version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 311
start: 7 9 117 8 1 53
data:
$ID,574
$MISSION,23
$DIVE,311
$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,40
$R_STBD_OVSHOOT,66
$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
$GPS1,090717,075521,-3010.1055,3113.6353,6,1.2,6,-25.1,0.6,47.9,6,32.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-76.7
$GPS2,090717,080107,-3010.0491,3113.6042,5,1.2,5,-25.1,0.0,0.0,6,28.6
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,TGT1
$TGT_LATLONG,-3011.272,3115.201
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,156.6,3415,-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,-175.2,125,1973,528,445,0.0,0.0,0,104,0.00,0.00,-85.80,0.000,16386,0.000,0.000,125,1973,2938,2951,2926,0,0,0,0,0,0,26.22,28.83,26.22
$GC,106,-0.48,-175.2,125,1973,2953,2926,4.0,-6.0,11,132,9.65,2.20,-4.28,0.000,18948,0.213,0.038,2671,524,3182,3216,3149,0,0,0,0,0,0,25.59,24.62,25.75
$GC,182,-0.48,-175.2,2670,524,3220,3149,31.8,-21.3,22,191,0.00,2.15,0.00,0.000,1030,0.000,0.027,2662,1915,3184,3221,3148,0,0,0,0,0,0,26.06,26.03,26.08
$GC,325,-0.48,-175.2,2662,1916,3223,3147,63.6,-22.1,47,332,0.00,2.12,0.00,0.000,260,0.000,0.030,2651,3353,3185,3224,3146,0,0,0,0,0,0,26.42,26.10,26.43
$GC,412,-0.48,-175.2,2651,3353,3226,3144,78.7,-13.5,63,419,0.00,2.10,0.00,0.000,1030,0.000,0.024,2651,1936,3184,3226,3143,0,0,0,0,0,0,26.23,26.17,26.25
$GC,726,-0.48,-175.2,2651,1935,3229,3143,137.3,-16.6,104,730,0.00,2.08,0.00,0.000,516,0.000,0.029,2651,527,3185,3228,3143,0,0,0,0,0,0,26.57,26.24,26.58
$GC,766,-0.48,-175.2,2651,527,3229,3143,143.4,-16.6,107,774,0.10,2.17,0.00,0.000,3078,0.154,0.026,2674,1953,3185,3229,3142,0,0,0,0,0,0,26.05,26.27,26.14
$GC,1074,-0.48,-175.2,2673,1953,3232,3143,186.7,-12.8,138,1078,0.00,2.05,0.00,0.000,260,0.000,0.031,2664,3355,3187,3232,3143,0,0,0,0,0,0,26.63,26.32,26.65
$GC,1150,-0.48,-175.2,2664,3356,3232,3142,194.9,-9.9,145,1159,0.00,2.08,0.00,0.000,1030,0.000,0.022,2664,1933,3187,3232,3142,0,0,0,0,0,0,26.41,26.35,26.44
$GC,1460,-0.48,-175.2,2664,1933,3232,3142,239.4,-14.9,163,1466,0.00,2.08,0.00,0.000,260,0.000,0.030,2654,3349,3187,3232,3142,0,0,0,0,0,0,26.67,26.36,26.70
$GC,1560,-0.48,-175.2,2653,3349,3233,3141,250.7,-10.6,168,1566,0.00,2.05,0.00,0.000,1030,0.000,0.023,2654,1941,3187,3232,3142,0,0,0,0,0,0,26.46,26.39,26.48
$GC,2381,-0.48,-175.2,2654,1937,3232,3137,375.2,-15.5,209,2386,0.00,2.08,0.00,0.000,516,0.000,0.030,2654,533,3184,3232,3137,0,0,0,0,0,0,26.73,26.39,26.74
$GC,2548,-0.48,-175.2,2654,532,3231,3136,393.8,-11.0,217,2553,0.10,2.10,0.00,0.000,3078,0.171,0.027,2676,1947,3184,3232,3136,0,0,0,0,0,0,26.18,26.42,26.34
$GC,3357,-0.48,-175.2,2675,1947,3230,3130,491.6,-12.4,257,3362,0.00,2.08,0.00,0.000,516,0.000,0.030,2676,545,3179,3229,3130,0,0,0,0,0,0,26.73,26.38,26.74
$GC,3403,-0.48,-175.2,2675,544,3229,3130,496.1,-12.0,259,3407,0.00,2.08,0.00,0.000,1030,0.000,0.027,2668,1937,3179,3229,3130,0,0,0,0,0,0,26.50,26.42,26.52
$STATE,3434,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3435,begin apogee
