version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 240
start: 7 3 117 23 15 43
data:
$ID,574
$MISSION,23
$DIVE,240
$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,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,180
$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,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,1990
$C_ROLL_CLIMB,1896
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,78
$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
$GPS1,030717,230049,-2950.8596,3119.4309,37,0.9,37,-24.7,0.7,168.9,10,7.6
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-77.6
$GPS2,030717,231457,-2950.8367,3119.5830,5,1.0,5,-24.7,1.3,89.3,9,68.9
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,-3001.636,3119.583
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,204.7,20000,-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,-0.45,-126.5,126,2034,528,449,0.0,0.0,0,103,0.00,0.00,-85.85,0.000,16386,0.000,0.000,126,2034,2932,2943,2921,0,0,0,0,0,0,26.27,28.83,26.29
$GC,106,-0.45,-126.5,126,2034,2945,2921,3.7,-5.4,11,124,9.75,2.00,-0.93,0.000,18692,0.227,0.047,2678,3367,2982,3001,2963,0,0,0,0,0,0,25.70,25.47,25.86
$GC,214,-0.45,-126.5,2677,3367,3009,2958,34.1,-14.9,28,223,0.00,2.08,0.00,0.000,1030,0.000,0.024,2678,1995,2983,3011,2956,0,0,0,0,0,0,26.17,26.13,26.17
$GC,358,-0.45,-126.5,2677,1995,3013,2954,65.4,-20.3,53,364,0.00,2.03,0.00,0.000,260,0.000,0.032,2668,3367,2983,3013,2954,0,0,0,0,0,0,26.50,26.20,26.51
$GC,393,-0.45,-126.5,2667,3367,3012,2954,72.0,-16.9,59,400,0.10,2.03,0.00,0.000,3078,0.204,0.024,2699,1986,2983,3012,2954,0,0,0,0,0,0,25.97,26.23,26.16
$GC,712,-0.45,-126.5,2698,1984,3016,2952,119.2,-17.0,108,714,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,1984,2984,3016,2953,0,0,0,0,0,0,26.63,26.63,26.63
$GC,1013,-0.45,-126.5,2698,1984,3017,2953,160.9,-14.7,138,1022,0.00,2.03,0.00,0.000,260,0.000,0.034,2691,3361,2984,3017,2952,0,0,0,0,0,0,26.65,26.37,26.66
$GC,1066,-0.45,-126.5,2690,3361,3016,2952,167.4,-12.5,143,1074,0.00,2.05,0.00,0.000,1030,0.000,0.023,2691,1981,2984,3017,2952,0,0,0,0,0,0,26.44,26.41,26.46
$GC,1384,-0.45,-126.5,2690,1981,3017,2951,212.0,-13.8,171,1390,0.00,2.05,0.00,0.000,516,0.000,0.030,2691,589,2984,3018,2951,0,0,0,0,0,0,26.69,26.41,26.70
$GC,1396,-0.45,-126.5,2690,590,3018,2951,212.0,-13.8,171,1404,0.00,2.03,0.00,0.000,1030,0.000,0.026,2682,1962,2984,3018,2951,0,0,0,0,0,0,26.50,26.43,26.51
$GC,2203,-0.45,-126.5,2681,1966,3018,2948,317.4,-13.9,212,2207,0.00,2.12,0.00,0.000,260,0.000,0.036,2670,3402,2982,3018,2947,0,0,0,0,0,0,26.77,26.44,26.78
$GC,2321,-0.45,-126.5,2670,3402,3017,2947,331.6,-11.7,218,2326,0.00,2.08,0.00,0.000,1030,0.000,0.028,2670,1996,2981,3017,2946,0,0,0,0,0,0,26.53,26.46,26.56
