version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 203
start: 7 1 117 16 49 0
data:
$ID,574
$MISSION,23
$DIVE,203
$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,40
$R_STBD_OVSHOOT,73
$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
$GPS1,010717,164201,-3005.9702,3103.1257,27,0.9,27,-24.9,0.6,16.5,10,11.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-76.8
$GPS2,010717,164814,-3005.8999,3103.1509,5,0.8,5,-24.9,0.6,50.8,10,13.1
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,-2955.265,3100.987
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,14.9,20000,-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,-126.5,125,2033,526,449,0.0,0.0,0,103,0.00,0.00,-86.05,0.000,16386,0.000,0.000,125,2034,2902,2913,2891,0,0,0,0,0,0,26.28,28.83,26.29
$GC,106,-0.45,-126.5,126,2034,2914,2891,3.4,-4.0,11,124,9.75,2.20,-1.52,0.000,18948,0.217,0.036,2688,562,2982,3001,2963,0,0,0,0,0,0,25.78,25.51,25.90
$GC,209,-0.45,-126.5,2688,562,3009,2959,33.2,-17.8,27,217,0.00,2.15,0.00,0.000,1030,0.000,0.030,2680,1949,2984,3012,2957,0,0,0,0,0,0,26.15,26.10,26.16
$GC,353,-0.45,-126.5,2679,1949,3013,2954,65.0,-22.9,52,361,0.00,2.20,0.00,0.000,260,0.000,0.034,2669,3398,2984,3014,2954,0,0,0,0,0,0,26.48,26.19,26.48
$GC,462,-0.45,-126.5,2668,3398,3014,2953,84.3,-17.1,72,471,0.00,2.12,0.00,0.000,1030,0.000,0.024,2668,1988,2983,3014,2953,0,0,0,0,0,0,26.29,26.26,26.30
$GC,778,-0.45,-126.5,2667,1987,3020,2951,136.7,-17.6,111,783,0.08,2.10,0.00,0.000,2564,0.186,0.030,2696,583,2985,3019,2951,0,0,0,0,0,0,26.17,26.32,26.27
$GC,814,-0.45,-126.5,2695,582,3019,2951,142.2,-15.7,114,819,0.00,2.12,0.00,0.000,1030,0.000,0.027,2688,2006,2985,3020,2951,0,0,0,0,0,0,26.41,26.35,26.44
$GC,1119,-0.45,-126.5,2687,2008,3020,2951,179.9,-11.7,144,1123,0.00,2.05,0.00,0.000,260,0.000,0.033,2677,3406,2985,3020,2951,0,0,0,0,0,0,26.67,26.39,26.69
$GC,1261,-0.45,-126.5,2676,3406,3020,2951,194.6,-10.2,157,1269,0.00,2.12,0.00,0.000,1030,0.000,0.024,2677,1985,2985,3020,2951,0,0,0,0,0,0,26.46,26.43,26.48
$GC,1569,-0.45,-126.5,2676,1983,3020,2950,233.2,-11.4,175,1570,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,1983,2985,3021,2950,0,0,0,0,0,0,26.72,26.74,26.74
$STATE,2089,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2089,begin apogee
$GC,2093,0.00,0.0,2676,1807,3020,2946,308.2,-14.6,201,2192,0.55,0.12,94.57,0.802,10246,0.135,0.068,2845,1946,2464,2517,2412,0,0,0,0,0,0,26.28,25.18,24.64
$STATE,2193,end apogee,CONTROL_FINISHED_OK
$STATE,2193,begin climb
$GC,2195,0.45,126.5,2845,1946,2517,2412,311.2,0.0,206,2302,0.43,2.10,97.70,0.828,11012,0.034,0.028,3034,3260,1947,2001,1894,0,0,0,0,0,0,25.36,24.89,24.33
