version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 267
start: 7 6 117 2 0 57
data:
$ID,574
$MISSION,23
$DIVE,267
$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,100
$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,42
$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
$GPS1,060717,015402,-3009.6560,3102.9019,31,1.1,31,-25.0,0.8,80.0,7,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-78.5
$GPS2,060717,020011,-3009.6621,3102.9915,6,1.1,6,-25.0,1.1,94.1,7,58.5
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,-3011.537,3115.296
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,125.0,20000,-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,-175.2,127,1993,1249,1120,0.0,0.0,0,80,0.00,0.00,-62.65,0.000,16386,0.000,0.000,127,1994,2956,2963,2949,0,0,0,0,0,0,26.32,28.83,26.32
$GC,83,-0.48,-175.2,127,1994,2966,2947,3.7,-4.4,8,109,9.65,2.17,-4.10,0.000,18948,0.215,0.039,2671,560,3182,3214,3150,0,0,0,0,0,0,25.68,24.71,25.84
$GC,124,-0.48,-175.2,2670,559,3218,3149,22.0,-47.2,13,133,0.00,2.20,0.00,0.000,1030,0.000,0.027,2662,1983,3183,3221,3146,0,0,0,0,0,0,26.10,26.06,26.13
$GC,268,-0.48,-175.2,2661,1987,3226,3142,64.2,-31.2,38,274,0.00,2.08,0.00,0.000,260,0.000,0.028,2651,3404,3184,3226,3142,0,0,0,0,0,0,26.44,26.15,26.45
$GC,339,-0.48,-175.2,2650,3404,3227,3140,78.1,-14.8,51,345,0.00,2.12,0.00,0.000,1030,0.000,0.024,2651,1976,3183,3228,3139,0,0,0,0,0,0,26.26,26.20,26.27
$GC,654,-0.48,-175.2,2651,1976,3233,3137,140.1,-17.4,91,663,0.00,2.08,0.00,0.000,516,0.000,0.030,2651,578,3184,3232,3137,0,0,0,0,0,0,26.55,26.27,26.57
$GC,745,-0.48,-175.2,2651,577,3233,3137,153.5,-12.5,100,749,0.12,2.12,0.00,0.000,3078,0.162,0.028,2680,1986,3185,3233,3137,0,0,0,0,0,0,26.10,26.32,26.26
$GC,1050,-0.48,-175.2,2679,1986,3236,3137,194.0,-12.7,130,1054,0.00,2.08,0.00,0.000,260,0.000,0.031,2670,3394,3186,3236,3137,0,0,0,0,0,0,26.65,26.35,26.67
$GC,1144,-0.48,-175.2,2669,3394,3236,3137,201.6,-8.0,137,1151,0.00,2.08,0.00,0.000,1030,0.000,0.024,2670,1968,3186,3235,3137,0,0,0,0,0,0,26.45,26.39,26.47
$GC,1951,-0.48,-175.2,2669,1965,3236,3135,309.2,-13.0,178,1955,0.00,2.10,0.00,0.000,260,0.000,0.031,2660,3394,3185,3236,3134,0,0,0,0,0,0,26.74,26.42,26.74
$GC,2040,-0.48,-175.2,2659,3394,3236,3134,317.0,-10.1,182,2046,0.00,2.08,0.00,0.000,1030,0.000,0.024,2660,1971,3184,3236,3133,0,0,0,0,0,0,26.51,26.45,26.53
$STATE,2685,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2685,begin apogee
$GC,2690,0.00,0.0,2659,1850,3236,3130,411.7,-13.6,215,2827,0.55,0.00,132.95,0.884,10246,0.138,0.000,2831,1848,2464,2534,2394,0,0,0,0,0,0,26.22,24.94,24.39
$STATE,2828,end apogee,CONTROL_FINISHED_OK
$STATE,2829,begin climb
$GC,2830,0.48,175.2,2831,1848,2534,2394,417.4,0.0,222,2975,0.40,2.33,137.10,0.871,11012,0.039,0.029,3017,3320,1748,1837,1659,0,0,0,0,0,0,25.13,24.77,24.23
$GC,3010,0.48,175.2,3016,3320,1833,1659,399.3,17.7,231,3015,0.10,2.17,0.00,0.000,5126,0.184,0.028,2999,1954,1746,1833,1659,0,0,0,0,0,0,25.09,25.24,25.19
$GC,3828,0.48,175.2,2998,1952,1826,1652,237.1,20.8,272,3832,0.00,2.15,0.00,0.000,516,0.000,0.034,3008,542,1739,1826,1652,0,0,0,0,0,0,26.51,26.19,26.51
$GC,3877,0.48,175.2,3007,541,1818,1652,229.7,20.6,274,3884,0.00,2.03,0.00,0.000,1030,0.000,0.024,3008,1900,1735,1819,1652,0,0,0,0,0,0,26.31,26.25,26.33
$GC,4692,0.48,175.2,3007,1904,1820,1649,79.8,13.4,361,4698,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1904,1734,1820,1649,0,0,0,0,0,0,26.66,26.68,26.67
$GC,5021,0.48,175.2,3008,1904,1819,1649,35.3,12.1,422,5030,0.00,2.10,0.00,0.000,516,0.000,0.033,3018,540,1733,1818,1649,0,0,0,0,0,0,26.69,26.35,26.70
$GC,5050,0.48,175.2,3018,539,1815,1649,31.6,12.9,426,5059,0.00,2.05,0.00,0.000,1030,0.000,0.024,3018,1894,1732,1816,1649,0,0,0,0,0,0,26.44,26.41,26.49
$GC,5203,0.48,175.2,3018,1899,1818,1649,11.2,12.2,451,5212,0.00,2.10,0.00,0.000,260,0.000,0.030,3018,3292,1733,1818,1649,0,0,0,0,0,0,26.70,26.40,26.71
$GC,5220,0.48,175.2,3018,3292,1818,1649,8.8,12.8,453,5230,0.10,2.05,0.00,0.000,5126,0.187,0.029,2998,1943,1733,1818,1649,0,0,0,0,0,0,26.12,26.39,26.27
$STATE,5266,end climb,SURFACE_DEPTH_REACHED
$STATE,5266,begin surface coast
$FINISH,0.7,1.000597
$STATE,5298,end surface coast,CONTROL_FINISHED_OK
$STATE,5298,begin surface
$SM_CCo,5312,55.92,0.050,0,0,1200,310.05
$SM_GC,1.80,7.38,0.00,55.92,0.028,0.000,0.050,126,1943,1200,-8.40,-1.05,310.05,0,0,0,0,0,0,26.39,26.72,26.30
$IRIDIUM_FIX,-3000.00,3059.54,060717,015508
$TT8_MAMPS,0.025466,0.26215
$HUMID,58.07
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,18.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,392.6,33.8
$24V_AH,24.23,22.374
$10V_AH,10.30,11.239
$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,18.300,38.150,270.050,55.925,0.000,30.639,40.938,205.091,9.000,0.000,12.786,1147.141,2838.406,393.085,1319.533,73.341,0.000,856.541,0.000,994.779,0.000,57.161,0.000
$DEVICE_MAMPS,214.965,97.155,883.575,49.725,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,318.712,78.432,344.185,345.649,0.000,0.000,0.000,0.000,0.000,0.000
$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,30511,465
$CAP_FILE_SIZE,61150,0
$CFSIZE,2097086464,2066087936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,060717,033106,-3009.308,3104.496,7,1.7,7,-25.0,0.0,0.0,6,70.6