version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 312
start: 7 9 117 10 2 19
data:
$ID,574
$MISSION,23
$DIVE,312
$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,45
$R_STBD_OVSHOOT,70
$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
$GPS1,090717,095548,-3009.5696,3114.1487,38,1.0,38,-25.1,0.0,0.0,9,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-76.8
$GPS2,090717,100133,-3009.5103,3114.1355,5,0.9,5,-25.1,0.6,297.5,10,15.4
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,TGT1
$TGT_LATLONG,-3011.272,3115.201
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,177.5,3682,-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,-175.2,126,1977,526,447,0.0,0.0,0,104,0.00,0.00,-85.85,0.000,16386,0.000,0.000,125,1978,2908,2921,2896,0,0,0,0,0,0,26.24,28.83,26.25
$GC,106,-0.48,-175.2,125,1978,2922,2896,3.7,-5.1,11,132,9.70,2.20,-4.82,0.000,18948,0.218,0.040,2671,530,3182,3215,3149,0,0,0,0,0,0,25.60,24.62,25.77
$GC,217,-0.48,-175.2,2670,530,3219,3149,37.5,-14.5,28,226,0.00,2.15,0.00,0.000,1030,0.000,0.029,2662,1915,3184,3220,3149,0,0,0,0,0,0,26.10,26.06,26.12
$GC,357,-0.48,-175.2,2661,1916,3224,3146,69.2,-21.9,53,367,0.00,2.12,0.00,0.000,260,0.000,0.030,2651,3356,3184,3225,3144,0,0,0,0,0,0,26.45,26.13,26.45
$GC,394,-0.48,-175.2,2650,3355,3225,3143,76.8,-18.4,59,401,0.00,2.10,0.00,0.000,1030,0.000,0.026,2651,1942,3184,3226,3143,0,0,0,0,0,0,26.22,26.15,26.25
$GC,713,-0.48,-175.2,2650,1943,3229,3142,139.5,-18.3,101,717,0.00,2.10,0.00,0.000,516,0.000,0.029,2651,529,3185,3228,3142,0,0,0,0,0,0,26.57,26.24,26.58
$GC,764,-0.48,-175.2,2650,527,3229,3142,147.7,-15.9,106,769,0.12,2.12,0.00,0.000,3078,0.171,0.025,2680,1954,3185,3229,3142,0,0,0,0,0,0,26.03,26.28,26.20
$GC,1069,-0.48,-175.2,2678,1954,3231,3142,187.6,-12.1,136,1073,0.00,2.05,0.00,0.000,260,0.000,0.032,2670,3350,3186,3231,3142,0,0,0,0,0,0,26.64,26.32,26.65
$GC,1170,-0.48,-175.2,2669,3350,3232,3141,197.1,-9.3,145,1177,0.00,2.05,0.00,0.000,1030,0.000,0.023,2670,1934,3186,3232,3141,0,0,0,0,0,0,26.42,26.35,26.44
$GC,1477,-0.48,-175.2,2669,1933,3232,3141,237.2,-13.5,162,1481,0.00,2.10,0.00,0.000,260,0.000,0.031,2660,3346,3186,3232,3141,0,0,0,0,0,0,26.69,26.36,26.70
$GC,1578,-0.48,-175.2,2659,3347,3232,3141,248.4,-10.3,167,1582,0.00,2.05,0.00,0.000,1030,0.000,0.023,2660,1941,3186,3232,3141,0,0,0,0,0,0,26.46,26.39,26.48
$GC,2395,-0.48,-175.2,2659,1938,3232,3135,359.2,-11.9,208,2401,0.00,2.08,0.00,0.000,260,0.000,0.031,2650,3350,3183,3232,3135,0,0,0,0,0,0,26.74,26.40,26.74
$GC,2556,-0.48,-175.2,2649,3350,3232,3133,376.5,-8.7,216,2562,0.10,2.08,0.00,0.000,3078,0.175,0.024,2682,1936,3182,3232,3133,0,0,0,0,0,0,26.17,26.42,26.34
$GC,3377,-0.48,-175.2,2682,1935,3232,3127,470.2,-11.8,257,3383,0.00,2.08,0.00,0.000,260,0.000,0.032,2674,3346,3179,3232,3127,0,0,0,0,0,0,26.73,26.40,26.74
$GC,3490,-0.48,-175.2,2673,3346,3230,3127,480.1,-9.4,262,3497,0.00,2.08,0.00,0.000,1030,0.000,0.025,2674,1932,3178,3230,3127,0,0,0,0,0,0,26.51,26.43,26.53
$STATE,3656,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3656,begin apogee