$GC,2353,0.45,126.5,3033,3260,1998,1893,294.3,18.1,214,2358,0.17,2.08,0.00,0.000,5126,0.183,0.026,2998,1902,1945,1998,1893,0,0,0,0,0,0,25.27,25.44,25.42
$GC,3165,0.45,126.5,2997,1899,1992,1883,159.5,14.4,268,3169,0.00,2.12,0.00,0.000,516,0.000,0.031,3007,491,1937,1992,1883,0,0,0,0,0,0,26.55,26.25,26.55
$GC,3231,0.45,126.5,3007,490,1989,1882,148.3,16.0,274,3235,0.00,2.05,0.00,0.000,1030,0.000,0.029,3007,1851,1935,1989,1882,0,0,0,0,0,0,26.36,26.29,26.38
$GC,3536,0.45,126.5,3007,1855,1991,1880,102.3,13.8,304,3540,0.00,2.05,0.00,0.000,516,0.000,0.033,3017,491,1935,1991,1879,0,0,0,0,0,0,26.63,26.33,26.64
$GC,3610,0.45,126.5,3016,491,1988,1879,93.1,12.8,315,3617,0.00,2.12,0.00,0.000,1030,0.000,0.029,3017,1897,1934,1989,1879,0,0,0,0,0,0,26.44,26.36,26.46
$GC,3935,0.48,146.4,3017,1900,1991,1877,60.6,9.5,376,3957,0.00,2.12,14.40,0.650,8452,0.000,0.033,3017,3307,1867,1927,1807,0,0,0,0,0,0,26.68,25.96,25.56
$GC,4198,0.48,146.4,3017,3306,1924,1808,32.7,10.9,423,4206,0.00,2.15,0.00,0.000,1030,0.000,0.026,3027,1889,1865,1924,1807,0,0,0,0,0,0,26.35,26.32,26.38
$GC,4349,0.48,146.4,3026,1889,1924,1806,15.4,11.6,448,4358,0.00,2.12,0.00,0.000,260,0.000,0.031,3027,3300,1865,1924,1806,0,0,0,0,0,0,26.63,26.34,26.63
$GC,4395,0.48,146.4,3027,3300,1924,1806,9.4,12.2,455,4405,0.12,2.12,0.00,0.000,5126,0.167,0.027,3001,1898,1865,1924,1806,0,0,0,0,0,0,26.16,26.36,26.26
$GC,4454,0.48,146.4,3000,1898,1924,1806,3.1,10.0,464,4462,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1898,1865,1924,1806,0,0,0,0,0,0,26.65,26.65,26.65
$STATE,4468,end climb,SURFACE_DEPTH_REACHED
$STATE,4469,begin surface coast
$FINISH,0.7,1.025460
$STATE,4500,end surface coast,CONTROL_FINISHED_OK
$STATE,4500,begin surface
$SM_CCo,4515,142.75,0.047,0,0,497,482.01
$SM_GC,1.65,7.40,0.12,142.75,0.030,0.060,0.047,125,2091,497,-8.42,-1.19,482.01,0,0,0,0,0,0,26.36,26.46,26.24
$IRIDIUM_FIX,-2955.02,3101.67,010717,164307
$TT8_MAMPS,0.025466,0.261401
$HUMID,53.97
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,290.9,31.0
$24V_AH,24.33,17.300
$10V_AH,10.35,8.249
$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,18.500,38.475,206.675,142.750,0.000,36.101,44.064,204.292,6.500,0.000,11.978,1171.745,2037.730,420.222,1368.146,68.114,0.000,892.093,0.000,1041.169,0.000,42.627,0.000
$DEVICE_MAMPS,217.260,68.850,828.495,47.430,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,327.033,100.414,432.966,439.641,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342348
$DATA_FILE_SIZE,30414,471
$CAP_FILE_SIZE,62102,0
$CFSIZE,2097086464,2072379392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,010717,180719,-3003.885,3103.976,5,0.8,5,-24.9,0.7,19.9,9,16.2