version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 187
start: 6 30 117 9 13 34
data:
$ID,574
$MISSION,23
$DIVE,187
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,400
$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,133
$T_MISSION,143
$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,0
$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,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,27
$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,100
$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
$GPS1,300617,085837,-2957.0569,3126.5452,5,1.1,5,-24.9,1.2,223.7,7,21.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-78.5
$GPS2,300617,091247,-2957.4314,3126.1106,5,1.1,5,-24.9,0.9,232.4,7,85.4
$SPEED_LIMITS,0.328,0.338
$TGT_NAME,HEADING
$TGT_LATLONG,-2946.632,3126.111
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,24.9,20000,-13.3,-10.025,-16.52,4023
$D_GRID,400
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.45,-126.5,125,2000,526,448,0.0,0.0,0,105,0.00,0.00,-86.28,0.000,16386,0.000,0.000,125,2001,2903,2915,2891,0,0,0,0,0,0,26.20,28.83,26.21
$GC,107,-0.45,-126.5,125,2000,2916,2891,3.2,-3.4,11,125,9.82,2.12,-1.45,0.000,18692,0.218,0.038,2681,3413,2979,2998,2960,0,0,0,0,0,0,25.70,24.77,25.85
$GC,180,-0.45,-126.5,2680,3413,3005,2954,26.8,-21.7,22,188,0.00,2.20,0.00,0.000,1030,0.000,0.025,2681,1969,2980,3008,2952,0,0,0,0,0,0,26.09,26.06,26.11
$GC,321,-0.45,-126.5,2680,1965,3012,2949,57.2,-20.4,47,328,0.00,2.12,0.00,0.000,260,0.000,0.029,2670,3408,2980,3012,2949,0,0,0,0,0,0,26.43,26.15,26.44
$GC,401,-0.45,-126.5,2669,3407,3011,2949,71.0,-16.6,61,407,0.00,2.10,0.00,0.000,1030,0.000,0.026,2670,1992,2980,3012,2949,0,0,0,0,0,0,26.27,26.20,26.28
$GC,720,-0.45,-126.5,2670,1988,3013,2948,134.3,-15.7,105,724,0.00,2.08,0.00,0.000,516,0.000,0.029,2670,585,2980,3013,2947,0,0,0,0,0,0,26.58,26.29,26.60
$GC,756,-0.45,-126.5,2669,584,3014,2948,139.9,-15.7,108,761,0.12,2.12,0.00,0.000,3078,0.153,0.029,2698,1999,2980,3014,2947,0,0,0,0,0,0,26.15,26.32,26.29
$GC,1061,-0.45,-126.5,2698,2003,3016,2947,175.0,-12.2,138,1065,0.00,2.05,0.00,0.000,260,0.000,0.033,2689,3402,2981,3016,2947,0,0,0,0,0,0,26.66,26.36,26.67
$GC,1152,-0.45,-126.5,2688,3401,3015,2946,184.0,-9.7,146,1158,0.00,2.08,0.00,0.000,1030,0.000,0.024,2689,1976,2980,3014,2946,0,0,0,0,0,0,26.47,26.41,26.48
$GC,1457,-0.45,-126.5,2688,1973,3016,2945,217.1,-10.1,169,1461,0.00,2.05,0.00,0.000,516,0.000,0.030,2689,584,2980,3016,2945,0,0,0,0,0,0,26.71,26.41,26.72
$GC,1476,-0.45,-126.5,2688,584,3016,2945,218.8,-10.2,170,1480,0.00,2.12,0.00,0.000,1030,0.000,0.024,2679,2027,2980,3016,2945,0,0,0,0,0,0,26.51,26.44,26.52
$GC,2294,-0.45,-126.5,2678,2029,3016,2941,322.6,-13.6,211,2300,0.00,2.00,0.00,0.000,260,0.000,0.034,2668,3395,2978,3016,2940,0,0,0,0,0,0,26.74,26.48,26.75