$GC,3439,0.00,0.0,2667,1802,3229,3130,500.3,-10.7,261,3577,0.52,0.10,133.52,0.939,10246,0.124,0.076,2834,1928,2465,2523,2407,0,0,0,0,0,0,26.16,24.88,24.31
$STATE,3578,end apogee,CONTROL_FINISHED_OK
$STATE,3578,begin climb
$GC,3580,0.48,175.2,2833,1932,2522,2407,506.4,0.0,268,3727,0.40,2.17,138.23,0.931,10500,0.038,0.028,3023,3280,1748,1820,1677,0,0,0,0,0,0,25.06,24.72,24.14
$GC,3898,0.48,175.2,3022,3280,1814,1672,459.5,19.3,284,3903,0.15,2.15,0.00,0.000,5126,0.206,0.028,2992,1872,1742,1814,1671,0,0,0,0,0,0,25.41,25.66,25.63
$GC,4710,0.48,175.2,2992,1872,1810,1664,302.1,18.5,325,4716,0.00,2.15,0.00,0.000,516,0.000,0.036,3002,460,1737,1810,1664,0,0,0,0,0,0,26.53,26.19,26.54
$GC,4790,0.48,175.2,3002,459,1802,1664,286.6,19.3,329,4794,0.00,2.15,0.00,0.000,1030,0.000,0.027,3002,1871,1733,1802,1664,0,0,0,0,0,0,26.32,26.25,26.35
$GC,5601,0.48,175.2,3001,1876,1804,1662,131.7,16.1,387,5605,0.00,2.08,0.00,0.000,260,0.000,0.030,3002,3283,1733,1804,1662,0,0,0,0,0,0,26.67,26.35,26.68
$GC,5777,0.48,175.2,3001,3283,1804,1662,105.3,14.0,404,5781,0.00,2.10,0.00,0.000,1030,0.000,0.028,3012,1866,1733,1804,1662,0,0,0,0,0,0,26.44,26.36,26.46
$GC,6096,0.48,175.2,3011,1867,1804,1660,61.4,13.0,460,6103,0.00,2.15,0.00,0.000,516,0.000,0.034,3024,469,1731,1802,1660,0,0,0,0,0,0,26.70,26.34,26.71
$GC,6296,0.54,219.7,3022,469,1796,1660,39.7,8.8,497,6337,0.00,2.15,32.88,0.646,9222,0.000,0.027,3022,1880,1567,1649,1486,0,0,0,0,0,0,26.46,26.40,25.41
$GC,6479,0.54,219.7,3023,1880,1646,1482,19.3,11.2,526,6488,0.00,2.10,0.00,0.000,260,0.000,0.029,3023,3275,1564,1646,1483,0,0,0,0,0,0,26.40,26.11,26.41
$GC,6550,0.54,219.7,3022,3274,1644,1483,11.1,11.8,537,6559,0.00,2.12,0.00,0.000,1030,0.000,0.027,3033,1878,1564,1645,1483,0,0,0,0,0,0,26.18,26.15,26.21
$GC,6608,0.54,219.7,3033,1877,1644,1483,3.9,13.3,546,6617,0.00,2.17,0.00,0.000,516,0.000,0.034,3044,467,1561,1641,1482,0,0,0,0,0,0,26.46,26.15,26.48
$STATE,6624,end climb,SURFACE_DEPTH_REACHED
$STATE,6624,begin surface coast
$FINISH,0.7,1.024789
$STATE,6631,end surface coast,CONTROL_FINISHED_OK
$STATE,6631,begin surface
$SM_CCo,6649,114.20,0.047,0,0,498,482.01
$SM_GC,1.64,7.62,2.25,114.20,0.032,0.018,0.047,125,1972,498,-8.43,-1.19,482.01,0,0,0,0,0,0,26.17,26.21,26.08
$IRIDIUM_FIX,-2957.51,3114.07,090717,075632
$TT8_MAMPS,0.025466,0.26215
$HUMID,56.26
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,19.40
$XPDR_PINGS,0
$24V_AH,24.14,26.380
$10V_AH,10.27,13.336
$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,18.550,55.325,304.625,114.200,0.000,30.576,15.754,202.879,11.500,0.000,12.757,1369.388,3642.551,475.351,1558.075,94.688,0.000,1086.924,0.000,1252.857,0.000,71.678,0.000
$DEVICE_MAMPS,212.670,86.445,939.420,47.430,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,379.903,86.866,381.558,386.671,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343212
$DATA_FILE_SIZE,37014,549
$CAP_FILE_SIZE,76526,0
$CFSIZE,2097086464,2061697024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,090717,095548,-3009.570,3114.149,38,1.0,38,-25.1,0.0,0.0,9,8.8