version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 249
start: 7 4 117 14 48 55
data:
$ID,574
$MISSION,23
$DIVE,249
$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,160
$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,350
$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,50
$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,1940
$C_ROLL_CLIMB,1896
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,49
$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
$GPS1,040717,144214,-2957.5039,3122.7566,13,0.8,13,-24.9,0.7,218.8,10,311.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-75.9
$GPS2,040717,144808,-2957.6023,3122.6260,9,0.8,9,-24.9,0.0,0.0,11,350.3
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,-3005.239,3131.451
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,159.9,20000,-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,-0.46,-155.7,126,1909,525,450,0.0,0.0,0,104,0.00,0.00,-85.97,0.000,16386,0.000,0.000,126,1909,2951,2965,2938,0,0,0,0,0,0,26.30,28.83,26.31
$GC,106,-0.46,-155.7,126,1909,2965,2938,4.1,-6.5,11,124,9.55,0.00,-2.62,0.000,18950,0.210,0.000,2684,1905,3103,3140,3067,0,0,0,0,0,0,25.74,24.94,25.92
$GC,174,-0.46,-155.7,2683,1908,3147,3061,32.1,-33.4,21,182,0.00,2.10,0.00,0.000,516,0.000,0.031,2684,534,3104,3147,3061,0,0,0,0,0,0,26.39,26.09,26.40
$GC,191,-0.46,-155.7,2684,534,3147,3061,37.6,-30.6,23,200,0.00,2.15,0.00,0.000,1030,0.000,0.022,2676,1945,3104,3147,3061,0,0,0,0,0,0,26.17,26.13,26.18
$GC,329,-0.46,-155.7,2675,1950,3149,3060,75.8,-26.6,48,338,0.00,2.15,0.00,0.000,516,0.000,0.030,2675,540,3104,3149,3060,0,0,0,0,0,0,26.48,26.17,26.49
$GC,355,-0.46,-155.7,2675,539,3149,3060,82.3,-25.6,52,363,0.08,2.12,0.00,0.000,3078,0.170,0.024,2687,1936,3105,3150,3060,0,0,0,0,0,0,26.03,26.22,26.10
$GC,668,-0.46,-155.7,2687,1941,3154,3058,141.3,-18.5,90,677,0.00,2.08,0.00,0.000,260,0.000,0.029,2678,3361,3105,3153,3058,0,0,0,0,0,0,26.57,26.30,26.58
$GC,709,-0.46,-155.7,2678,3361,3154,3056,148.0,-16.5,94,713,0.00,2.10,0.00,0.000,1030,0.000,0.024,2678,1931,3105,3155,3056,0,0,0,0,0,0,26.40,26.33,26.41
$GC,1014,-0.46,-155.7,2678,1928,3156,3055,203.6,-17.8,123,1018,0.00,2.10,0.00,0.000,260,0.000,0.031,2668,3358,3105,3156,3054,0,0,0,0,0,0,26.67,26.36,26.68
$GC,1094,-0.46,-155.7,2667,3358,3157,3055,213.4,-12.4,127,1098,0.00,2.10,0.00,0.000,1030,0.000,0.023,2668,1943,3106,3157,3055,0,0,0,0,0,0,26.43,26.41,26.46
$GC,1912,-0.46,-155.7,2667,1940,3157,3053,339.3,-15.2,168,1918,0.00,2.10,0.00,0.000,260,0.000,0.032,2658,3356,3105,3157,3053,0,0,0,0,0,0,26.75,26.44,26.76
$GC,2054,-0.46,-155.7,2657,3356,3157,3052,354.2,-9.7,175,2059,0.10,2.12,0.00,0.000,3078,0.113,0.024,2693,1932,3105,3158,3052,0,0,0,0,0,0,26.32,26.47,26.39
$STATE,2830,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2830,begin apogee
