version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 246
start: 7 4 117 9 32 1
data:
$ID,574
$MISSION,23
$DIVE,246
$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,23
$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
$GPS1,040717,091909,-2954.1824,3120.3967,5,1.0,5,-24.8,0.5,170.5,8,20.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-80.4
$GPS2,040717,093113,-2954.3286,3120.4478,6,1.2,6,-24.8,0.9,176.2,7,22.9
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,-3001.965,3129.268
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,159.8,20000,-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,14,begin dive
$GC,15,-0.45,-126.5,125,2007,524,449,0.0,0.0,0,103,0.00,0.00,-85.53,0.000,16386,0.000,0.000,125,2007,2905,2918,2893,0,0,0,0,0,0,26.22,28.83,26.24
$GC,106,-0.45,-126.5,125,2007,2918,2894,3.4,-3.8,11,124,9.65,2.17,-1.42,0.000,18948,0.213,0.036,2697,554,2981,3001,2961,0,0,0,0,0,0,25.69,25.45,25.84
$GC,196,-0.45,-126.5,2696,554,3005,2960,30.3,-16.8,25,205,0.00,2.22,0.00,0.000,1030,0.000,0.028,2688,1994,2983,3010,2956,0,0,0,0,0,0,26.12,26.10,26.16
$GC,338,-0.45,-126.5,2687,1998,3011,2954,59.6,-21.2,50,345,0.00,2.08,0.00,0.000,260,0.000,0.031,2677,3405,2983,3012,2954,0,0,0,0,0,0,26.45,26.16,26.46
$GC,426,-0.45,-126.5,2676,3405,3012,2953,75.4,-16.4,66,434,0.00,2.15,0.00,0.000,1030,0.000,0.023,2677,1974,2982,3012,2953,0,0,0,0,0,0,26.25,26.22,26.27
$GC,741,-0.45,-126.5,2677,1974,3014,2952,134.1,-17.9,107,745,0.00,2.05,0.00,0.000,516,0.000,0.028,2677,587,2983,3014,2952,0,0,0,0,0,0,26.59,26.29,26.60
$GC,868,-0.45,-126.5,2676,587,3015,2952,151.8,-13.0,119,875,0.10,2.08,0.00,0.000,3078,0.176,0.027,2698,1992,2983,3016,2951,0,0,0,0,0,0,26.15,26.34,26.29
$GC,1174,-0.45,-126.5,2697,1992,3017,2952,185.0,-11.5,150,1177,0.00,2.05,0.00,0.000,260,0.000,0.032,2689,3397,2984,3017,2951,0,0,0,0,0,0,26.67,26.37,26.68
$GC,1300,-0.45,-126.5,2689,3396,3016,2951,196.8,-9.3,162,1309,0.00,2.05,0.00,0.000,1030,0.000,0.023,2688,1988,2983,3016,2951,0,0,0,0,0,0,26.47,26.41,26.49
$GC,1610,-0.45,-126.5,2688,1984,3017,2950,238.2,-11.8,179,1616,0.00,2.08,0.00,0.000,260,0.000,0.031,2679,3402,2983,3017,2950,0,0,0,0,0,0,26.72,26.41,26.73
$GC,1754,-0.45,-126.5,2677,3402,3017,2949,250.8,-8.8,186,1758,0.00,2.12,0.00,0.000,1030,0.000,0.025,2678,1985,2983,3017,2949,0,0,0,0,0,0,26.47,26.44,26.50
$GC,2571,-0.45,-126.5,2678,1981,3017,2945,356.3,-13.5,227,2575,0.00,2.08,0.00,0.000,516,0.000,0.030,2679,579,2981,3017,2945,0,0,0,0,0,0,26.77,26.45,26.77
$GC,2695,-0.45,-126.5,2678,578,3017,2945,370.7,-11.8,233,2699,0.00,2.10,0.00,0.000,1030,0.000,0.028,2668,1990,2981,3017,2945,0,0,0,0,0,0,26.54,26.47,26.56
$STATE,2946,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2946,begin apogee
