version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 315
start: 7 9 117 16 4 25
data:
$ID,574
$MISSION,23
$DIVE,315
$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,97
$R_STBD_OVSHOOT,48
$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
$GPS1,090717,155755,-3007.6003,3114.7886,6,1.7,6,-25.0,1.0,39.4,5,161.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-75.9
$GPS2,090717,160339,-3007.5420,3114.8184,5,1.8,5,-25.0,0.5,65.0,5,125.5
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,TGT3
$TGT_LATLONG,-3003.000,3104.800
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,322.6,18130,-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,-175.2,126,1929,525,451,0.0,0.0,0,104,0.00,0.00,-85.88,0.000,16386,0.000,0.000,126,1930,2886,2898,2874,0,0,0,0,0,0,26.22,28.83,26.24
$GC,106,-0.48,-175.2,126,1930,2898,2874,3.6,-4.3,11,132,9.85,2.12,-5.38,0.000,18692,0.225,0.039,2658,3351,3183,3216,3150,0,0,0,0,0,0,25.58,24.61,25.77
$GC,229,-0.48,-175.2,2657,3356,3224,3146,37.2,-17.0,30,238,0.00,2.08,0.00,0.000,1030,0.000,0.027,2657,1990,3184,3226,3143,0,0,0,0,0,0,26.10,26.07,26.13
$GC,371,-0.48,-175.2,2657,1989,3227,3142,71.4,-24.7,55,377,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1989,3184,3227,3142,0,0,0,0,0,0,26.41,26.43,26.42
$GC,686,-0.48,-175.2,2657,1990,3230,3142,132.5,-18.6,98,690,0.00,2.00,0.00,0.000,260,0.000,0.029,2648,3353,3186,3230,3142,0,0,0,0,0,0,26.55,26.24,26.56
$GC,805,-0.48,-175.2,2647,3353,3232,3142,149.9,-13.5,109,813,0.10,2.08,0.00,0.000,3078,0.154,0.024,2681,1937,3187,3232,3142,0,0,0,0,0,0,26.09,26.28,26.23
$GC,1112,-0.48,-175.2,2680,1937,3233,3142,193.1,-12.7,140,1113,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1937,3187,3232,3142,0,0,0,0,0,0,26.64,26.65,26.65
$GC,1413,-0.48,-175.2,2680,1937,3233,3142,232.8,-12.7,158,1419,0.00,2.05,0.00,0.000,260,0.000,0.031,2672,3342,3187,3233,3142,0,0,0,0,0,0,26.67,26.34,26.69
$GC,1474,-0.48,-175.2,2672,3342,3232,3142,239.5,-11.6,161,1479,0.00,2.10,0.00,0.000,1030,0.000,0.024,2672,1937,3187,3232,3142,0,0,0,0,0,0,26.41,26.36,26.44
$GC,2293,-0.48,-175.2,2672,1935,3233,3138,352.8,-13.8,202,2299,0.00,2.05,0.00,0.000,260,0.000,0.032,2662,3340,3184,3232,3137,0,0,0,0,0,0,26.71,26.39,26.72
$GC,2392,-0.48,-175.2,2662,3340,3233,3136,363.8,-10.6,207,2395,0.00,2.05,0.00,0.000,1030,0.000,0.024,2662,1941,3184,3233,3136,0,0,0,0,0,0,26.49,26.42,26.51
$GC,3209,-0.48,-175.2,2662,1941,3232,3130,480.6,-14.3,248,3214,0.00,2.05,0.00,0.000,260,0.000,0.033,2652,3335,3181,3232,3130,0,0,0,0,0,0,26.73,26.40,26.74
$GC,3267,-0.48,-175.2,2652,3335,3232,3130,487.8,-12.5,251,3271,0.00,2.05,0.00,0.000,1030,0.000,0.024,2652,1940,3181,3232,3130,0,0,0,0,0,0,26.50,26.43,26.52
$STATE,3362,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3362,begin apogee
