version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 157
start: 6 28 117 22 11 27
data:
$ID,574
$MISSION,23
$DIVE,157
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$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,100
$T_MISSION,115
$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,320
$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,446.92932
$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,1
$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,42
$R_STBD_OVSHOOT,45
$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,1
$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
$GPS1,280617,220215,-2953.3730,3111.0920,5,1.0,5,-24.7,0.0,0.0,8,80.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-72.5
$GPS2,280617,221041,-2953.2773,3111.1270,5,1.0,5,-24.7,0.7,77.4,8,78.2
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-2945.005,3103.132
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,344.7,20000,-13.3,-10.000,-16.52,4019
$D_GRID,300
$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,14,-0.45,-126.5,126,2004,693,573,0.0,0.0,0,102,0.00,0.00,-83.35,0.000,16390,0.000,0.000,126,2005,2981,2993,2970,0,0,0,0,0,0,26.23,25.01,26.25
$GC,105,-0.45,-126.5,126,2004,2993,2970,4.1,-6.7,11,122,9.60,2.15,0.00,0.000,2564,0.211,0.023,2687,565,2983,2996,2970,0,0,0,0,0,0,25.75,26.00,25.94
$GC,215,-0.45,-126.5,2686,565,3005,2962,41.9,-18.9,29,222,0.00,2.15,0.00,0.000,1030,0.000,0.030,2679,1983,2984,3009,2959,0,0,0,0,0,0,26.20,26.13,26.21
$GC,542,-0.45,-126.5,2678,1983,3012,2957,103.9,-17.8,88,551,0.00,2.10,0.00,0.000,260,0.000,0.033,2667,3412,2984,3012,2957,0,0,0,0,0,0,26.56,26.28,26.57
$GC,645,-0.45,-126.5,2667,3411,3012,2956,118.5,-11.9,98,654,0.08,2.15,0.00,0.000,3078,0.135,0.026,2693,1976,2984,3013,2955,0,0,0,0,0,0,26.20,26.36,26.27
$STATE,902,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,902,begin apogee
$GC,906,0.00,0.0,2693,1826,3016,2953,153.8,-15.0,124,1005,0.47,0.10,92.65,0.698,10246,0.122,0.076,2843,1940,2464,2515,2414,0,0,0,0,0,0,26.24,25.27,24.76
$STATE,1006,end apogee,CONTROL_FINISHED_OK
$STATE,1006,begin climb
$GC,1008,0.45,126.5,2843,1940,2515,2414,156.9,0.0,134,1107,0.35,0.00,95.55,0.686,10246,0.031,0.000,3024,1944,1949,2007,1892,0,0,0,0,0,0,25.46,24.98,24.51
$GC,1404,0.45,126.5,3024,1944,2001,1885,100.7,15.7,174,1409,0.08,2.22,0.00,0.000,4612,0.187,0.031,3007,489,1942,2000,1885,0,0,0,0,0,0,25.87,25.98,25.95
$GC,1561,0.45,126.5,3006,488,1997,1883,79.6,13.1,202,1568,0.00,2.08,0.00,0.000,1030,0.000,0.027,3007,1867,1940,1997,1883,0,0,0,0,0,0,26.20,26.14,26.23
$GC,1889,0.45,126.5,3006,1870,1998,1882,36.9,11.9,263,1898,0.00,2.10,0.00,0.000,516,0.000,0.033,3017,502,1939,1998,1881,0,0,0,0,0,0,26.55,26.27,26.57
$GC,1941,0.45,126.5,3016,502,1994,1881,30.7,11.9,271,1950,0.00,2.12,0.00,0.000,1030,0.000,0.029,3017,1886,1938,1995,1881,0,0,0,0,0,0,26.34,26.32,26.36
$GC,2092,0.51,176.6,3016,1888,1997,1880,17.2,8.7,296,2117,0.00,2.17,21.27,0.545,8452,0.000,0.032,3016,3302,1743,1823,1664,0,0,0,0,0,0,26.62,26.05,25.53
$GC,2144,0.51,176.6,3016,3306,1817,1664,12.1,11.0,303,2153,0.00,2.12,0.00,0.000,1030,0.000,0.025,3027,1905,1740,1818,1663,0,0,0,0,0,0,26.20,26.15,26.20
$GC,2203,0.51,176.6,3026,1902,1815,1659,5.0,12.6,312,2211,0.00,2.17,0.00,0.000,516,0.000,0.032,3038,484,1736,1813,1659,0,0,0,0,0,0,26.45,26.17,26.46
$STATE,2224,end climb,SURFACE_DEPTH_REACHED
$STATE,2224,begin surface coast
$FINISH,0.5,1.025491
$STATE,2256,end surface coast,CONTROL_FINISHED_OK
$STATE,2256,begin surface
$SM_CCo,2272,114.53,0.047,0,0,642,446.93
$SM_GC,1.40,7.50,2.30,114.53,0.026,0.021,0.047,125,1996,642,-8.43,-1.24,446.93,0,0,0,0,0,0,26.21,26.22,26.15
$IRIDIUM_FIX,-2945.08,3108.91,280617,210630
$TT8_MAMPS,0.025466,0.261401
$HUMID,52.75
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,20.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,140.7,27.2
$24V_AH,24.51,13.691
$10V_AH,10.39,6.235
$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,18.075,26.050,209.475,114.525,0.000,41.488,28.052,342.703,3.000,0.000,11.971,766.163,526.130,388.854,1194.709,53.135,0.000,718.391,0.000,751.878,0.000,22.483,0.000
$DEVICE_MAMPS,211.140,83.385,698.445,46.665,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,223.008,92.674,410.331,412.670,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342324
$DATA_FILE_SIZE,20393,320
$CAP_FILE_SIZE,45572,0
$CFSIZE,2097086464,2076901376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,280617,225156,-2952.778,3111.432,7,0.8,7,-24.7,0.0,0.0,10,125.0