version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 242
start: 7 4 117 2 27 5
data:
$ID,574
$MISSION,23
$DIVE,242
$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,86
$R_STBD_OVSHOOT,92
$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
$GPS1,040717,022007,-2951.5452,3119.1775,5,1.4,5,-24.7,0.0,0.0,7,32.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-79.5
$GPS2,040717,022618,-2951.5493,3119.2166,5,1.5,5,-24.7,0.9,202.0,7,166.6
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,-3002.348,3119.217
$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,-126.5,128,1943,525,448,0.0,0.0,0,103,0.00,0.00,-85.65,0.000,16386,0.000,0.000,129,1943,2864,2873,2856,0,0,0,0,0,0,26.33,28.83,26.34
$GC,106,-0.45,-126.5,129,1943,2874,2856,3.1,-3.1,11,124,9.60,2.17,-2.30,0.000,18692,0.219,0.044,2683,3364,2983,3006,2961,0,0,0,0,0,0,25.74,24.79,25.89
$GC,256,-0.45,-126.5,2682,3364,3012,2958,40.2,-16.1,35,262,0.00,1.98,0.00,0.000,1030,0.000,0.024,2683,2020,2985,3012,2958,0,0,0,0,0,0,26.25,26.19,26.27
$GC,584,-0.45,-126.5,2682,2020,3017,2955,101.9,-18.5,95,585,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2020,2986,3017,2955,0,0,0,0,0,0,26.59,26.60,26.60
$GC,882,-0.45,-126.5,2682,2018,3019,2955,153.5,-15.9,125,886,0.00,2.12,0.00,0.000,516,0.000,0.029,2683,581,2987,3019,2955,0,0,0,0,0,0,26.65,26.35,26.67
$GC,901,-0.45,-126.5,2682,580,3019,2955,155.8,-15.5,126,908,0.00,2.03,0.00,0.000,1030,0.000,0.028,2673,1949,2987,3019,2955,0,0,0,0,0,0,26.44,26.36,26.46
$GC,1218,-0.45,-126.5,2672,1949,3019,2955,209.2,-15.3,155,1222,0.00,2.12,0.00,0.000,260,0.000,0.034,2662,3395,2987,3020,2955,0,0,0,0,0,0,26.70,26.39,26.72
$GC,1355,-0.45,-126.5,2661,3396,3019,2955,225.6,-11.2,162,1360,0.10,2.05,0.00,0.000,3078,0.151,0.023,2695,1987,2986,3019,2954,0,0,0,0,0,0,26.25,26.44,26.39
$GC,2172,-0.45,-126.5,2694,1984,3020,2952,319.0,-11.2,203,2176,0.00,2.10,0.00,0.000,260,0.000,0.034,2686,3403,2986,3020,2952,0,0,0,0,0,0,26.77,26.45,26.78
$GC,2201,-0.45,-126.5,2686,3404,3020,2951,321.2,-11.1,204,2205,0.00,2.05,0.00,0.000,1030,0.000,0.023,2686,1991,2986,3020,2952,0,0,0,0,0,0,26.55,26.48,26.56
$STATE,2712,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2712,begin apogee
$GC,2716,0.00,0.0,2686,1833,3020,2949,382.6,-12.5,230,2816,0.50,0.08,95.28,0.847,10246,0.125,0.090,2844,1916,2465,2516,2414,0,0,0,0,0,0,26.26,25.17,24.62
$STATE,2817,end apogee,CONTROL_FINISHED_OK
$STATE,2817,begin climb
$GC,2818,0.45,126.5,2844,1916,2514,2414,385.5,0.0,235,2926,0.35,2.20,98.60,0.845,10500,0.040,0.033,3018,3281,1947,2001,1893,0,0,0,0,0,0,25.32,24.91,24.37
$GC,2962,0.45,126.5,3018,3281,1998,1893,375.6,12.3,242,2967,0.12,2.10,0.00,0.000,5126,0.196,0.025,2996,1905,1944,1997,1892,0,0,0,0,0,0,25.22,25.39,25.37
$GC,3774,0.45,126.5,2995,1903,1991,1885,244.0,15.5,283,3778,0.00,2.15,0.00,0.000,516,0.000,0.034,3005,484,1938,1991,1885,0,0,0,0,0,0,26.55,26.25,26.57
$GC,4003,0.45,126.5,3005,484,1986,1883,210.0,15.7,294,4010,0.00,2.10,0.00,0.000,1030,0.000,0.031,3005,1879,1934,1986,1883,0,0,0,0,0,0,26.39,26.32,26.42
$GC,4810,0.45,126.5,3004,1885,1989,1879,101.9,11.2,372,4814,0.00,2.10,0.00,0.000,516,0.000,0.031,3016,483,1934,1989,1879,0,0,0,0,0,0,26.71,26.39,26.72
$GC,4872,0.45,126.5,3015,481,1985,1879,94.8,11.3,382,4879,0.00,2.15,0.00,0.000,1030,0.000,0.031,3016,1911,1932,1986,1879,0,0,0,0,0,0,26.49,26.42,26.52
$GC,5197,0.49,157.8,3015,1915,1988,1878,58.2,9.2,443,5229,0.00,2.10,22.80,0.626,8452,0.000,0.033,3016,3301,1820,1884,1756,0,0,0,0,0,0,26.74,26.10,25.57
$GC,5444,0.49,157.8,3015,3301,1883,1754,31.5,10.9,487,5453,0.00,2.15,0.00,0.000,1030,0.000,0.026,3026,1880,1817,1882,1753,0,0,0,0,0,0,26.32,26.29,26.34
$GC,5597,0.49,157.8,3025,1880,1882,1752,12.8,12.9,512,5606,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1880,1817,1882,1752,0,0,0,0,0,0,26.60,26.63,26.62
$GC,5655,0.49,157.8,3025,1880,1881,1752,5.0,13.4,521,5663,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1880,1817,1882,1752,0,0,0,0,0,0,26.62,26.64,26.63
$STATE,5670,end climb,SURFACE_DEPTH_REACHED
$STATE,5670,begin surface coast
$FINISH,0.8,1.006413
$STATE,5695,end surface coast,CONTROL_FINISHED_OK
$STATE,5695,begin surface
$SM_CCo,5710,139.40,0.050,0,0,498,482.01
$SM_GC,1.63,7.43,0.15,139.40,0.038,0.062,0.050,126,2058,498,-8.40,-1.27,482.01,0,0,0,0,0,0,26.27,26.40,26.20
$IRIDIUM_FIX,-2940.11,3122.12,040717,022115
$TT8_MAMPS,0.024717,0.26215
$HUMID,55.00
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,20.30
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,360.5,37.0
$24V_AH,24.37,20.214
$10V_AH,10.33,10.007
$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,18.100,34.050,216.675,139.400,0.000,31.881,42.988,200.729,9.750,0.000,12.998,1291.478,2978.812,418.897,1488.450,77.788,0.000,937.582,0.000,1163.943,0.000,54.068,0.000
$DEVICE_MAMPS,218.790,120.105,846.855,49.725,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,364.679,97.908,418.651,421.517,0.000,0.000,0.000,0.000,0.000,0.000
$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,33748,527
$CAP_FILE_SIZE,66245,0
$CFSIZE,2097086464,2068480000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,040717,040550,-2952.078,3119.034,40,1.0,40,-24.7,0.0,0.0,9,8.2