version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 195
start: 7 1 117 0 55 32
data:
$ID,574
$MISSION,23
$DIVE,195
$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,275
$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,25
$R_STBD_OVSHOOT,38
$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,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
$GPS1,010717,004225,-3014.1299,3110.4602,39,0.9,39,-25.1,1.7,225.0,10,17.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-78.9
$GPS2,010717,005445,-3014.6301,3109.8650,5,0.8,5,-25.2,1.1,233.3,11,14.4
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,-3013.689,3057.414
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,300.2,20000,-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,-126.5,125,1996,526,449,0.0,0.0,0,104,0.00,0.00,-86.25,0.000,16386,0.000,0.000,125,1996,2900,2912,2888,0,0,0,0,0,0,26.12,28.83,26.13
$GC,106,-0.45,-126.5,125,1996,2912,2888,3.3,-3.6,11,124,9.85,2.20,-1.50,0.000,18692,0.218,0.044,2683,3412,2981,3002,2961,0,0,0,0,0,0,25.64,24.82,25.79
$GC,372,-0.45,-126.5,2682,3412,3012,2956,63.6,-17.1,57,378,0.00,2.17,0.00,0.000,1030,0.000,0.028,2682,1967,2984,3012,2956,0,0,0,0,0,0,26.18,26.11,26.20
$GC,688,-0.45,-126.5,2682,1964,3018,2952,131.9,-16.9,102,692,0.00,2.12,0.00,0.000,260,0.000,0.031,2673,3403,2985,3018,2952,0,0,0,0,0,0,26.51,26.23,26.52
$GC,796,-0.45,-126.5,2672,3404,3017,2952,146.5,-12.3,112,804,0.00,2.12,0.00,0.000,1030,0.000,0.024,2672,1985,2984,3017,2952,0,0,0,0,0,0,26.31,26.28,26.34
$GC,1103,-0.45,-126.5,2672,1983,3019,2951,199.0,-15.3,143,1107,0.00,2.10,0.00,0.000,260,0.000,0.031,2662,3411,2985,3020,2951,0,0,0,0,0,0,26.61,26.32,26.62
$GC,1301,-0.45,-126.5,2661,3410,3020,2951,225.9,-13.3,153,1306,0.10,2.10,0.00,0.000,3078,0.128,0.028,2696,1994,2985,3020,2951,0,0,0,0,0,0,26.25,26.36,26.36
$GC,2118,-0.45,-126.5,2695,1991,3021,2948,313.5,-10.7,194,2124,0.00,2.10,0.00,0.000,260,0.000,0.033,2688,3403,2984,3021,2948,0,0,0,0,0,0,26.72,26.44,26.74
$GC,2220,-0.45,-126.5,2687,3403,3020,2947,322.6,-8.8,199,2225,0.00,2.12,0.00,0.000,1030,0.000,0.024,2688,1981,2983,3020,2947,0,0,0,0,0,0,26.49,26.46,26.51
$GC,3039,-0.45,-126.5,2687,1979,3020,2941,411.6,-9.8,240,3044,0.00,2.10,0.00,0.000,260,0.000,0.034,2678,3402,2980,3020,2940,0,0,0,0,0,0,26.74,26.47,26.74
$GC,3167,-0.45,-126.5,2677,3402,3020,2940,422.1,-8.2,246,3171,0.00,2.08,0.00,0.000,1030,0.000,0.026,2678,1990,2980,3020,2940,0,0,0,0,0,0,26.56,26.49,26.58
$STATE,3892,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3892,begin apogee
$GC,3896,0.00,0.0,2677,1824,3016,2935,500.5,-10.7,282,3996,0.52,0.10,96.00,0.959,10246,0.125,0.074,2841,1945,2464,2520,2409,0,0,0,0,0,0,26.32,24.99,24.39
$STATE,3997,end apogee,CONTROL_FINISHED_OK
$STATE,3998,begin climb
