,0.000,0.024,2664,1950,3181,3232,3131,0,0,0,0,0,0,26.47,26.44,26.50
$STATE,3477,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3477,begin apogee
$GC,3482,0.00,0.0,2663,1796,3232,3129,501.9,-13.8,258,3620,0.52,0.10,133.95,0.959,10246,0.133,0.075,2828,1918,2465,2524,2407,0,0,0,0,0,0,26.15,24.88,24.30
$STATE,3621,end apogee,CONTROL_FINISHED_OK
$STATE,3622,begin climb
$GC,3623,0.48,175.2,2828,1920,2524,2406,507.4,0.0,265,3773,0.40,2.10,138.50,0.944,10500,0.037,0.028,3026,3229,1748,1821,1676,0,0,0,0,0,0,25.10,24.72,24.15
$GC,3900,0.48,175.2,3025,3229,1815,1672,467.3,20.2,279,3905,0.15,2.08,0.00,0.000,5126,0.201,0.027,2996,1875,1743,1815,1672,0,0,0,0,0,0,25.34,25.58,25.53
$GC,4717,0.48,175.2,2996,1874,1813,1663,305.5,21.3,320,4721,0.00,2.15,0.00,0.000,516,0.000,0.036,3005,466,1738,1813,1663,0,0,0,0,0,0,26.53,26.19,26.54
$GC,4854,0.48,175.2,3005,465,1802,1664,279.6,17.3,327,4859,0.00,2.05,0.00,0.000,1030,0.000,0.027,3006,1830,1733,1802,1664,0,0,0,0,0,0,26.34,26.27,26.36
$GC,5663,0.48,175.2,3005,1834,1804,1662,120.5,19.0,388,5667,0.00,2.15,0.00,0.000,260,0.000,0.031,3006,3284,1732,1803,1662,0,0,0,0,0,0,26.67,26.35,26.68
$GC,5729,0.48,175.2,3005,3283,1804,1662,110.5,14.6,394,5733,0.00,2.10,0.00,0.000,1030,0.000,0.028,3016,1870,1733,1804,1662,0,0,0,0,0,0,26.44,26.36,26.46
$GC,6046,0.48,175.2,3015,1869,1804,1661,63.6,14.7,448,6053,0.00,2.15,0.00,0.000,516,0.000,0.034,3027,470,1731,1802,1661,0,0,0,0,0,0,26.70,26.34,26.71
$GC,6166,0.48,175.2,3026,469,1796,1661,48.9,10.5,470,6173,0.12,2.10,0.00,0.000,5126,0.164,0.028,2989,1871,1729,1798,1661,0,0,0,0,0,0,26.13,26.39,26.33
$GC,6515,0.55,232.8,2988,1871,1803,1661,22.3,8.5,531,6547,0.00,0.00,24.83,0.591,8198,0.000,0.000,2989,1872,1515,1604,1426,0,0,0,0,0,0,26.72,25.90,25.56
$GC,6692,0.55,232.8,2988,1874,1600,1423,5.4,10.4,559,6700,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,1874,1511,1600,1423,0,0,0,0,0,0,26.51,26.52,26.51
$STATE,6713,end climb,SURFACE_DEPTH_REACHED
$STATE,6713,begin surface coast
$FINISH,0.7,1.004849
$STATE,6744,end surface coast,CONTROL_FINISHED_OK
$STATE,6745,begin surface
$SM_CCo,6760,108.72,0.047,0,0,498,482.01
$SM_GC,1.65,7.32,0.08,108.72,0.024,0.086,0.047,126,2046,498,-8.38,-1.27,482.01,0,0,0,0,0,0,26.22,26.35,26.13
$IRIDIUM_FIX,-3002.49,3111.94,090717,034944
$TT8_MAMPS,0.025466,0.265895
$HUMID,55.86
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,20.60
$XPDR_PINGS,0
$24V_AH,24.15,26.185
$10V_AH,10.29,13.232
$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,18.325,38.325,297.275,108.725,0.000,28.107,17.001,204.509,11.500,0.000,25.214,1392.706,3705.062,453.237,1616.876,92.615,0.000,1043.253,0.000,1298.144,0.000,70.885,0.000
$DEVICE_MAMPS,214.965,133.110,958.545,46.665,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,397.042,105.091,481.529,479.966,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343124
$DATA_FILE_SIZE,37044,567
$CAP_FILE_SIZE,72489,0
$CFSIZE,2097086464,2061893632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,090717,055100,-3010.646,3113.019,36,0.7,36,-25.1,0.5,24.3,11,6.1