$GC,3661,0.00,0.0,2674,1804,3230,3126,501.9,-13.0,271,3799,0.50,0.08,133.70,0.957,10246,0.130,0.090,2832,1899,2465,2524,2406,0,0,0,0,0,0,26.15,24.86,24.27
$STATE,3800,end apogee,CONTROL_FINISHED_OK
$STATE,3800,begin climb
$GC,3802,0.48,175.2,2831,1899,2523,2406,508.5,0.0,278,3950,0.40,2.35,139.07,0.960,10756,0.042,0.034,3034,478,1749,1823,1675,0,0,0,0,0,0,25.06,24.68,24.10
$GC,4050,0.48,175.2,3034,477,1808,1674,476.3,21.3,290,4058,0.15,2.12,0.00,0.000,5126,0.187,0.027,2994,1847,1740,1807,1674,0,0,0,0,0,0,25.27,25.47,25.46
$GC,4857,0.48,175.2,2994,1851,1807,1668,313.0,20.4,331,4861,0.00,2.15,0.00,0.000,260,0.000,0.031,2994,3288,1737,1807,1667,0,0,0,0,0,0,26.50,26.20,26.51
$GC,4933,0.48,175.2,2994,3288,1806,1668,299.1,18.1,335,4937,0.00,2.12,0.00,0.000,1030,0.000,0.029,3003,1874,1737,1806,1668,0,0,0,0,0,0,26.29,26.21,26.32
$GC,5739,0.48,175.2,3003,1873,1804,1664,141.2,15.3,391,5743,0.00,2.15,0.00,0.000,516,0.000,0.034,3014,456,1734,1804,1664,0,0,0,0,0,0,26.65,26.29,26.67
$GC,5876,0.48,175.2,3014,456,1796,1664,120.8,14.8,404,5880,0.00,2.15,0.00,0.000,1030,0.000,0.028,3015,1873,1730,1796,1664,0,0,0,0,0,0,26.43,26.35,26.46
$GC,6193,0.48,175.2,3014,1877,1800,1664,72.1,13.1,451,6200,0.00,2.15,0.00,0.000,516,0.000,0.033,3024,456,1731,1799,1664,0,0,0,0,0,0,26.68,26.32,26.70
$GC,6232,0.48,175.2,3024,456,1796,1664,65.4,15.3,458,6239,0.10,2.12,0.00,0.000,5126,0.174,0.028,2995,1871,1730,1797,1664,0,0,0,0,0,0,26.13,26.37,26.32
$GC,6566,0.52,210.0,2994,1871,1801,1663,33.6,9.1,519,6599,0.00,2.15,22.67,0.646,8452,0.000,0.032,2995,3285,1606,1686,1527,0,0,0,0,0,0,26.70,26.06,25.51
$GC,6653,0.52,210.0,2994,3285,1684,1527,25.3,10.3,532,6662,0.00,2.17,0.00,0.000,1030,0.000,0.028,3004,1864,1605,1684,1526,0,0,0,0,0,0,26.19,26.16,26.22
$GC,6808,0.53,212.4,3003,1862,1683,1524,9.4,9.9,557,6816,0.00,2.17,0.00,0.000,516,0.000,0.035,3015,456,1602,1681,1524,0,0,0,0,0,0,26.51,26.17,26.53
$GC,6855,0.57,251.0,3015,456,1675,1523,4.9,9.0,564,6880,0.00,2.17,17.23,0.050,9222,0.000,0.025,3015,1882,1440,1532,1348,0,0,0,0,0,0,26.28,26.25,26.17
$STATE,6887,end climb,SURFACE_DEPTH_REACHED
$STATE,6887,begin surface coast
$FINISH,0.6,1.024542
$STATE,6919,end surface coast,CONTROL_FINISHED_OK
$STATE,6919,begin surface
$SM_CCo,6934,101.30,0.047,0,0,499,482.01
$SM_GC,1.71,7.40,0.05,101.30,0.023,0.116,0.047,125,2015,499,-8.42,-1.44,482.01,0,0,0,0,0,0,26.24,26.37,26.12
$IRIDIUM_FIX,-2957.51,3114.07,090717,095701
$TT8_MAMPS,0.025466,0.267393
$HUMID,56.26
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,20.20
$XPDR_PINGS,0
$24V_AH,24.10,26.475
$10V_AH,10.26,13.391
$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,18.475,55.550,312.675,101.300,0.000,31.827,20.980,194.675,11.500,0.000,12.752,1427.356,3799.189,470.764,1616.849,97.452,0.000,1098.027,0.000,1308.961,0.000,70.853,0.000
$DEVICE_MAMPS,218.025,115.515,960.075,47.430,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,394.835,94.715,431.470,432.572,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343184
$DATA_FILE_SIZE,37185,573
$CAP_FILE_SIZE,78978,0
$CFSIZE,2097086464,2061598720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,090717,120017,-3009.081,3114.470,6,1.0,6,-25.1,0.0,0.0,8,18.0