version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 198
start: 7 1 117 7 41 32
data:
$ID,574
$MISSION,23
$DIVE,198
$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,350
$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,29
$R_STBD_OVSHOOT,43
$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
$GPS1,010717,073031,-3015.8811,3102.5405,21,1.0,21,-25.1,0.9,16.6,9,38.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-75.9
$GPS2,010717,074045,-3015.8606,3102.3271,9,0.8,9,-25.1,0.5,277.5,10,345.6
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,-3005.226,3100.160
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,15.1,20000,-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,-126.5,126,1997,531,443,0.0,0.0,0,103,0.00,0.00,-86.07,0.000,16386,0.000,0.000,126,1996,2950,2964,2936,0,0,0,0,0,0,26.18,28.83,26.19
$GC,106,-0.45,-126.5,126,1996,2965,2936,3.8,-5.3,11,124,9.90,2.17,-0.50,0.000,18948,0.220,0.041,2699,565,2979,2997,2961,0,0,0,0,0,0,25.67,25.41,25.83
$GC,132,-0.45,-126.5,2698,564,3000,2959,16.3,-34.6,14,141,0.00,2.17,0.00,0.000,1030,0.000,0.021,2690,1994,2979,3003,2956,0,0,0,0,0,0,26.03,26.01,26.05
$GC,191,-0.45,-126.5,2689,1998,3009,2951,36.0,-28.8,23,199,0.00,2.12,0.00,0.000,260,0.000,0.029,2680,3389,2980,3010,2950,0,0,0,0,0,0,26.30,26.03,26.32
$GC,239,-0.45,-126.5,2679,3389,3010,2950,47.1,-19.9,31,246,0.00,2.12,0.00,0.000,1030,0.000,0.025,2680,1965,2980,3010,2950,0,0,0,0,0,0,26.14,26.07,26.15
$GC,565,-0.45,-126.5,2679,1965,3013,2948,121.0,-21.1,84,574,0.00,2.10,0.00,0.000,260,0.000,0.030,2669,3392,2980,3013,2948,0,0,0,0,0,0,26.48,26.22,26.48
$GC,707,-0.45,-126.5,2669,3392,3012,2948,143.6,-14.7,98,711,0.00,2.08,0.00,0.000,1030,0.000,0.026,2669,1990,2980,3013,2948,0,0,0,0,0,0,26.34,26.28,26.36
$GC,1013,-0.45,-126.5,2669,1986,3016,2946,190.7,-15.4,128,1022,0.00,2.05,0.00,0.000,260,0.000,0.031,2659,3389,2981,3016,2946,0,0,0,0,0,0,26.59,26.34,26.60
$GC,1063,-0.45,-126.5,2658,3389,3015,2946,197.4,-12.8,133,1068,0.12,2.05,0.00,0.000,3078,0.138,0.024,2699,1986,2980,3015,2946,0,0,0,0,0,0,26.20,26.36,26.34
$GC,1369,-0.45,-126.5,2698,1985,3016,2946,232.8,-11.5,149,1373,0.00,2.05,0.00,0.000,260,0.000,0.031,2691,3389,2981,3016,2946,0,0,0,0,0,0,26.67,26.39,26.68
$GC,1428,-0.45,-126.5,2690,3389,3016,2946,238.0,-9.6,152,1432,0.00,2.05,0.00,0.000,1030,0.000,0.023,2691,1982,2981,3016,2946,0,0,0,0,0,0,26.48,26.41,26.49
$GC,2240,-0.45,-126.5,2690,1978,3017,2943,319.3,-10.1,193,2243,0.00,2.08,0.00,0.000,260,0.000,0.034,2680,3386,2980,3017,2943,0,0,0,0,0,0,26.74,26.45,26.76
$GC,2425,-0.45,-126.5,2679,3386,3016,2940,336.8,-10.0,202,2429,0.00,2.05,0.00,0.000,1030,0.000,0.025,2680,1985,2978,3016,2940,0,0,0,0,0,0,26.55,26.48,26.56
$GC,3237,-0.45,-126.5,2679,1981,3016,2933,444.0,-11.7,243,3238,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,1982,2974,3016,2933,0,0,0,0,0,0,26.78,26.79,26.79
$STATE,3537,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3537,begin apogee
$GC,3542,0.00,0.0,2680,1843,3014,2931,480.7,-11.9,258,3640,0.52,0.00,95.15,0.940,10246,0.124,0.000,2845,1842,2465,2521,2409,0,0,0,0,0,0,26.32,25.03,24.45
$STATE,3641,end apogee,CONTROL_FINISHED_OK
$STATE,3641,begin climb
