version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 281
start: 7 7 117 4 26 43
data:
$ID,574
$MISSION,23
$DIVE,281
$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,360
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,280
$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,310
$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,1980
$C_ROLL_CLIMB,1896
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,53
$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
$GPS1,070717,041950,-3024.4883,3100.7905,40,0.9,40,-25.3,0.9,238.5,9,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-78.6
$GPS2,070717,042557,-3024.5833,3100.6289,5,0.9,5,-25.3,0.5,256.9,9,57.7
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,-3022.708,3048.301
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,305.3,20000,-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,14,begin dive
$GC,15,-0.48,-175.2,125,1997,1258,1116,0.0,0.0,0,80,0.00,0.00,-62.55,0.000,16386,0.000,0.000,126,1997,2974,2981,2967,0,0,0,0,0,0,26.32,28.83,26.34
$GC,83,-0.48,-175.2,125,1997,2981,2967,3.9,-5.2,8,102,9.68,2.12,-3.65,0.000,18692,0.216,0.045,2658,3387,3182,3206,3159,0,0,0,0,0,0,25.67,24.66,25.82
$GC,236,-0.48,-175.2,2657,3387,3224,3145,48.5,-16.8,34,243,0.00,2.10,0.00,0.000,1030,0.000,0.026,2658,1973,3184,3226,3143,0,0,0,0,0,0,26.21,26.14,26.23
$GC,560,-0.48,-175.2,2657,1973,3231,3139,128.7,-21.6,84,564,0.00,2.05,0.00,0.000,260,0.000,0.028,2649,3382,3185,3231,3140,0,0,0,0,0,0,26.57,26.27,26.58
$GC,610,-0.48,-175.2,2647,3382,3230,3140,138.0,-19.5,88,618,0.08,2.12,0.00,0.000,3078,0.145,0.024,2674,1969,3185,3230,3140,0,0,0,0,0,0,26.09,26.29,26.17
$GC,920,-0.48,-175.2,2673,1969,3234,3137,191.1,-15.6,119,928,0.00,2.05,0.00,0.000,260,0.000,0.030,2665,3380,3185,3234,3137,0,0,0,0,0,0,26.63,26.33,26.64
$GC,1021,-0.48,-175.2,2664,3380,3235,3138,203.4,-10.1,128,1025,0.00,2.05,0.00,0.000,1030,0.000,0.023,2665,1976,3186,3234,3138,0,0,0,0,0,0,26.44,26.36,26.45
$GC,1838,-0.48,-175.2,2665,1973,3236,3136,325.4,-14.5,169,1844,0.00,2.08,0.00,0.000,260,0.000,0.031,2655,3387,3186,3236,3136,0,0,0,0,0,0,26.74,26.41,26.74
$GC,1950,-0.48,-175.2,2654,3387,3236,3136,337.1,-11.0,174,1958,0.00,2.10,0.00,0.000,1030,0.000,0.024,2655,1978,3186,3236,3136,0,0,0,0,0,0,26.48,26.45,26.50
$GC,2758,-0.48,-175.2,2654,1978,3235,3130,467.4,-15.5,215,2764,0.00,2.08,0.00,0.000,260,0.000,0.033,2645,3381,3183,3236,3131,0,0,0,0,0,0,26.76,26.43,26.77
$GC,2842,-0.48,-175.2,2644,3381,3233,3131,477.2,-12.1,219,2847,0.10,2.08,0.00,0.000,3078,0.174,0.025,2679,1970,3182,3234,3131,0,0,0,0,0,0,26.22,26.46,26.39
$STATE,3053,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3053,begin apogee
$GC,3058,0.00,0.0,2679,1842,3233,3130,500.7,-11.4,230,3195,0.47,0.00,133.75,0.932,10246,0.129,0.000,2832,1840,2465,2538,2392,0,0,0,0,0,0,26.22,24.90,24.34