$GC,3367,0.00,0.0,2652,1817,3232,3130,500.7,-14.0,256,3504,0.57,0.00,133.93,0.940,10246,0.136,0.000,2830,1816,2464,2522,2407,0,0,0,0,0,0,26.11,24.88,24.30
$STATE,3505,end apogee,CONTROL_FINISHED_OK
$STATE,3505,begin climb
$GC,3507,0.48,175.2,2830,1816,2522,2407,505.8,0.0,263,3655,0.40,2.17,138.35,0.942,10756,0.038,0.033,3025,474,1748,1820,1677,0,0,0,0,0,0,25.08,24.54,24.11
$GC,3682,0.48,175.2,3025,473,1809,1676,485.3,18.9,272,3689,0.12,2.20,0.00,0.000,5126,0.183,0.026,2993,1868,1743,1810,1676,0,0,0,0,0,0,24.99,25.14,25.14
$GC,4502,0.48,175.2,2992,1872,1808,1669,329.1,18.4,313,4506,0.00,2.10,0.00,0.000,260,0.000,0.030,2993,3284,1738,1807,1669,0,0,0,0,0,0,26.49,26.18,26.50
$GC,4523,0.48,175.2,2992,3283,1808,1669,326.1,18.6,314,4527,0.00,2.10,0.00,0.000,1030,0.000,0.028,3002,1874,1738,1807,1669,0,0,0,0,0,0,26.27,26.19,26.29
$GC,5334,0.48,175.2,3001,1874,1805,1668,165.9,18.6,363,5338,0.00,2.15,0.00,0.000,516,0.000,0.034,3013,459,1737,1806,1668,0,0,0,0,0,0,26.65,26.29,26.66
$GC,5461,0.48,175.2,3012,458,1799,1667,145.4,15.3,375,5469,0.00,2.12,0.00,0.000,1030,0.000,0.027,3013,1875,1734,1801,1668,0,0,0,0,0,0,26.42,26.35,26.45
$GC,5772,0.48,175.2,3012,1879,1801,1667,92.7,14.2,410,5779,0.00,2.08,0.00,0.000,260,0.000,0.030,3013,3284,1734,1802,1667,0,0,0,0,0,0,26.68,26.35,26.70
$GC,5866,0.48,175.2,3012,3284,1802,1668,79.6,13.3,427,5874,0.10,2.12,0.00,0.000,5126,0.216,0.029,2994,1861,1735,1802,1668,0,0,0,0,0,0,26.05,26.36,26.29
$GC,6192,0.48,175.2,2994,1860,1802,1667,44.7,10.3,488,6199,0.00,2.15,0.00,0.000,516,0.000,0.034,3004,462,1733,1801,1666,0,0,0,0,0,0,26.70,26.33,26.72
$GC,6224,0.50,189.9,3004,462,1798,1667,41.8,9.6,493,6242,0.00,2.10,10.27,0.601,9222,0.000,0.027,3004,1870,1690,1760,1621,0,0,0,0,0,0,26.46,26.39,25.61
$STATE,6573,end climb,SURFACE_DEPTH_REACHED
$STATE,6573,begin surface coast
$FINISH,0.7,1.007733
$STATE,6606,end surface coast,CONTROL_FINISHED_OK
$STATE,6606,begin surface
$SM_CCo,6621,126.80,0.049,0,0,498,482.01
$SM_GC,1.56,7.40,0.08,126.80,0.031,0.103,0.049,128,1957,498,-8.36,-1.33,482.01,0,0,0,0,0,0,26.34,26.44,26.18
$IRIDIUM_FIX,-2955.02,3112.78,090717,155908
$TT8_MAMPS,0.025466,0.260652
$HUMID,55.82
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,492.1,33.4
$24V_AH,24.11,26.753
$10V_AH,10.26,13.547
$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,18.550,42.075,282.550,126.800,0.000,31.527,20.892,193.472,11.500,0.000,12.790,1367.111,3674.666,470.188,1517.229,93.820,0.000,1028.289,0.000,1217.976,0.000,73.183,0.000
$DEVICE_MAMPS,224.910,102.510,942.480,48.960,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,391.723,97.057,422.904,430.989,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343300
$DATA_FILE_SIZE,37025,558
$CAP_FILE_SIZE,71448,0
$CFSIZE,2097086464,2061303808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,090717,175801,-3006.470,3114.426,33,1.1,33,-25.0,0.5,248.0,7,10.2