$GC,3643,0.45,126.5,2844,1841,2520,2409,483.9,0.0,263,3750,0.38,2.30,100.50,0.929,10500,0.035,0.031,3020,3288,1948,2007,1889,0,0,0,0,0,0,25.19,24.76,24.18
$GC,3786,0.45,126.5,3020,3288,2002,1889,473.0,13.4,270,3790,0.12,2.17,0.00,0.000,5126,0.188,0.027,2998,1888,1945,2001,1889,0,0,0,0,0,0,25.08,25.24,25.24
$GC,4598,0.45,126.5,2997,1888,1994,1880,339.3,17.1,311,4602,0.00,2.15,0.00,0.000,516,0.000,0.035,3007,488,1937,1994,1880,0,0,0,0,0,0,26.49,26.19,26.51
$GC,4737,0.45,126.5,3006,488,1991,1879,316.3,16.5,318,4741,0.00,2.12,0.00,0.000,1030,0.000,0.029,3007,1888,1935,1991,1879,0,0,0,0,0,0,26.32,26.25,26.34
$GC,5543,0.45,126.5,3007,1893,1991,1875,180.9,13.8,365,5548,0.00,2.12,0.00,0.000,260,0.000,0.034,3007,3314,1933,1991,1875,0,0,0,0,0,0,26.67,26.37,26.68
$GC,5872,0.45,126.5,3007,3313,1991,1877,136.4,14.7,397,5879,0.00,2.15,0.00,0.000,1030,0.000,0.030,3018,1899,1933,1991,1876,0,0,0,0,0,0,26.44,26.41,26.47
$GC,6180,0.46,134.4,3017,1899,1990,1875,105.7,9.8,428,6191,0.00,2.20,4.88,0.523,8708,0.000,0.034,3028,482,1916,1974,1858,0,0,0,0,0,0,26.72,26.29,25.63
$GC,6233,0.46,135.0,3028,481,1972,1858,100.3,10.0,433,6242,0.10,2.15,0.00,0.000,5126,0.171,0.030,3000,1908,1914,1972,1857,0,0,0,0,0,0,26.20,26.39,26.36
$GC,6562,0.48,149.7,2999,1911,1976,1857,70.7,9.6,494,6582,0.00,2.12,13.70,0.627,8452,0.000,0.032,3000,3303,1854,1918,1791,0,0,0,0,0,0,26.70,26.17,25.60
$GC,6668,0.48,149.7,3000,3303,1916,1791,59.4,10.4,513,6675,0.00,2.10,0.00,0.000,1030,0.000,0.026,3010,1890,1853,1916,1790,0,0,0,0,0,0,26.35,26.29,26.37
$GC,7011,0.61,255.3,3009,1890,1916,1789,23.2,7.3,574,7066,0.00,2.15,48.45,0.589,8452,0.000,0.027,3010,3306,1422,1521,1324,0,0,0,0,0,0,26.64,25.60,25.27
$GC,7086,0.61,255.3,3009,3307,1519,1323,13.5,16.3,584,7095,0.00,2.17,0.00,0.000,1030,0.000,0.028,3020,1904,1421,1518,1324,0,0,0,0,0,0,25.89,25.86,25.94
$GC,7145,0.61,255.3,3019,1904,1512,1323,3.3,18.9,593,7153,0.00,2.20,0.00,0.000,516,0.000,0.037,3031,498,1415,1510,1321,0,0,0,0,0,0,26.21,25.91,26.22
$STATE,7160,end climb,SURFACE_DEPTH_REACHED
$STATE,7160,begin surface coast
$FINISH,0.6,1.020738
$STATE,7173,end surface coast,CONTROL_FINISHED_OK
$STATE,7174,begin surface
$SM_CCo,7190,99.00,0.047,0,0,500,482.01
$SM_GC,1.49,7.53,2.30,99.00,0.024,0.018,0.047,125,2010,500,-8.44,-1.07,482.01,0,0,0,0,0,0,25.99,26.01,25.95
$IRIDIUM_FIX,-3004.98,3102.11,010717,073532
$TT8_MAMPS,0.025466,0.289114
$HUMID,54.60
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,20.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,431.9,63.4
$24V_AH,24.18,16.910
$10V_AH,10.30,8.012
$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,18.675,55.775,262.675,99.000,0.000,71.558,69.354,282.040,8.750,0.000,15.865,1474.304,4125.374,421.459,1831.397,82.774,0.000,1054.270,0.000,1314.158,0.000,57.369,0.000
$DEVICE_MAMPS,220.320,81.090,940.185,46.665,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,410.014,88.535,373.798,380.511,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342304
$DATA_FILE_SIZE,40329,597
$CAP_FILE_SIZE,82814,0
$CFSIZE,2097086464,2072805376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,010717,094402,-3014.244,3101.911,27,1.0,27,-25.1,0.8,334.3,8,7.7