version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 314
start: 7 9 117 14 6 34
data:
$ID,574
$MISSION,23
$DIVE,314
$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,24
$R_STBD_OVSHOOT,43
$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
$GPS1,090717,140000,-3008.4175,3114.6492,29,1.0,29,-25.1,0.8,18.0,9,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-76.9
$GPS2,090717,140547,-3008.3418,3114.6521,5,1.2,5,-25.1,2.3,306.6,8,25.3
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,TGT1
$TGT_LATLONG,-3011.272,3115.201
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,195.9,5497,-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,-175.2,125,1952,524,449,0.0,0.0,0,104,0.00,0.00,-86.07,0.000,16386,0.000,0.000,124,1953,2935,2948,2922,0,0,0,0,0,0,26.28,28.83,26.29
$GC,106,-0.48,-175.2,125,1952,2948,2922,4.0,-5.8,11,132,9.77,2.20,-4.30,0.000,18948,0.217,0.041,2672,508,3182,3215,3150,0,0,0,0,0,0,25.60,24.60,25.78
$GC,194,-0.48,-175.2,2671,508,3219,3150,32.2,-15.2,24,202,0.00,2.22,0.00,0.000,1030,0.000,0.031,2662,1938,3185,3222,3148,0,0,0,0,0,0,26.10,26.06,26.13
$GC,337,-0.48,-175.2,2662,1941,3224,3146,64.2,-24.9,49,344,0.00,2.12,0.00,0.000,260,0.000,0.032,2651,3356,3185,3225,3146,0,0,0,0,0,0,26.45,26.13,26.46
$GC,416,-0.48,-175.2,2651,3356,3226,3143,78.4,-14.4,63,423,0.00,2.15,0.00,0.000,1030,0.000,0.025,2651,1912,3185,3227,3143,0,0,0,0,0,0,26.25,26.18,26.27
$GC,737,-0.48,-175.2,2651,1909,3229,3142,141.5,-20.1,104,745,0.00,2.12,0.00,0.000,772,0.000,0.031,2641,3353,3185,3229,3142,0,0,0,0,0,0,26.55,26.26,26.57
$GC,750,-0.48,-175.2,2641,3353,3229,3142,143.2,-20.3,105,758,0.10,2.10,0.00,0.000,3078,0.161,0.020,2673,1924,3186,3230,3142,0,0,0,0,0,0,26.03,26.30,26.12
$GC,1058,-0.48,-175.2,2673,1924,3232,3142,190.6,-13.1,136,1067,0.00,2.03,0.00,0.000,516,0.000,0.028,2674,545,3187,3232,3142,0,0,0,0,0,0,26.61,26.31,26.63
$GC,1153,-0.48,-175.2,2673,545,3233,3142,200.6,-10.0,145,1160,0.00,2.08,0.00,0.000,1030,0.000,0.026,2665,1949,3187,3232,3142,0,0,0,0,0,0,26.41,26.34,26.44
$GC,1959,-0.48,-175.2,2664,1951,3232,3140,315.5,-15.7,186,1963,0.00,2.08,0.00,0.000,516,0.000,0.028,2665,546,3186,3232,3140,0,0,0,0,0,0,26.72,26.37,26.73
$GC,2017,-0.48,-175.2,2664,545,3232,3140,322.9,-13.8,189,2022,0.00,2.10,0.00,0.000,1030,0.000,0.028,2655,1931,3186,3232,3140,0,0,0,0,0,0,26.44,26.40,26.46
$GC,2836,-0.48,-175.2,2654,1932,3232,3131,447.8,-15.3,230,2841,0.00,2.05,0.00,0.000,516,0.000,0.028,2654,547,3181,3232,3131,0,0,0,0,0,0,26.75,26.39,26.76
$GC,2889,-0.48,-175.2,2654,547,3232,3131,453.7,-14.8,232,2897,0.10,2.08,0.00,0.000,3078,0.169,0.029,2677,1938,3181,3232,3131,0,0,0,0,0,0,26.17,26.41,26.33
$STATE,3295,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3295,begin apogee
$GC,3300,0.00,0.0,2677,1831,3232,3128,500.4,-10.9,253,3438,0.47,0.00,133.80,0.943,10246,0.122,0.000,2829,1827,2465,2524,2406,0,0,0,0,0,0,26.15,24.87,24.29
