version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 284
start: 7 7 117 10 2 35
data:
$ID,574
$MISSION,23
$DIVE,284
$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,320
$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,290
$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,25
$R_STBD_OVSHOOT,80
$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
$GPS1,070717,095522,-3021.0251,3055.8755,6,1.5,6,-25.2,0.0,0.0,6,77.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-80.9
$GPS2,070717,100148,-3021.0012,3055.7544,5,1.5,5,-25.2,0.0,0.0,6,66.1
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,-3012.729,3047.722
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,345.2,20000,-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,13,begin dive
$GC,15,-0.48,-175.2,125,1952,1254,1119,0.0,0.0,0,80,0.00,0.00,-62.67,0.000,16386,0.000,0.000,125,1953,2967,2971,2963,0,0,0,0,0,0,26.30,28.83,26.31
$GC,83,-0.48,-175.2,124,1952,2972,2963,3.8,-5.5,8,102,9.57,2.10,-3.88,0.000,18692,0.210,0.044,2661,3321,3183,3207,3160,0,0,0,0,0,0,25.63,24.64,25.80
$GC,122,-0.48,-175.2,2661,3321,3217,3150,21.6,-45.7,13,131,0.00,2.12,0.00,0.000,1030,0.000,0.028,2661,1935,3184,3220,3149,0,0,0,0,0,0,26.08,26.04,26.10
$GC,269,-0.48,-175.2,2660,1935,3227,3143,62.0,-27.7,38,275,0.00,2.05,0.00,0.000,260,0.000,0.030,2651,3316,3185,3227,3143,0,0,0,0,0,0,26.43,26.13,26.44
$GC,331,-0.48,-175.2,2651,3316,3227,3143,75.2,-17.6,49,338,0.00,2.05,0.00,0.000,1030,0.000,0.024,2651,1934,3184,3227,3142,0,0,0,0,0,0,26.24,26.17,26.25
$GC,644,-0.48,-175.2,2651,1931,3232,3140,139.5,-19.1,90,648,0.00,2.03,0.00,0.000,260,0.000,0.028,2641,3314,3186,3232,3140,0,0,0,0,0,0,26.57,26.27,26.58
$GC,803,-0.48,-175.2,2641,3314,3233,3141,164.1,-15.3,105,810,0.12,2.03,0.00,0.000,3078,0.161,0.025,2683,1938,3186,3232,3141,0,0,0,0,0,0,26.10,26.31,26.25
$GC,1120,-0.48,-175.2,2682,1938,3236,3140,207.6,-12.5,134,1124,0.00,2.03,0.00,0.000,260,0.000,0.030,2675,3312,3187,3236,3139,0,0,0,0,0,0,26.66,26.34,26.67
$GC,1176,-0.48,-175.2,2674,3312,3236,3140,213.7,-11.3,137,1180,0.00,2.03,0.00,0.000,1030,0.000,0.023,2674,1934,3188,3236,3140,0,0,0,0,0,0,26.44,26.38,26.46
$GC,1998,-0.48,-175.2,2674,1930,3237,3136,320.5,-12.1,178,2004,0.00,2.00,0.00,0.000,260,0.000,0.029,2664,3309,3186,3236,3136,0,0,0,0,0,0,26.71,26.41,26.72
$GC,2057,-0.48,-175.2,2663,3309,3236,3136,328.0,-12.7,181,2061,0.00,2.00,0.00,0.000,1030,0.000,0.023,2664,1943,3186,3236,3137,0,0,0,0,0,0,26.51,26.44,26.52
$STATE,2196,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2196,begin apogee
$GC,2201,0.00,0.0,2663,1831,3236,3135,345.8,-15.4,188,2338,0.55,0.00,132.18,0.838,10246,0.142,0.000,2834,1830,2464,2533,2395,0,0,0,0,0,0,26.17,24.96,24.43
$STATE,2339,end apogee,CONTROL_FINISHED_OK
$STATE,2339,begin climb
$GC,2341,0.48,175.2,2834,1830,2533,2395,351.1,0.0,195,2486,0.40,2.17,135.02,0.825,11012,0.047,0.030,3034,501,1748,1833,1663,0,0,0,0,0,0,25.16,24.82,24.28
$GC,2652,0.48,175.2,3034,500,1818,1664,298.6,22.0,210,2660,0.15,2.03,0.00,0.000,5126,0.197,0.025,2994,1833,1740,1818,1663,0,0,0,0,0,0,25.49,25.71,25.69
$GC,3459,0.48,175.2,2993,1837,1819,1657,142.2,14.4,267,3463,0.00,2.15,0.00,0.000,260,0.000,0.032,2993,3276,1738,1819,1657,0,0,0,0,0,0,26.54,26.24,26.55
$GC,3505,0.48,175.2,2993,3276,1818,1657,135.6,14.4,271,3509,0.00,2.03,0.00,0.000,1030,0.000,0.028,3002,1914,1738,1819,1657,0,0,0,0,0,0,26.33,26.26,26.35
$GC,3814,0.48,175.2,3002,1914,1819,1655,91.2,11.5,307,3821,0.00,2.03,0.00,0.000,260,0.000,0.028,3002,3289,1737,1819,1655,0,0,0,0,0,0,26.61,26.32,26.63
$GC,3927,0.48,175.2,3002,3289,1818,1655,77.6,12.4,328,3934,0.00,2.15,0.00,0.000,1030,0.000,0.027,3012,1870,1736,1818,1655,0,0,0,0,0,0,26.37,26.34,26.39
$GC,4256,0.48,175.2,3012,1870,1818,1655,37.3,13.0,389,4264,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1869,1736,1818,1655,0,0,0,0,0,0,26.66,26.68,26.67
$GC,4408,0.48,175.2,3012,1869,1818,1655,17.3,13.2,414,4416,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1869,1736,1818,1655,0,0,0,0,0,0,26.68,26.70,26.70
$GC,4466,0.48,175.2,3012,1870,1818,1655,9.9,12.6,423,4474,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,1870,1736,1818,1655,0,0,0,0,0,0,26.69,26.70,26.70
$STATE,4516,end climb,SURFACE_DEPTH_REACHED
$STATE,4516,begin surface coast
$FINISH,0.7,1.012457
$STATE,4542,end surface coast,CONTROL_FINISHED_OK
$STATE,4542,begin surface
$SM_CCo,4557,47.65,0.050,0,0,1281,290.19
$SM_GC,1.69,7.47,0.10,47.65,0.034,0.084,0.050,126,1977,1281,-8.43,-1.07,290.19,0,0,0,0,0,0,26.41,26.46,26.29
$IRIDIUM_FIX,-3007.48,3054.40,070717,095656
$TT8_MAMPS,0.025466,0.26215
$HUMID,57.63
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,331.5,27.3
$24V_AH,24.28,23.982
$10V_AH,10.29,12.045
$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,18.275,33.275,267.200,47.650,0.000,50.020,23.052,203.948,7.500,0.000,12.740,1085.778,2164.710,364.549,1333.253,76.245,0.000,828.324,0.000,993.146,0.000,48.811,0.000
$DEVICE_MAMPS,210.375,90.270,838.440,50.490,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,297.131,82.659,353.163,355.324,0.000,0.000,0.000,0.000,0.000,0.000
$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,30438,435
$CAP_FILE_SIZE,59966,0
$CFSIZE,2097086464,2064416768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,070717,112002,-3019.223,3055.455,7,1.7,7,-25.1,0.7,342.1,5,329.0