$GC,3999,0.45,126.5,2841,1946,2519,2409,502.0,0.0,287,4107,0.38,2.38,100.82,0.943,10756,0.036,0.034,3025,498,1948,2004,1893,0,0,0,0,0,0,25.18,24.58,24.15
$GC,4143,0.45,126.5,3025,498,1998,1890,489.1,13.3,293,4151,0.12,2.15,0.00,0.000,5126,0.181,0.028,2993,1864,1943,1998,1889,0,0,0,0,0,0,25.08,25.22,25.22
$GC,4950,0.45,126.5,2993,1869,1994,1877,354.4,15.2,334,4954,0.00,2.17,0.00,0.000,260,0.000,0.033,2993,3312,1935,1994,1877,0,0,0,0,0,0,26.48,26.20,26.50
$GC,5034,0.45,126.5,2993,3311,1992,1878,342.9,15.2,338,5038,0.00,2.17,0.00,0.000,1030,0.000,0.028,3002,1891,1935,1992,1878,0,0,0,0,0,0,26.27,26.24,26.29
$GC,5846,0.45,126.5,3002,1890,1988,1875,219.2,12.9,379,5850,0.00,2.12,0.00,0.000,516,0.000,0.035,3013,490,1931,1988,1875,0,0,0,0,0,0,26.66,26.35,26.67
$GC,5875,0.45,126.5,3013,490,1985,1874,217.1,13.2,380,5882,0.00,2.12,0.00,0.000,1030,0.000,0.027,3013,1914,1929,1985,1874,0,0,0,0,0,0,26.46,26.39,26.48
$GC,6681,0.45,126.5,3013,1918,1986,1873,108.3,10.8,455,6685,0.00,2.05,0.00,0.000,260,0.000,0.032,3013,3303,1929,1986,1873,0,0,0,0,0,0,26.72,26.44,26.74
$GC,6863,0.57,225.6,3013,3303,1986,1875,92.0,7.4,481,6942,0.00,2.08,73.40,0.685,9222,0.000,0.026,3024,1889,1543,1632,1455,0,0,0,0,0,0,26.53,26.46,24.94
$GC,7266,0.57,225.6,3023,1889,1628,1449,32.9,14.6,554,7274,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,1889,1537,1627,1448,0,0,0,0,0,0,26.32,26.33,26.32
$GC,7418,0.57,225.6,3023,1889,1627,1449,10.1,14.9,579,7426,0.00,2.17,0.00,0.000,516,0.000,0.038,3034,496,1536,1625,1448,0,0,0,0,0,0,26.41,26.09,26.42
$GC,7458,0.57,225.6,3034,495,1615,1450,4.7,12.5,585,7467,0.00,2.17,0.00,0.000,1030,0.000,0.034,3034,1883,1533,1616,1451,0,0,0,0,0,0,26.18,26.14,26.20
$STATE,7474,end climb,SURFACE_DEPTH_REACHED
$STATE,7474,begin surface coast
$FINISH,0.9,1.025167
$STATE,7499,end surface coast,CONTROL_FINISHED_OK
$STATE,7499,begin surface
$SM_CCo,7513,111.38,0.047,0,0,498,482.01
$SM_GC,1.55,7.45,0.15,111.38,0.021,0.047,0.047,125,2092,498,-8.41,-0.88,482.01,0,0,0,0,0,0,26.17,26.27,26.08
$IRIDIUM_FIX,-3002.49,3108.52,010717,005006
$TT8_MAMPS,0.025466,0.289114
$HUMID,55.51
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,20.30
$XPDR_PINGS,0
$24V_AH,24.15,16.663
$10V_AH,10.28,7.852
$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,18.425,43.325,270.225,111.375,0.000,101.037,97.427,280.546,10.250,0.000,11.981,1440.810,4586.542,429.908,1865.383,77.875,0.000,1031.825,0.000,1275.000,0.000,65.909,0.000
$DEVICE_MAMPS,218.025,74.205,959.310,46.665,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,407.182,82.666,361.865,368.408,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342272
$DATA_FILE_SIZE,36994,591
$CAP_FILE_SIZE,78662,0
$CFSIZE,2097086464,2073100288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,010717,030327,-3015.900,3107.004,15,1.0,15,-25.2,1.8,224.8,8,27.3