version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 243
start: 7 4 117 4 12 33
data:
$ID,574
$MISSION,23
$DIVE,243
$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,135
$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,36
$R_STBD_OVSHOOT,43
$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
$GPS1,040717,040550,-2952.0781,3119.0337,40,1.0,40,-24.7,0.0,0.0,9,8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-77.1
$GPS2,040717,041146,-2952.0737,3119.0569,4,1.0,4,-24.7,1.7,249.1,9,62.4
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,-2959.710,3127.874
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,159.7,20000,-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,-126.5,126,1998,526,451,0.0,0.0,0,103,0.00,0.00,-85.75,0.000,16386,0.000,0.000,126,1998,2929,2942,2916,0,0,0,0,0,0,26.31,28.83,26.32
$GC,106,-0.45,-126.5,126,1998,2942,2916,3.5,-4.6,11,124,9.65,2.12,-0.93,0.000,18692,0.215,0.044,2680,3407,2979,2997,2961,0,0,0,0,0,0,25.73,25.52,25.89
$GC,307,-0.45,-126.5,2679,3408,3006,2954,48.2,-14.9,45,314,0.00,2.12,0.00,0.000,1030,0.000,0.024,2680,1978,2980,3008,2953,0,0,0,0,0,0,26.27,26.20,26.29
$GC,632,-0.45,-126.5,2679,1974,3012,2950,111.4,-18.7,100,641,0.00,2.10,0.00,0.000,260,0.000,0.030,2670,3409,2981,3012,2951,0,0,0,0,0,0,26.57,26.31,26.58
$GC,663,-0.45,-126.5,2669,3409,3012,2951,116.8,-17.9,103,667,0.00,2.10,0.00,0.000,1030,0.000,0.024,2669,1978,2981,3012,2951,0,0,0,0,0,0,26.39,26.32,26.41
$GC,968,-0.45,-126.5,2669,1976,3014,2949,167.3,-16.9,133,972,0.00,2.08,0.00,0.000,516,0.000,0.029,2670,581,2981,3013,2950,0,0,0,0,0,0,26.67,26.36,26.68
$GC,1011,-0.45,-126.5,2669,580,3014,2950,174.7,-18.5,137,1019,0.10,2.12,0.00,0.000,3078,0.230,0.026,2690,1981,2982,3014,2950,0,0,0,0,0,0,26.03,26.39,26.17
$GC,1318,-0.45,-126.5,2689,1985,3014,2949,218.3,-12.9,161,1322,0.00,2.08,0.00,0.000,260,0.000,0.032,2681,3403,2981,3014,2949,0,0,0,0,0,0,26.71,26.40,26.72
$GC,1379,-0.45,-126.5,2680,3404,3013,2949,225.4,-12.7,164,1383,0.00,2.10,0.00,0.000,1030,0.000,0.024,2680,1993,2981,3013,2949,0,0,0,0,0,0,26.46,26.43,26.48
$GC,2196,-0.45,-126.5,2680,1990,3015,2946,333.2,-12.0,205,2200,0.00,2.10,0.00,0.000,260,0.000,0.032,2670,3407,2980,3015,2946,0,0,0,0,0,0,26.77,26.45,26.77
$GC,2265,-0.45,-126.5,2670,3406,3014,2946,339.7,-11.9,208,2273,0.00,2.08,0.00,0.000,1030,0.000,0.024,2670,1984,2980,3014,2946,0,0,0,0,0,0,26.54,26.48,26.56
$STATE,2630,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2630,begin apogee
$GC,2635,0.00,0.0,2670,1831,3014,2944,390.3,-14.0,227,2734,0.55,0.10,94.40,0.848,10246,0.127,0.072,2842,1946,2464,2515,2413,0,0,0,0,0,0,26.24,25.17,24.63
$STATE,2735,end apogee,CONTROL_FINISHED_OK
$STATE,2735,begin climb
$GC,2736,0.45,126.5,2842,1946,2515,2413,393.0,0.0,232,2842,0.40,2.08,98.72,0.851,10500,0.037,0.029,3024,3262,1947,2000,1895,0,0,0,0,0,0,25.33,24.76,24.37
