version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 313
start: 7 9 117 12 7 13
data:
$ID,574
$MISSION,23
$DIVE,313
$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,29
$R_STBD_OVSHOOT,46
$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
$GPS1,090717,120017,-3009.0806,3114.4705,6,1.0,6,-25.1,0.0,0.0,8,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-78.9
$GPS2,090717,120625,-3009.0015,3114.4685,6,1.0,6,-25.1,0.0,0.0,8,57.5
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,TGT1
$TGT_LATLONG,-3011.272,3115.201
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,189.5,4365,-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,-175.2,125,1948,525,448,0.0,0.0,0,104,0.00,0.00,-86.03,0.000,16386,0.000,0.000,125,1948,2923,2938,2909,0,0,0,0,0,0,26.24,28.83,26.25
$GC,106,-0.48,-175.2,125,1948,2938,2910,4.0,-6.2,11,132,9.75,2.17,-4.53,0.000,18948,0.220,0.041,2672,519,3183,3216,3150,0,0,0,0,0,0,25.48,24.61,25.70
$GC,183,-0.48,-175.2,2672,518,3220,3150,30.5,-16.4,22,191,0.00,2.20,0.00,0.000,1030,0.000,0.029,2663,1935,3185,3221,3150,0,0,0,0,0,0,26.07,26.03,26.10
$GC,329,-0.48,-175.2,2662,1937,3224,3147,64.9,-26.0,47,335,0.00,2.10,0.00,0.000,260,0.000,0.031,2652,3354,3185,3224,3147,0,0,0,0,0,0,26.43,26.11,26.44
$GC,426,-0.48,-175.2,2651,3354,3226,3145,81.3,-15.4,65,433,0.00,2.12,0.00,0.000,1030,0.000,0.024,2652,1919,3185,3226,3145,0,0,0,0,0,0,26.25,26.17,26.26
$GC,740,-0.48,-175.2,2651,1917,3230,3144,143.8,-21.7,105,749,0.00,2.12,0.00,0.000,260,0.000,0.030,2642,3360,3186,3230,3143,0,0,0,0,0,0,26.57,26.26,26.58
$GC,924,-0.48,-175.2,2641,3360,3232,3144,169.7,-11.9,123,933,0.12,2.10,0.00,0.000,3078,0.218,0.024,2679,1927,3188,3232,3144,0,0,0,0,0,0,25.91,26.32,26.19
$GC,1231,-0.48,-175.2,2679,1926,3233,3143,207.8,-12.3,151,1235,0.00,2.10,0.00,0.000,260,0.000,0.031,2671,3349,3187,3232,3143,0,0,0,0,0,0,26.66,26.34,26.67
$GC,1252,-0.48,-175.2,2670,3353,3233,3143,210.4,-12.2,152,1258,0.00,2.08,0.00,0.000,1030,0.000,0.021,2671,1928,3188,3233,3143,0,0,0,0,0,0,26.43,26.36,26.45
$GC,2074,-0.48,-175.2,2670,1926,3233,3140,320.9,-12.5,193,2079,0.00,2.03,0.00,0.000,516,0.000,0.030,2671,542,3186,3232,3140,0,0,0,0,0,0,26.70,26.38,26.71
$GC,2213,-0.48,-175.2,2670,541,3232,3140,336.4,-10.4,200,2219,0.00,2.10,0.00,0.000,1030,0.000,0.029,2661,1946,3186,3232,3140,0,0,0,0,0,0,26.48,26.41,26.51
$GC,3033,-0.48,-175.2,2660,1950,3233,3130,455.6,-14.2,241,3039,0.00,2.10,0.00,0.000,516,0.000,0.029,2661,534,3181,3232,3130,0,0,0,0,0,0,26.75,26.39,26.76
$GC,3085,-0.48,-175.2,2661,533,3233,3130,460.8,-13.7,243,3092,0.00,2.10,0.00,0.000,1030,0.000,0.028,2651,1944,3181,3232,3130,0,0,0,0,0,0,26.49,26.41,26.52
$STATE,3351,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3351,begin apogee
$GC,3356,0.00,0.0,2651,1815,3231,3130,500.2,-14.7,257,3495,0.60,0.08,134.05,0.957,10246,0.218,0.090,2829,1911,2465,2523,2407,0,0,0,0,0,0,25.84,24.86,24.27
$STATE,3496,end apogee,CONTROL_FINISHED_OK
$STATE,3496,begin climb