$STATE,3196,end apogee,CONTROL_FINISHED_OK
$STATE,3196,begin climb
$GC,3198,0.48,175.2,2831,1840,2537,2391,504.8,0.0,237,3344,0.40,2.17,137.52,0.912,10756,0.038,0.031,3025,495,1749,1837,1661,0,0,0,0,0,0,25.08,24.60,24.20
$GC,3439,0.48,175.2,3025,494,1822,1661,470.3,22.1,249,3444,0.12,2.15,0.00,0.000,5126,0.187,0.027,2991,1882,1742,1823,1661,0,0,0,0,0,0,25.33,25.50,25.50
$GC,4246,0.48,175.2,2991,1886,1821,1654,307.4,19.0,289,4250,0.00,2.12,0.00,0.000,260,0.000,0.031,2992,3306,1737,1821,1654,0,0,0,0,0,0,26.52,26.22,26.53
$GC,4290,0.48,175.2,2991,3307,1820,1654,300.3,19.4,291,4294,0.00,2.10,0.00,0.000,1030,0.000,0.027,3001,1895,1737,1820,1654,0,0,0,0,0,0,26.32,26.25,26.34
$GC,5102,0.48,175.2,3000,1895,1818,1650,146.1,15.9,347,5106,0.00,2.12,0.00,0.000,516,0.000,0.034,3011,486,1733,1817,1650,0,0,0,0,0,0,26.67,26.33,26.67
$GC,5118,0.48,175.2,3011,486,1814,1649,143.7,15.9,348,5123,0.00,2.12,0.00,0.000,1030,0.000,0.026,3011,1905,1731,1813,1650,0,0,0,0,0,0,26.44,26.36,26.46
$GC,5423,0.48,175.2,3011,1909,1815,1650,100.5,12.6,378,5427,0.00,2.08,0.00,0.000,260,0.000,0.031,3012,3311,1732,1815,1650,0,0,0,0,0,0,26.69,26.38,26.70
$GC,5517,0.48,175.2,3011,3311,1815,1650,88.2,13.6,394,5525,0.10,2.10,0.00,0.000,5126,0.216,0.027,2994,1895,1732,1815,1650,0,0,0,0,0,0,26.11,26.39,26.34
$GC,5842,0.48,175.2,2993,1895,1816,1650,49.7,11.7,455,5849,0.00,2.12,0.00,0.000,516,0.000,0.034,3003,484,1732,1815,1650,0,0,0,0,0,0,26.71,26.37,26.72
$GC,5909,0.48,175.2,3002,483,1812,1650,42.1,11.0,467,5915,0.00,2.12,0.00,0.000,1030,0.000,0.026,3003,1909,1731,1813,1650,0,0,0,0,0,0,26.48,26.41,26.51
$STATE,6224,end climb,SURFACE_DEPTH_REACHED
$STATE,6224,begin surface coast
$FINISH,0.7,1.023813
$STATE,6249,end surface coast,CONTROL_FINISHED_OK
$STATE,6249,begin surface
$SM_CCo,6265,56.03,0.050,0,0,1199,310.05
$SM_GC,2.08,7.30,0.08,56.03,0.025,0.103,0.050,128,1996,1199,-8.37,-1.33,310.05,0,0,0,0,0,0,26.45,26.52,26.32
$IRIDIUM_FIX,-3014.96,3059.11,070717,042100
$TT8_MAMPS,0.025466,0.260652
$HUMID,56.81
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,20.40
$XPDR_PINGS,0
$24V_AH,24.20,23.710
$10V_AH,10.30,11.906
$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,18.250,42.200,271.275,56.025,0.000,30.584,40.846,201.028,11.500,0.000,12.747,1316.661,3482.811,371.340,1467.800,81.327,0.000,887.184,0.000,1141.202,0.000,70.873,0.000
$DEVICE_MAMPS,215.730,103.275,931.770,49.725,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,367.060,88.810,370.359,375.891,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342348
$DATA_FILE_SIZE,33878,525
$CAP_FILE_SIZE,68367,0
$CFSIZE,2097086464,2064646144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,070717,061245,-3024.126,3058.258,7,1.3,7,-25.3,0.9,241.9,6,239.2