$GC,2834,0.00,0.0,2693,1928,3157,3045,431.7,-9.2,214,2955,0.47,0.00,117.43,0.890,10246,0.113,0.000,2848,1927,2465,2523,2407,0,0,0,0,0,0,26.29,25.01,24.47
$STATE,2956,end apogee,CONTROL_FINISHED_OK
$STATE,2956,begin climb
$GC,2958,0.46,155.7,2848,1927,2523,2407,435.9,0.0,220,3092,0.40,2.30,121.15,0.881,10756,0.037,0.033,3038,501,1829,1887,1772,0,0,0,0,0,0,25.20,24.70,24.29
$GC,3134,0.46,155.7,3037,501,1880,1770,415.7,20.4,229,3139,0.15,2.17,0.00,0.000,5126,0.181,0.025,2998,1899,1824,1880,1769,0,0,0,0,0,0,25.20,25.39,25.37
$GC,3951,0.46,155.7,2998,1904,1879,1760,255.7,19.6,270,3952,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,1904,1819,1879,1760,0,0,0,0,0,0,26.54,26.56,26.56
$GC,4751,0.46,155.7,2998,1904,1877,1758,115.7,13.1,335,4755,0.00,2.12,0.00,0.000,516,0.000,0.032,3007,491,1817,1877,1757,0,0,0,0,0,0,26.68,26.36,26.70
$GC,4899,0.46,155.7,3007,491,1874,1756,98.2,12.4,350,4905,0.00,2.10,0.00,0.000,1030,0.000,0.027,3007,1896,1815,1874,1757,0,0,0,0,0,0,26.48,26.41,26.51
$GC,5223,0.46,155.7,3006,1898,1876,1755,56.1,12.3,411,5230,0.00,2.10,0.00,0.000,260,0.000,0.032,3007,3313,1815,1876,1755,0,0,0,0,0,0,26.72,26.41,26.73
$GC,5237,0.46,155.7,3007,3313,1876,1755,54.7,11.4,413,5243,0.00,2.08,0.00,0.000,1030,0.000,0.023,3017,1894,1815,1876,1755,0,0,0,0,0,0,26.51,26.44,26.52
$GC,5584,0.46,155.7,3017,1894,1876,1755,19.2,11.2,474,5593,0.00,2.15,0.00,0.000,516,0.000,0.034,3028,491,1815,1876,1755,0,0,0,0,0,0,26.74,26.41,26.75
$GC,5728,0.46,155.7,3028,490,1873,1755,3.0,11.6,498,5737,0.10,2.12,0.00,0.000,5126,0.157,0.025,2998,1907,1815,1877,1754,0,0,0,0,0,0,26.22,26.46,26.33
$STATE,5744,end climb,SURFACE_DEPTH_REACHED
$STATE,5744,begin surface coast
$FINISH,0.7,1.011941
$STATE,5770,end surface coast,CONTROL_FINISHED_OK
$STATE,5770,begin surface
$SM_CCo,5784,80.32,0.050,0,0,1037,350.04
$SM_GC,1.61,7.32,0.00,80.32,0.024,0.000,0.050,126,1912,1037,-8.46,-0.79,350.04,0,0,0,0,0,0,26.46,26.76,26.32
$IRIDIUM_FIX,-2945.08,3123.42,040717,144330
$TT8_MAMPS,0.025466,0.262899
$HUMID,56.02
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,20.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,411.6,33.0
$24V_AH,24.29,20.764
$10V_AH,10.33,10.348
$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,18.175,38.275,238.575,80.325,0.000,37.651,18.166,200.841,9.500,0.000,16.767,1235.525,3130.429,389.894,1420.466,74.814,0.000,899.820,0.000,1110.739,0.000,60.894,0.000
$DEVICE_MAMPS,209.610,33.660,889.695,49.725,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,347.860,89.853,400.197,402.310,0.000,0.000,0.000,0.000,0.000,0.000
$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,33713,504
$CAP_FILE_SIZE,65296,0
$CFSIZE,2097086464,2067824640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,040717,162756,-2959.040,3123.356,42,1.0,42,-24.9,1.1,233.6,9,8.5