version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 241
start: 7 4 117 0 57 28
data:
$ID,574
$MISSION,23
$DIVE,241
$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,37
$R_STBD_OVSHOOT,47
$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
$GPS1,040717,005019,-2951.1614,3119.3867,5,1.0,5,-24.7,0.6,214.7,9,59.6
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-79.9
$GPS2,040717,005642,-2951.1501,3119.4326,4,1.0,4,-24.7,0.5,99.3,9,83.3
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,-3001.949,3119.433
$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,-126.5,125,2016,527,449,0.0,0.0,0,103,0.00,0.00,-85.70,0.000,16386,0.000,0.000,125,2017,2915,2928,2903,0,0,0,0,0,0,26.25,28.83,26.26
$GC,106,-0.45,-126.5,125,2017,2928,2903,3.6,-5.3,11,124,9.62,2.10,-1.20,0.000,18692,0.213,0.045,2681,3414,2980,2999,2961,0,0,0,0,0,0,25.70,25.47,25.85
$GC,209,-0.45,-126.5,2681,3413,3007,2957,32.4,-15.3,27,217,0.00,2.17,0.00,0.000,1030,0.000,0.028,2681,1991,2981,3009,2954,0,0,0,0,0,0,26.14,26.11,26.16
$GC,348,-0.45,-126.5,2680,1991,3012,2952,61.7,-18.6,52,356,0.00,2.12,0.00,0.000,260,0.000,0.032,2671,3396,2982,3012,2952,0,0,0,0,0,0,26.46,26.18,26.48
$GC,373,-0.45,-126.5,2670,3396,3012,2952,66.2,-18.0,56,381,0.00,2.12,0.00,0.000,1030,0.000,0.024,2671,1985,2982,3012,2952,0,0,0,0,0,0,26.25,26.21,26.26
$GC,698,-0.45,-126.5,2670,1981,3014,2951,125.4,-19.7,105,702,0.00,2.10,0.00,0.000,260,0.000,0.034,2661,3398,2982,3014,2951,0,0,0,0,0,0,26.60,26.29,26.61
$GC,849,-0.45,-126.5,2660,3398,3014,2951,149.1,-14.7,120,853,0.10,2.08,0.00,0.000,3078,0.135,0.024,2695,1984,2982,3014,2951,0,0,0,0,0,0,26.20,26.35,26.33
$GC,1154,-0.45,-126.5,2694,1983,3017,2949,189.8,-12.5,150,1158,0.00,2.05,0.00,0.000,516,0.000,0.029,2695,588,2983,3017,2950,0,0,0,0,0,0,26.68,26.38,26.70
$GC,1213,-0.45,-126.5,2695,587,3018,2949,196.1,-10.3,155,1220,0.00,2.08,0.00,0.000,1030,0.000,0.028,2687,1984,2983,3018,2949,0,0,0,0,0,0,26.47,26.40,26.49
$GC,1530,-0.45,-126.5,2686,1984,3018,2949,237.5,-12.3,173,1536,0.00,2.08,0.00,0.000,260,0.000,0.034,2676,3402,2983,3018,2949,0,0,0,0,0,0,26.72,26.41,26.73
$GC,1634,-0.45,-126.5,2676,3401,3016,2949,248.3,-10.5,178,1638,0.00,2.05,0.00,0.000,1030,0.000,0.024,2676,1986,2982,3016,2949,0,0,0,0,0,0,26.51,26.45,26.53
$GC,2446,-0.45,-126.5,2676,1984,3017,2946,354.1,-12.3,219,2451,0.00,2.05,0.00,0.000,516,0.000,0.030,2676,590,2981,3016,2946,0,0,0,0,0,0,26.77,26.46,26.78
$GC,2509,-0.45,-126.5,2676,590,3017,2946,361.8,-12.8,222,2515,0.08,2.08,0.00,0.000,3078,0.151,0.030,2690,1989,2981,3017,2945,0,0,0,0,0,0,26.28,26.46,26.36
$STATE,2666,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2666,begin apogee