$STATE,2678,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2678,begin apogee
$GC,2683,0.00,0.0,2670,1821,3016,2945,378.4,-13.3,236,2781,0.55,0.10,94.50,0.838,10246,0.142,0.074,2842,1911,2464,2515,2413,0,0,0,0,0,0,26.25,25.19,24.65
$STATE,2782,end apogee,CONTROL_FINISHED_OK
$STATE,2782,begin climb
$GC,2784,0.45,126.5,2842,1925,2515,2413,381.1,0.0,241,2890,0.38,2.15,98.47,0.833,10500,0.037,0.033,3020,3291,1947,2001,1893,0,0,0,0,0,0,25.37,24.79,24.39
$GC,2966,0.45,126.5,3019,3291,1996,1892,364.0,16.9,250,2971,0.12,2.12,0.00,0.000,5126,0.197,0.026,2997,1897,1943,1995,1892,0,0,0,0,0,0,25.40,25.58,25.56
$GC,3778,0.45,126.5,2996,1897,1991,1884,236.4,14.8,291,3782,0.00,2.08,0.00,0.000,260,0.000,0.033,2997,3288,1937,1991,1883,0,0,0,0,0,0,26.58,26.28,26.59
$GC,3997,0.45,126.5,2996,3288,1991,1884,204.1,14.6,302,4001,0.00,2.08,0.00,0.000,1030,0.000,0.027,3006,1883,1937,1991,1884,0,0,0,0,0,0,26.41,26.34,26.44
$GC,4808,0.45,126.5,3005,1881,1987,1881,86.7,12.5,390,4816,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1881,1933,1987,1880,0,0,0,0,0,0,26.73,26.74,26.74
$GC,5134,0.57,225.0,3005,1881,1987,1880,50.9,7.5,451,5214,0.00,2.17,72.68,0.643,8452,0.000,0.031,3005,3298,1545,1629,1461,0,0,0,0,0,0,26.74,25.41,25.08
$GC,5273,0.57,225.0,3005,3298,1625,1461,36.4,12.1,474,5282,0.00,2.17,0.00,0.000,1030,0.000,0.028,3016,1900,1543,1625,1461,0,0,0,0,0,0,25.86,25.84,25.87
$GC,5425,0.57,225.0,3015,1900,1623,1457,13.6,16.2,499,5434,0.00,2.17,0.00,0.000,516,0.000,0.034,3026,494,1539,1622,1456,0,0,0,0,0,0,26.31,26.01,26.32
$GC,5472,0.57,225.0,3026,493,1614,1456,5.5,16.6,506,5481,0.00,2.15,0.00,0.000,1030,0.000,0.031,3026,1874,1536,1616,1456,0,0,0,0,0,0,26.11,26.08,26.14
$STATE,5489,end climb,SURFACE_DEPTH_REACHED
$STATE,5489,begin surface coast
$FINISH,0.6,1.024865
$STATE,5508,end surface coast,CONTROL_FINISHED_OK
$STATE,5508,begin surface
$SM_CCo,5523,112.07,0.047,0,0,498,482.01
$SM_GC,1.50,7.47,0.17,112.07,0.024,0.064,0.047,125,2011,498,-8.45,-0.85,482.01,0,0,0,0,0,0,26.11,26.13,26.05
$IRIDIUM_FIX,-2937.63,3116.58,030717,231000
$TT8_MAMPS,0.025466,0.288365
$HUMID,56.22
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,362.5,28.9
$24V_AH,24.39,20.068
$10V_AH,10.30,9.915
$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,18.375,37.975,265.650,112.075,0.000,139.059,119.388,269.113,8.250,0.000,11.954,1237.735,3030.236,432.209,1732.841,84.399,0.000,962.149,0.000,1109.841,0.000,52.604,0.000
$DEVICE_MAMPS,227.205,74.205,837.675,46.665,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,354.229,87.511,368.692,377.399,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342332
$DATA_FILE_SIZE,33663,511
$CAP_FILE_SIZE,70940,0
$CFSIZE,2097086464,2068676608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,040717,005019,-2951.161,3119.387,5,1.0,5,-24.7,0.6,214.7,9,59.6