$GC,3498,0.48,175.2,2829,1911,2522,2407,505.9,0.0,264,3646,0.43,2.38,138.77,0.956,10756,0.119,0.033,3005,477,1748,1823,1674,0,0,0,0,0,0,24.94,24.69,24.11
$GC,3702,0.48,175.2,3004,477,1809,1673,483.7,19.1,274,3706,0.00,2.12,0.00,0.000,1030,0.000,0.027,3005,1832,1741,1809,1673,0,0,0,0,0,0,25.37,25.30,25.39
$GC,4508,0.48,175.2,3004,1836,1807,1669,315.5,20.0,314,4513,0.00,2.17,0.00,0.000,260,0.000,0.031,3005,3290,1738,1807,1669,0,0,0,0,0,0,26.48,26.17,26.50
$GC,4573,0.48,175.2,3004,3290,1807,1669,305.0,19.2,317,4577,0.00,2.12,0.00,0.000,1030,0.000,0.029,3015,1871,1738,1807,1669,0,0,0,0,0,0,26.27,26.20,26.31
$GC,5380,0.48,175.2,3015,1871,1803,1667,139.2,16.9,373,5384,0.00,2.12,0.00,0.000,516,0.000,0.034,3026,465,1735,1804,1667,0,0,0,0,0,0,26.65,26.29,26.66
$GC,5499,0.48,175.2,3025,465,1797,1667,120.6,15.4,384,5507,0.12,2.12,0.00,0.000,5126,0.252,0.027,2992,1888,1733,1799,1667,0,0,0,0,0,0,25.89,26.35,26.20
$GC,5813,0.48,175.2,2991,1892,1801,1666,77.9,11.1,431,5820,0.00,2.05,0.00,0.000,260,0.000,0.031,2992,3279,1734,1802,1666,0,0,0,0,0,0,26.68,26.36,26.70
$GC,5828,0.48,175.2,2991,3279,1802,1666,76.3,11.5,433,5835,0.00,2.10,0.00,0.000,1030,0.000,0.027,3001,1859,1734,1802,1666,0,0,0,0,0,0,26.44,26.36,26.47
$GC,6154,0.48,175.2,3001,1859,1802,1666,42.2,10.1,494,6161,0.00,2.10,0.00,0.000,516,0.000,0.034,3012,463,1733,1802,1664,0,0,0,0,0,0,26.70,26.34,26.71
$GC,6266,0.50,191.4,3011,463,1797,1665,31.4,9.6,513,6283,0.00,2.15,5.90,0.522,9222,0.000,0.028,3012,1867,1685,1757,1614,0,0,0,0,0,0,26.42,26.41,25.63
$GC,6427,0.50,191.4,3011,1867,1756,1613,14.0,11.0,539,6435,0.00,2.10,0.00,0.000,260,0.000,0.031,3012,3274,1684,1756,1613,0,0,0,0,0,0,26.66,26.35,26.67
$GC,6503,0.50,191.4,3011,3274,1756,1613,6.2,10.3,551,6512,0.00,2.12,0.00,0.000,1030,0.000,0.027,3022,1866,1684,1757,1612,0,0,0,0,0,0,26.40,26.37,26.43
$STATE,6530,end climb,SURFACE_DEPTH_REACHED
$STATE,6530,begin surface coast
$FINISH,0.7,1.024661
$STATE,6562,end surface coast,CONTROL_FINISHED_OK
$STATE,6562,begin surface
$SM_CCo,6578,125.97,0.049,0,0,498,482.01
$SM_GC,1.62,7.50,0.10,125.97,0.035,0.068,0.049,125,2053,498,-8.41,-1.10,482.01,0,0,0,0,0,0,26.34,26.48,26.20
$IRIDIUM_FIX,-2957.51,3116.20,090717,120130
$TT8_MAMPS,0.025466,0.263648
$HUMID,55.47
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,20.10
$XPDR_PINGS,0
$24V_AH,24.11,26.568
$10V_AH,10.27,13.443
$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,18.525,51.350,278.725,125.975,0.000,33.784,21.217,214.974,11.500,0.000,12.874,1385.503,3569.896,481.119,1569.798,97.780,0.000,1063.168,0.000,1244.808,0.000,71.718,0.000
$DEVICE_MAMPS,252.450,95.625,957.015,48.960,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,389.177,98.095,424.784,430.185,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343148
$DATA_FILE_SIZE,37066,560
$CAP_FILE_SIZE,74925,0
$CFSIZE,2097086464,2061500416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,090717,140000,-3008.417,3114.649,29,1.0,29,-25.1,0.8,18.0,9,10.1