version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 149
start: 6 28 117 9 54 6
data:
$ID,574
$MISSION,23
$DIVE,149
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$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,150
$T_MISSION,160
$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,130
$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,340
$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,446.92932
$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,1
$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,2845
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,-6.8056469e+38
$PITCH_GAIN,45
$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,2062
$C_ROLL_CLIMB,1836
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3961
$C_VBD,2322
$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,150
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,1
$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
$GPS1,280617,094448,-3001.4480,3112.1614,37,1.0,37,-24.9,1.2,237.7,8,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-78.0
$GPS2,280617,095320,-3001.6262,3111.8638,5,1.0,5,-24.9,0.8,247.6,8,68.1
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-2951.478,3107.605
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,4.9,20000,-13.3,-10.000,-16.52,4019
$D_GRID,450
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.45,-126.5,125,2054,526,448,0.0,0.0,0,104,0.00,0.00,-85.43,0.000,16390,0.000,0.000,125,2054,2839,2840,2839,0,0,0,0,0,0,26.18,24.89,26.20
$GC,107,-0.45,-126.5,125,2054,2843,2835,3.3,-4.0,11,124,9.75,2.10,0.00,0.000,2564,0.215,0.020,2697,626,2840,2851,2830,0,0,0,0,0,0,25.67,25.92,25.84
$GC,185,-0.45,-126.5,2696,625,2863,2820,27.0,-18.6,23,194,0.00,2.25,0.00,0.000,1030,0.000,0.034,2687,2059,2841,2867,2816,0,0,0,0,0,0,26.07,26.03,26.10
$GC,328,-0.45,-126.5,2687,2059,2871,2814,54.1,-18.9,48,337,0.00,2.15,0.00,0.000,260,0.000,0.035,2676,3474,2841,2870,2813,0,0,0,0,0,0,26.41,26.13,26.43
$GC,466,-0.45,-126.5,2676,3474,2870,2814,76.6,-15.8,73,472,0.00,2.10,0.00,0.000,1030,0.000,0.027,2676,2058,2841,2870,2813,0,0,0,0,0,0,26.28,26.22,26.29
$GC,783,-0.45,-126.5,2676,2055,2874,2813,128.1,-10.9,116,787,0.00,2.10,0.00,0.000,260,0.000,0.034,2666,3479,2843,2874,2813,0,0,0,0,0,0,26.59,26.30,26.60
$GC,983,-0.45,-126.5,2666,3480,2874,2812,150.2,-10.5,135,992,0.08,2.12,0.00,0.000,3078,0.140,0.024,2691,2053,2843,2875,2812,0,0,0,0,0,0,26.20,26.37,26.29
$GC,1291,-0.45,-126.5,2690,2049,2878,2812,181.8,-10.1,166,1292,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2049,2845,2878,2812,0,0,0,0,0,0,26.68,26.70,26.70
$GC,1592,-0.45,-126.5,2690,2049,2878,2812,217.5,-12.3,189,1597,0.00,2.10,0.00,0.000,260,0.000,0.033,2683,3480,2845,2878,2812,0,0,0,0,0,0,26.72,26.43,26.73
$GC,1651,-0.45,-126.5,2682,3480,2877,2811,223.9,-11.0,192,1655,0.00,2.08,0.00,0.000,1030,0.000,0.025,2683,2064,2844,2877,2811,0,0,0,0,0,0,26.52,26.45,26.53
$GC,2467,-0.45,-126.5,2682,2062,2877,2808,318.8,-11.0,233,2468,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2062,2842,2877,2807,0,0,0,0,0,0,26.77,26.79,26.79
$GC,3267,-0.45,-126.5,2682,2059,2876,2801,406.3,-10.7,273,3268,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2059,2838,2876,2801,0,0,0,0,0,0,26.79,26.82,26.81
$STATE,3485,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3485,begin apogee
$GC,3490,0.00,0.0,2682,1798,2874,2800,428.5,-10.0,284,3589,0.50,0.00,95.60,0.877,10246,0.126,0.000,2838,1796,2322,2364,2280,0,0,0,0,0,0,26.34,25.10,24.53
$STATE,3590,end apogee,CONTROL_FINISHED_OK
$STATE,3590,begin climb
$GC,3591,0.45,126.5,2838,1796,2364,2279,428.8,0.0,289,3700,0.38,2.20,100.78,0.881,10756,0.031,0.036,3034,464,1804,1870,1738,0,0,0,0,0,0,25.27,24.79,24.23
$GC,3715,0.45,126.5,3033,464,1864,1736,413.0,16.5,295,3720,0.15,2.22,0.00,0.000,5126,0.178,0.026,2995,1846,1800,1864,1736,0,0,0,0,0,0,24.98,25.14,25.13
$GC,4529,0.45,126.5,2994,1850,1860,1726,267.4,16.9,336,4530,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,1850,1793,1860,1726,0,0,0,0,0,0,26.51,26.53,26.53
$GC,5327,0.45,126.5,2994,1852,1858,1723,143.3,15.1,394,5331,0.00,2.08,0.00,0.000,260,0.000,0.033,2995,3247,1790,1858,1722,0,0,0,0,0,0,26.67,26.39,26.69
$GC,5623,0.45,126.5,2994,3247,1857,1722,105.4,10.7,423,5627,0.00,2.05,0.00,0.000,1030,0.000,0.031,3003,1869,1789,1857,1722,0,0,0,0,0,0,26.49,26.42,26.52
$GC,5941,0.45,126.5,3003,1869,1857,1720,63.7,12.1,479,5947,0.00,2.17,0.00,0.000,516,0.000,0.036,3014,432,1788,1856,1720,0,0,0,0,0,0,26.72,26.41,26.74
$GC,6070,0.45,126.5,3014,432,1850,1720,48.3,11.6,503,6077,0.00,2.12,0.00,0.000,1030,0.000,0.029,3014,1843,1786,1853,1720,0,0,0,0,0,0,26.52,26.45,26.55
$GC,6422,0.49,161.3,3014,1847,1856,1719,8.8,9.1,564,6447,0.00,2.15,13.50,0.535,8452,0.000,0.033,3014,3264,1662,1737,1588,0,0,0,0,0,0,26.75,26.25,25.72
$STATE,6478,end climb,SURFACE_DEPTH_REACHED
$STATE,6478,begin surface coast
$FINISH,0.4,1.025057
$STATE,6515,end surface coast,CONTROL_FINISHED_OK
$STATE,6516,begin surface
$SM_CCo,6532,123.03,0.047,0,0,499,446.93
$SM_GC,1.26,7.43,1.83,123.03,0.026,0.023,0.047,125,2048,499,-8.45,0.90,446.93,0,0,0,0,0,0,26.36,26.36,26.24
$IRIDIUM_FIX,-2950.05,3113.62,280617,074647
$TT8_MAMPS,0.025466,0.261401
$HUMID,55.55
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,351.3,92.0
$24V_AH,24.23,13.021
$10V_AH,10.33,5.874
$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,18.275,34.150,209.875,123.025,0.000,22.839,17.588,375.731,6.000,0.000,11.944,1405.090,3624.689,393.333,1700.775,75.380,0.000,936.258,0.000,1235.512,0.000,43.962,0.000
$DEVICE_MAMPS,214.965,38.250,881.280,47.430,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,407.811,102.127,443.079,445.722,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342336
$DATA_FILE_SIZE,37099,578
$CAP_FILE_SIZE,69476,0
$CFSIZE,2097086464,2077622272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,280617,114541,-3000.583,3110.893,6,1.7,6,-24.9,0.8,279.2,5,257.4