version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 266
start: 7 6 117 0 28 43
data:
$ID,574
$MISSION,23
$DIVE,266
$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,180
$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,30
$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,310
$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,2835
$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,1980
$C_ROLL_CLIMB,1896
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,40
$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
$GPS1,060717,002142,-3011.0278,3101.3660,7,0.8,7,-25.0,0.6,5.0,11,352.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-77.8
$GPS2,060717,002756,-3010.9607,3101.4126,7,1.6,7,-25.0,0.5,78.1,6,155.0
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,-3001.608,3107.649
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,55.0,20000,-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,-0.48,-175.2,126,1980,1252,1116,0.0,0.0,0,80,0.00,0.00,-62.67,0.000,16386,0.000,0.000,126,1981,2982,2993,2971,0,0,0,0,0,0,26.31,28.83,26.32
$GC,83,-0.48,-175.2,126,1981,2993,2972,4.0,-6.2,8,102,9.68,2.17,-3.55,0.000,18692,0.216,0.044,2660,3396,3182,3210,3154,0,0,0,0,0,0,25.67,24.73,25.84
$GC,129,-0.48,-175.2,2659,3397,3219,3147,23.7,-43.3,14,137,0.00,2.17,0.00,0.000,1030,0.000,0.030,2660,1988,3184,3224,3144,0,0,0,0,0,0,26.09,26.05,26.11
$GC,274,-0.48,-175.2,2659,1988,3228,3140,60.5,-24.0,39,281,0.00,2.15,0.00,0.000,516,0.000,0.033,2660,564,3184,3229,3140,0,0,0,0,0,0,26.43,26.13,26.44
$GC,300,-0.48,-175.2,2659,563,3229,3140,67.0,-24.3,43,307,0.00,2.12,0.00,0.000,1030,0.000,0.022,2650,1990,3184,3228,3140,0,0,0,0,0,0,26.24,26.17,26.26
$GC,622,-0.48,-175.2,2649,1995,3232,3140,137.7,-19.9,87,624,0.10,0.00,0.00,0.000,2054,0.197,0.000,2678,1995,3186,3232,3140,0,0,0,0,0,0,26.08,26.28,26.23
$GC,923,-0.48,-175.2,2678,1995,3235,3141,180.5,-13.3,117,931,0.00,2.05,0.00,0.000,260,0.000,0.031,2669,3394,3187,3235,3140,0,0,0,0,0,0,26.60,26.33,26.62
$GC,996,-0.48,-175.2,2669,3394,3234,3140,189.1,-11.3,124,1004,0.00,2.12,0.00,0.000,1030,0.000,0.023,2669,1970,3187,3235,3139,0,0,0,0,0,0,26.40,26.36,26.42
$GC,1313,-0.48,-175.2,2669,1968,3235,3138,239.8,-16.1,144,1317,0.00,2.08,0.00,0.000,260,0.000,0.030,2659,3387,3187,3236,3138,0,0,0,0,0,0,26.69,26.38,26.70
$GC,1392,-0.48,-175.2,2659,3387,3236,3138,250.6,-14.1,148,1396,0.00,2.10,0.00,0.000,1030,0.000,0.024,2659,1983,3187,3236,3138,0,0,0,0,0,0,26.44,26.41,26.45
$GC,2212,-0.48,-175.2,2658,1979,3236,3133,381.7,-12.7,189,2218,0.00,2.05,0.00,0.000,260,0.000,0.030,2648,3388,3184,3236,3133,0,0,0,0,0,0,26.73,26.44,26.74
$GC,2306,-0.48,-175.2,2648,3388,3236,3133,391.2,-11.7,193,2314,0.10,2.08,0.00,0.000,3078,0.171,0.024,2682,1970,3184,3235,3133,0,0,0,0,0,0,26.25,26.45,26.39
$STATE,2452,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2452,begin apogee
$GC,2457,0.00,0.0,2682,1846,3235,3132,410.0,-11.5,201,2594,0.47,0.00,133.12,0.889,10246,0.132,0.000,2833,1843,2464,2534,2394,0,0,0,0,0,0,26.23,24.92,24.37
$STATE,2595,end apogee,CONTROL_FINISHED_OK
$STATE,2595,begin climb
$GC,2597,0.48,175.2,2833,1843,2534,2394,415.1,0.0,208,2739,0.40,0.00,137.55,0.879,10758,0.031,0.000,3032,1844,1749,1835,1663,0,0,0,0,0,0,25.12,24.74,24.22
$GC,3533,0.48,175.2,3032,1844,1822,1657,214.3,21.8,255,3538,0.10,2.17,0.00,0.000,4356,0.232,0.027,2997,3303,1739,1821,1657,0,0,0,0,0,0,25.97,26.16,26.09
$GC,3570,0.48,175.2,2996,3303,1821,1657,207.3,20.3,257,3574,0.00,2.03,0.00,0.000,1030,0.000,0.026,3005,1944,1739,1821,1657,0,0,0,0,0,0,26.29,26.22,26.31
$GC,4389,0.48,175.2,3005,1944,1821,1650,74.8,12.1,355,4395,0.00,2.00,0.00,0.000,260,0.000,0.028,3005,3306,1736,1821,1651,0,0,0,0,0,0,26.66,26.37,26.67
$GC,4559,0.48,175.2,3005,3306,1820,1650,54.2,12.2,387,4566,0.00,2.10,0.00,0.000,1030,0.000,0.028,3015,1896,1735,1820,1651,0,0,0,0,0,0,26.45,26.38,26.48
$GC,4910,0.48,175.2,3015,1896,1820,1650,9.9,15.2,448,4919,0.00,2.15,0.00,0.000,516,0.000,0.034,3026,498,1734,1819,1650,0,0,0,0,0,0,26.70,26.37,26.71
$STATE,4955,end climb,SURFACE_DEPTH_REACHED
$STATE,4955,begin surface coast
$FINISH,1.2,1.025457
$STATE,4981,end surface coast,CONTROL_FINISHED_OK
$STATE,4981,begin surface
$SM_CCo,4998,55.85,0.050,0,0,1201,310.05
$SM_GC,1.91,7.40,2.25,55.85,0.028,0.019,0.050,127,1988,1201,-8.36,-1.07,310.05,0,0,0,0,0,0,26.41,26.43,26.30
$IRIDIUM_FIX,-2957.51,3102.96,060717,002247
$TT8_MAMPS,0.025466,0.262899
$HUMID,57.24
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,19.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,391.2,32.2
$24V_AH,24.22,22.290
$10V_AH,10.30,11.195
$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,18.250,33.875,270.675,55.850,0.000,29.156,47.414,204.887,9.000,0.000,14.122,1137.181,2556.916,393.310,1304.129,71.213,0.000,822.646,0.000,971.006,0.000,57.143,0.000
$DEVICE_MAMPS,231.795,94.860,888.930,49.725,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,314.702,85.629,353.619,358.679,0.000,0.000,0.000,0.000,0.000,0.000
$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,30278,459
$CAP_FILE_SIZE,58229,0
$CFSIZE,2097086464,2066186240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,060717,015402,-3009.656,3102.902,31,1.1,31,-25.0,0.8,80.0,7,9.8