$GC,2671,0.00,0.0,2691,1824,3017,2945,380.0,-11.5,230,2770,0.47,0.10,94.90,0.864,10246,0.121,0.076,2842,1946,2465,2516,2414,0,0,0,0,0,0,26.26,25.15,24.59
$STATE,2771,end apogee,CONTROL_FINISHED_OK
$STATE,2771,begin climb
$GC,2773,0.45,126.5,2842,1947,2515,2414,382.6,0.0,235,2880,0.38,2.38,98.80,0.871,10756,0.034,0.030,3035,493,1948,2002,1894,0,0,0,0,0,0,25.32,24.90,24.36
$GC,2888,0.52,181.2,3034,493,1999,1893,376.2,8.6,241,2938,0.00,2.15,43.62,0.832,9222,0.000,0.028,3034,1857,1725,1796,1654,0,0,0,0,0,0,25.22,25.15,24.38
$GC,3744,0.52,181.2,3034,1861,1788,1646,177.2,24.2,288,3748,0.00,2.05,0.00,0.000,516,0.000,0.034,3044,501,1717,1788,1646,0,0,0,0,0,0,26.53,26.23,26.55
$GC,3900,0.52,181.2,3044,500,1779,1645,141.7,19.4,303,3905,0.10,2.12,0.00,0.000,5126,0.200,0.031,3017,1905,1712,1779,1645,0,0,0,0,0,0,26.01,26.29,26.25
$GC,4208,0.52,181.2,3017,1909,1782,1645,90.0,15.2,338,4214,0.00,2.08,0.00,0.000,260,0.000,0.032,3017,3310,1713,1782,1645,0,0,0,0,0,0,26.64,26.34,26.65
$GC,4221,0.52,181.2,3017,3310,1782,1645,87.9,15.9,340,4228,0.00,2.12,0.00,0.000,1030,0.000,0.024,3026,1898,1713,1782,1645,0,0,0,0,0,0,26.39,26.36,26.41
$GC,4550,0.52,181.2,3026,1898,1782,1645,32.8,16.7,401,4559,0.00,2.15,0.00,0.000,516,0.000,0.032,3037,494,1712,1781,1644,0,0,0,0,0,0,26.68,26.37,26.70
$GC,4716,0.52,181.2,3037,494,1778,1644,9.2,13.8,428,4724,0.00,2.15,0.00,0.000,1030,0.000,0.028,3037,1905,1711,1778,1644,0,0,0,0,0,0,26.45,26.43,26.48
$STATE,4754,end climb,SURFACE_DEPTH_REACHED
$STATE,4754,begin surface coast
$FINISH,0.6,1.025474
$STATE,4775,end surface coast,CONTROL_FINISHED_OK
$STATE,4775,begin surface
$SM_CCo,4790,129.23,0.050,0,0,498,482.01
$SM_GC,1.64,7.43,0.10,129.23,0.028,0.083,0.050,129,2040,498,-8.40,-1.30,482.01,0,0,0,0,0,0,26.41,26.48,26.26
$IRIDIUM_FIX,-2940.11,3118.71,040717,005128
$TT8_MAMPS,0.025466,0.267393
$HUMID,56.37
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,19.00
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,361.8,31.8
$24V_AH,24.36,20.145
$10V_AH,10.33,9.958
$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,18.175,42.600,237.325,129.225,0.000,31.220,17.739,240.909,9.750,0.000,11.956,1099.399,2400.728,424.630,1337.067,72.579,0.000,901.870,0.000,999.919,0.000,53.283,0.000
$DEVICE_MAMPS,213.435,82.620,870.570,49.725,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,300.402,79.716,356.630,357.868,0.000,0.000,0.000,0.000,0.000,0.000
$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,27007,437
$CAP_FILE_SIZE,63809,0
$CFSIZE,2097086464,2068643840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,040717,022007,-2951.545,3119.177,5,1.4,5,-24.7,0.0,0.0,7,32.8