$GC,2858,0.47,146.0,3024,3262,1998,1894,386.1,9.5,238,2883,0.12,2.10,16.77,0.783,13318,0.193,0.024,3002,1898,1868,1924,1812,0,0,0,0,0,0,25.08,25.24,24.51
$GC,3690,0.47,146.0,3001,1897,1914,1805,240.8,18.6,280,3694,0.00,2.12,0.00,0.000,516,0.000,0.032,3011,490,1859,1913,1805,0,0,0,0,0,0,26.54,26.23,26.56
$GC,3754,0.47,146.0,3011,490,1910,1802,231.2,17.3,283,3759,0.00,2.05,0.00,0.000,1030,0.000,0.028,3011,1858,1856,1910,1802,0,0,0,0,0,0,26.35,26.28,26.37
$GC,4566,0.47,146.0,3011,1863,1912,1798,99.6,12.3,354,4575,0.00,2.10,0.00,0.000,516,0.000,0.031,3022,486,1854,1911,1797,0,0,0,0,0,0,26.70,26.39,26.71
$GC,4692,0.47,146.0,3021,486,1908,1797,83.9,12.5,377,4699,0.00,2.12,0.00,0.000,1030,0.000,0.030,3022,1903,1853,1909,1797,0,0,0,0,0,0,26.48,26.41,26.51
$GC,5015,0.47,146.0,3021,1908,1911,1796,47.3,10.5,438,5024,0.00,2.10,0.00,0.000,260,0.000,0.033,3022,3301,1853,1911,1796,0,0,0,0,0,0,26.73,26.43,26.74
$GC,5161,0.47,146.0,3021,3301,1911,1798,31.9,10.9,463,5171,0.08,2.10,0.00,0.000,5126,0.189,0.024,3009,1898,1854,1911,1798,0,0,0,0,0,0,26.20,26.46,26.32
$GC,5315,0.47,146.0,3009,1898,1912,1797,16.2,10.6,488,5325,0.00,2.15,0.00,0.000,516,0.000,0.032,3018,485,1853,1910,1796,0,0,0,0,0,0,26.74,26.42,26.75
$GC,5346,0.47,146.0,3019,485,1908,1797,12.9,11.2,492,5355,0.00,2.15,0.00,0.000,1030,0.000,0.026,3019,1904,1853,1911,1796,0,0,0,0,0,0,26.49,26.46,26.51
$GC,5404,0.47,146.0,3019,1905,1912,1796,6.3,11.6,501,5412,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1904,1854,1912,1796,0,0,0,0,0,0,26.74,26.76,26.76
$STATE,5437,end climb,SURFACE_DEPTH_REACHED
$STATE,5437,begin surface coast
$FINISH,0.7,1.014675
$STATE,5462,end surface coast,CONTROL_FINISHED_OK
$STATE,5463,begin surface
$SM_CCo,5478,142.32,0.047,0,0,499,482.01
$SM_GC,1.52,7.32,0.10,142.32,0.022,0.088,0.047,125,2019,499,-8.44,-1.33,482.01,0,0,0,0,0,0,26.46,26.51,26.29
$IRIDIUM_FIX,-2940.11,3124.24,040717,040658
$TT8_MAMPS,0.025466,0.261401
$HUMID,54.41
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,20.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,371.2,32.3
$24V_AH,24.37,20.281
$10V_AH,10.35,10.057
$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,18.225,42.450,209.900,142.325,0.000,31.466,41.483,191.883,8.500,0.000,11.944,1255.313,2823.195,433.810,1422.425,75.920,0.000,932.551,0.000,1111.385,0.000,55.501,0.000
$DEVICE_MAMPS,229.500,91.800,850.680,47.430,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,350.444,101.093,439.096,443.653,0.000,0.000,0.000,0.000,0.000,0.000
$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,33762,510
$CAP_FILE_SIZE,66294,0
$CFSIZE,2097086464,2068381696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,040717,054654,-2952.756,3119.400,6,0.9,6,-24.7,0.6,27.9,8,49.9