version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 220
start: 7 2 117 20 13 28
data:
$ID,574
$MISSION,23
$DIVE,220
$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,10
$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,49
$R_STBD_OVSHOOT,88
$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
$GPS1,020717,200702,-2950.6282,3119.2686,34,1.0,34,-24.7,0.0,0.0,9,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-70.1
$GPS2,020717,201241,-2950.6370,3119.2810,5,1.0,5,-24.7,0.8,259.5,9,14.9
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,-2940.002,3121.439
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,34.7,20000,-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,-126.5,125,2023,563,460,0.0,0.0,0,103,0.00,0.00,-86.38,0.000,16386,0.000,0.000,125,2023,2937,2952,2922,0,0,0,0,0,0,26.27,28.83,26.29
$GC,106,-0.45,-126.5,124,2023,2952,2922,4.1,-7.1,11,124,9.57,2.00,-0.80,0.000,18692,0.211,0.041,2679,3372,2982,3001,2964,0,0,0,0,0,0,25.78,25.51,25.94
$GC,282,-0.45,-126.5,2678,3372,3010,2957,48.7,-16.3,41,289,0.00,2.05,0.00,0.000,1030,0.000,0.027,2679,1993,2983,3011,2956,0,0,0,0,0,0,26.25,26.17,26.25
$GC,609,-0.45,-126.5,2678,1993,3017,2953,113.8,-16.4,94,612,0.00,2.00,0.00,0.000,260,0.000,0.029,2669,3360,2985,3017,2953,0,0,0,0,0,0,26.57,26.29,26.58
$GC,666,-0.45,-126.5,2669,3359,3016,2953,121.7,-13.4,99,674,0.00,2.03,0.00,0.000,1030,0.000,0.024,2669,1981,2984,3016,2952,0,0,0,0,0,0,26.39,26.32,26.40
$GC,974,-0.45,-126.5,2669,1978,3019,2952,171.8,-15.3,130,978,0.00,2.03,0.00,0.000,260,0.000,0.031,2659,3359,2985,3019,2952,0,0,0,0,0,0,26.64,26.36,26.65
$GC,1023,-0.45,-126.5,2659,3359,3019,2952,178.1,-13.9,134,1031,0.08,2.05,0.00,0.000,3078,0.136,0.024,2694,1986,2985,3019,2952,0,0,0,0,0,0,26.23,26.39,26.36
$GC,1330,-0.45,-126.5,2694,1984,3019,2952,215.8,-12.1,159,1331,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,1985,2986,3020,2952,0,0,0,0,0,0,26.70,26.71,26.70
$GC,2132,-0.45,-126.5,2694,1983,3020,2951,314.0,-11.7,199,2137,0.00,2.05,0.00,0.000,516,0.000,0.031,2694,589,2986,3021,2951,0,0,0,0,0,0,26.75,26.46,26.76
$GC,2198,-0.45,-126.5,2694,588,3020,2951,320.7,-11.4,202,2202,0.00,2.05,0.00,0.000,1030,0.000,0.027,2686,1976,2985,3020,2950,0,0,0,0,0,0,26.55,26.48,26.56
$STATE,2549,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2549,begin apogee
$GC,2553,0.00,0.0,2685,1831,3020,2949,364.5,-12.3,220,2645,0.50,0.08,87.88,0.822,10246,0.122,0.090,2843,1934,2465,2518,2412,0,0,0,0,0,0,26.32,25.22,24.67
$STATE,2646,end apogee,CONTROL_FINISHED_OK
$STATE,2646,begin climb
$GC,2648,0.45,126.5,2843,1935,2523,2415,365.5,0.0,224,2758,0.38,2.30,99.50,0.829,10756,0.033,0.030,3036,498,1948,2005,1892,0,0,0,0,0,0,25.39,24.76,24.37