$GC,2414,-0.45,-126.5,2668,3394,3015,2939,337.9,-12.4,217,2420,0.10,2.08,0.00,0.000,3078,0.134,0.025,2701,1979,2977,3015,2939,0,0,0,0,0,0,26.36,26.50,26.48
$STATE,2972,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2972,begin apogee
$GC,2976,0.00,0.0,2701,1825,3014,2935,400.8,-10.7,245,3075,0.45,0.10,94.12,0.866,10246,0.116,0.075,2846,1946,2464,2518,2411,0,0,0,0,0,0,26.35,25.14,24.58
$STATE,3076,end apogee,CONTROL_FINISHED_OK
$STATE,3076,begin climb
$GC,3078,0.45,126.5,2846,1946,2518,2411,404.0,0.0,250,3185,0.40,2.35,98.80,0.881,10756,0.032,0.032,3045,494,1948,2003,1894,0,0,0,0,0,0,25.33,24.71,24.30
$GC,3213,0.45,126.5,3045,494,1998,1892,392.3,14.6,257,3218,0.20,2.12,0.00,0.000,5126,0.177,0.027,2993,1850,1945,1998,1892,0,0,0,0,0,0,25.13,25.29,25.29
$GC,4030,0.45,126.5,2991,1855,1996,1879,260.1,13.4,298,4034,0.00,2.17,0.00,0.000,260,0.000,0.031,2993,3311,1937,1996,1879,0,0,0,0,0,0,26.55,26.27,26.56
$GC,4229,0.45,126.5,2992,3311,1993,1880,231.6,14.7,308,4233,0.00,2.15,0.00,0.000,1030,0.000,0.029,3002,1867,1936,1993,1880,0,0,0,0,0,0,26.39,26.32,26.41
$GC,5036,0.45,126.5,3001,1866,1990,1877,113.2,13.3,378,5040,0.00,2.12,0.00,0.000,260,0.000,0.030,3002,3307,1934,1991,1877,0,0,0,0,0,0,26.72,26.43,26.73
$GC,5191,0.45,126.5,3001,3307,1991,1878,94.5,11.1,397,5197,0.00,2.10,0.00,0.000,1030,0.000,0.028,3012,1885,1934,1991,1878,0,0,0,0,0,0,26.51,26.45,26.54
$GC,5515,0.53,187.3,3012,1885,1990,1876,59.3,8.5,458,5565,0.00,2.20,44.75,0.667,8964,0.000,0.030,3012,3305,1700,1777,1623,0,0,0,0,0,0,26.74,25.82,25.29
$GC,5626,0.54,196.6,3011,3305,1772,1623,48.3,9.8,477,5639,0.00,2.12,8.48,0.581,9222,0.000,0.027,3022,1900,1662,1744,1581,0,0,0,0,0,0,26.06,25.99,25.27
$STATE,5959,end climb,SURFACE_DEPTH_REACHED
$STATE,5959,begin surface coast
$FINISH,0.7,1.016333
$STATE,5985,end surface coast,CONTROL_FINISHED_OK
$STATE,5985,begin surface
$SM_CCo,6000,122.65,0.049,0,0,499,482.01
$SM_GC,1.57,7.45,0.12,122.65,0.024,0.072,0.049,125,2045,499,-8.46,-1.22,482.01,0,0,0,0,0,0,26.25,26.25,26.12
$IRIDIUM_FIX,-2942.59,3126.84,300617,090859
$TT8_MAMPS,0.025466,0.288365
$HUMID,54.72
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,20.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,390.2,74.8
$24V_AH,24.30,15.912
$10V_AH,10.36,7.450
$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,18.550,42.950,246.150,122.650,0.000,70.974,58.342,528.940,8.000,0.000,11.959,1318.009,3257.805,418.693,1928.979,83.349,0.000,959.726,0.000,1187.393,0.000,54.542,0.000
$DEVICE_MAMPS,218.025,82.620,880.515,48.960,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,367.758,93.457,396.711,395.070,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342344
$DATA_FILE_SIZE,37269,538
$CAP_FILE_SIZE,76485,0
$CFSIZE,2097086464,2073886720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,300617,105618,-2958.570,3125.283,7,0.8,7,-24.9,1.3,237.0,11,312.5