$GC,2951,0.00,0.0,2668,1827,3017,2944,407.3,-13.9,246,3050,0.55,0.10,94.60,0.866,10246,0.143,0.076,2839,1957,2465,2515,2415,0,0,0,0,0,0,26.24,25.15,24.60
$STATE,3051,end apogee,CONTROL_FINISHED_OK
$STATE,3051,begin climb
$GC,3052,0.45,126.5,2839,1959,2514,2415,410.6,0.0,251,3160,0.38,2.40,98.65,0.861,10756,0.035,0.031,3029,496,1947,1999,1895,0,0,0,0,0,0,25.31,24.89,24.34
$GC,3201,0.45,126.5,3028,495,1992,1894,400.3,13.1,258,3209,0.12,2.20,0.00,0.000,5126,0.187,0.027,2996,1906,1942,1992,1893,0,0,0,0,0,0,25.24,25.39,25.39
$GC,4008,0.45,126.5,2995,1911,1991,1883,259.9,15.5,299,4009,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,1910,1937,1991,1883,0,0,0,0,0,0,26.55,26.57,26.56
$GC,4809,0.45,126.5,2995,1911,1989,1879,142.2,15.3,360,4818,0.00,2.03,0.00,0.000,260,0.000,0.028,2996,3307,1934,1989,1879,0,0,0,0,0,0,26.69,26.41,26.70
$GC,4870,0.45,126.5,2995,3307,1988,1880,133.4,13.2,366,4874,0.00,2.08,0.00,0.000,1030,0.000,0.025,3005,1896,1934,1988,1881,0,0,0,0,0,0,26.48,26.41,26.50
$GC,5177,0.45,126.5,3005,1896,1987,1879,94.0,13.0,400,5185,0.00,2.12,0.00,0.000,516,0.000,0.031,3016,500,1933,1987,1879,0,0,0,0,0,0,26.72,26.43,26.73
$GC,5589,0.55,204.3,3015,499,1984,1879,61.4,8.0,477,5656,0.00,2.10,57.33,0.646,9222,0.000,0.026,3016,1913,1630,1708,1552,0,0,0,0,0,0,26.53,26.46,25.20
$GC,5997,0.55,204.3,3015,1917,1702,1546,7.6,14.0,548,6005,0.00,2.20,0.00,0.000,516,0.000,0.032,3026,487,1623,1700,1546,0,0,0,0,0,0,26.44,26.14,26.46
$STATE,6030,end climb,SURFACE_DEPTH_REACHED
$STATE,6030,begin surface coast
$FINISH,0.7,0.999783
$STATE,6050,end surface coast,CONTROL_FINISHED_OK
$STATE,6050,begin surface
$SM_CCo,6067,120.45,0.047,0,0,498,482.01
$SM_GC,1.53,7.47,2.28,120.45,0.024,0.017,0.047,125,2000,498,-8.45,-1.36,482.01,0,0,0,0,0,0,26.20,26.24,26.10
$IRIDIUM_FIX,-2940.11,3122.12,040717,092649
$TT8_MAMPS,0.025466,0.295855
$HUMID,55.00
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,20.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,390.1,30.9
$24V_AH,24.34,20.526
$10V_AH,10.28,10.203
$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,18.275,42.950,250.575,120.450,0.000,98.041,99.305,278.715,9.000,0.000,12.754,1349.106,3313.399,431.348,1766.510,86.182,0.000,987.970,0.000,1207.606,0.000,57.154,0.000
$DEVICE_MAMPS,213.435,87.210,865.980,46.665,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,386.478,96.190,402.888,409.226,0.000,0.000,0.000,0.000,0.000,0.000
$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,37154,556
$CAP_FILE_SIZE,73348,0
$CFSIZE,2097086464,2068086784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,040717,111618,-2955.182,3121.277,36,1.0,36,-24.8,1.2,172.3,8,10.0