$GC,3083,0.45,126.5,3036,498,1993,1892,303.5,16.4,246,3091,0.15,2.08,0.00,0.000,5126,0.173,0.028,2995,1868,1942,1993,1892,0,0,0,0,0,0,25.80,26.01,25.98
$GC,3890,0.45,126.5,2993,1873,1996,1883,182.9,14.2,293,3894,0.00,2.08,0.00,0.000,516,0.000,0.032,3003,492,1939,1995,1883,0,0,0,0,0,0,26.62,26.32,26.63
$GC,3909,0.45,126.5,3003,491,1994,1882,180.6,14.6,294,3916,0.00,2.10,0.00,0.000,1030,0.000,0.025,3004,1897,1939,1995,1883,0,0,0,0,0,0,26.41,26.34,26.44
$GC,4216,0.45,126.5,3003,1901,1995,1883,132.2,15.5,325,4217,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1901,1939,1995,1883,0,0,0,0,0,0,26.67,26.68,26.68
$GC,4518,0.47,138.6,3003,1901,1995,1882,96.0,9.7,358,4539,0.00,2.12,8.88,0.590,8452,0.000,0.031,3003,3305,1900,1960,1841,0,0,0,0,0,0,26.70,26.23,25.63
$GC,4592,0.47,138.6,3003,3305,1960,1842,86.6,13.0,371,4599,0.00,2.08,0.00,0.000,1030,0.000,0.025,3013,1898,1901,1960,1842,0,0,0,0,0,0,26.41,26.34,26.43
$GC,4916,0.47,138.6,3013,1897,1959,1841,49.3,11.9,432,4925,0.00,2.10,0.00,0.000,260,0.000,0.030,3013,3301,1900,1959,1841,0,0,0,0,0,0,26.67,26.39,26.68
$GC,4978,0.47,138.6,3013,3301,1959,1842,42.3,11.3,443,4985,0.00,2.08,0.00,0.000,1030,0.000,0.026,3024,1890,1900,1959,1842,0,0,0,0,0,0,26.47,26.40,26.49
$GC,5340,0.47,138.6,3023,1890,1959,1841,9.7,10.7,504,5348,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,1890,1899,1958,1841,0,0,0,0,0,0,26.72,26.73,26.73
$GC,5398,0.50,169.4,3023,1889,1959,1841,4.5,9.2,513,5416,0.00,2.12,13.00,0.050,8707,0.000,0.029,3034,488,1772,1841,1704,0,0,0,0,0,0,26.72,26.48,26.39
$STATE,5417,end climb,SURFACE_DEPTH_REACHED
$STATE,5417,begin surface coast
$FINISH,1.0,1.025398
$STATE,5448,end surface coast,CONTROL_FINISHED_OK
$STATE,5448,begin surface
$SM_CCo,5465,134.62,0.047,0,0,500,482.01
$SM_GC,1.43,7.40,2.28,134.62,0.025,0.018,0.047,125,2021,500,-8.41,-1.02,482.01,0,0,0,0,0,0,26.43,26.48,26.29
$IRIDIUM_FIX,-2940.11,3118.71,020717,200803
$TT8_MAMPS,0.026215,0.261401
$HUMID,54.72
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,20.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,352.3,26.1
$24V_AH,24.37,18.684
$10V_AH,10.33,9.047
$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,18.075,37.750,209.250,134.625,0.000,29.212,20.505,199.777,8.250,0.000,12.639,1275.769,2717.612,413.785,1497.884,71.054,0.000,936.911,0.000,1195.673,0.000,53.925,0.000
$DEVICE_MAMPS,211.140,90.270,829.260,47.430,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,358.115,106.162,477.444,471.338,0.000,0.000,0.000,0.000,0.000,0.000
$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,33820,520
$CAP_FILE_SIZE,65717,0
$CFSIZE,2097086464,2070642688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,020717,214728,-2950.260,3119.335,6,1.3,6,-24.7,0.0,0.0,7,187.0