$STATE,3438,end apogee,CONTROL_FINISHED_OK
$STATE,3439,begin climb
$GC,3440,0.48,175.2,2829,1827,2524,2406,504.5,0.0,260,3588,0.40,2.30,138.55,0.933,10500,0.036,0.028,3025,3276,1748,1820,1677,0,0,0,0,0,0,25.08,24.55,24.13
$GC,3594,0.48,175.2,3024,3276,1817,1676,487.1,19.0,268,3599,0.15,2.10,0.00,0.000,5126,0.200,0.023,2997,1928,1747,1817,1677,0,0,0,0,0,0,24.81,24.97,24.96
$GC,4411,0.48,175.2,2996,1928,1811,1665,325.2,19.9,309,4415,0.00,2.03,0.00,0.000,260,0.000,0.028,2997,3288,1737,1810,1665,0,0,0,0,0,0,26.48,26.17,26.49
$GC,4525,0.48,175.2,2996,3288,1809,1665,308.1,16.6,314,4532,0.00,2.03,0.00,0.000,1030,0.000,0.028,3005,1928,1737,1809,1665,0,0,0,0,0,0,26.29,26.21,26.31
$GC,5332,0.48,175.2,3004,1928,1808,1660,150.1,16.9,368,5336,0.00,2.00,0.00,0.000,260,0.000,0.028,3005,3289,1734,1808,1660,0,0,0,0,0,0,26.65,26.33,26.66
$GC,5548,0.48,175.2,3004,3289,1808,1659,116.3,14.2,389,5552,0.00,2.03,0.00,0.000,1030,0.000,0.027,3015,1922,1734,1808,1661,0,0,0,0,0,0,26.43,26.35,26.46
$GC,5861,0.48,175.2,3014,1922,1808,1658,70.0,13.5,438,5869,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,1922,1733,1808,1659,0,0,0,0,0,0,26.69,26.70,26.70
$GC,6196,0.48,175.2,3014,1922,1808,1658,31.6,10.7,499,6204,0.00,2.15,0.00,0.000,516,0.000,0.034,3025,519,1731,1805,1658,0,0,0,0,0,0,26.71,26.34,26.72
$GC,6325,0.48,175.2,3025,519,1798,1659,17.0,10.1,520,6335,0.10,2.08,0.00,0.000,5126,0.161,0.028,2994,1886,1730,1802,1659,0,0,0,0,0,0,26.12,26.39,26.22
$GC,6384,0.59,263.1,2993,1888,1804,1659,12.0,7.7,529,6432,0.00,2.10,37.72,0.569,8452,0.000,0.030,2994,3272,1390,1487,1294,0,0,0,0,0,0,26.71,25.94,25.45
$GC,6464,0.59,263.1,2993,3276,1485,1294,4.6,10.1,540,6473,0.00,2.05,0.00,0.000,1030,0.000,0.028,3002,1932,1388,1484,1293,0,0,0,0,0,0,26.08,26.05,26.10
$STATE,6486,end climb,SURFACE_DEPTH_REACHED
$STATE,6486,begin surface coast
$FINISH,0.6,1.022392
$STATE,6529,end surface coast,CONTROL_FINISHED_OK
$STATE,6529,begin surface
$SM_CCo,6544,95.55,0.047,0,0,499,482.01
$SM_GC,1.52,7.50,0.00,95.55,0.029,0.000,0.047,126,1929,499,-8.41,-0.31,482.01,0,0,0,0,0,0,26.10,26.39,26.01
$IRIDIUM_FIX,-2955.02,3112.78,090717,140115
$TT8_MAMPS,0.025466,0.261401
$HUMID,56.02
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,20.00
$XPDR_PINGS,0
$24V_AH,24.13,26.662
$10V_AH,10.27,13.495
$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,18.600,46.400,310.075,95.550,0.000,31.967,19.607,198.066,11.500,0.000,12.763,1343.537,3605.665,468.995,1509.389,90.157,0.000,1045.618,0.000,1206.498,0.000,71.693,0.000
$DEVICE_MAMPS,217.260,120.870,943.245,47.430,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,378.997,93.446,429.823,425.684,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343188
$DATA_FILE_SIZE,37064,550
$CAP_FILE_SIZE,71745,0
$CFSIZE,2097086464,2061402112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,090717,155755,-3007.600,3114.789,6,1.7,6,-25.0,1.0,39.4,5,161.3