version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 233
start: 7 3 117 15 23 19
data:
$ID,574
$MISSION,23
$DIVE,233
$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,120
$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,35
$R_STBD_OVSHOOT,37
$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
$GPS1,030717,151500,-2948.2317,3120.3179,26,1.0,26,-24.6,0.9,272.3,7,10.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-73.3
$GPS2,030717,152233,-2948.2578,3120.1538,5,1.0,5,-24.6,1.9,327.6,7,110.5
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,-2953.657,3130.941
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,144.6,20000,-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,-126.5,126,1992,529,447,0.0,0.0,0,103,0.00,0.00,-85.85,0.000,16386,0.000,0.000,126,1992,2921,2931,2912,0,0,0,0,0,0,26.31,28.83,26.32
$GC,106,-0.45,-126.5,126,1992,2932,2912,3.7,-5.4,11,124,9.48,2.15,-1.02,0.000,18692,0.206,0.051,2679,3408,2978,2993,2963,0,0,0,0,0,0,25.77,25.53,25.93
$GC,132,-0.45,-126.5,2679,3407,2997,2961,15.9,-33.8,14,141,0.00,2.15,0.00,0.000,1030,0.000,0.020,2680,1960,2979,3000,2959,0,0,0,0,0,0,26.16,26.13,26.18
$GC,191,-0.45,-126.5,2679,1957,3007,2953,34.4,-25.7,23,200,0.00,2.05,0.00,0.000,516,0.000,0.028,2680,604,2979,3007,2952,0,0,0,0,0,0,26.41,26.13,26.43
$GC,347,-0.45,-126.5,2679,603,3008,2953,64.7,-15.1,51,354,0.00,2.12,0.00,0.000,1030,0.000,0.031,2670,1998,2980,3008,2952,0,0,0,0,0,0,26.29,26.22,26.31
$GC,669,-0.45,-126.5,2669,2003,3010,2951,130.5,-15.7,96,677,0.00,2.05,0.00,0.000,260,0.000,0.036,2659,3402,2980,3010,2951,0,0,0,0,0,0,26.60,26.34,26.61
$GC,753,-0.45,-126.5,2658,3402,3010,2950,142.0,-13.0,104,761,0.10,2.08,0.00,0.000,3078,0.131,0.023,2693,2006,2980,3010,2950,0,0,0,0,0,0,26.20,26.37,26.28
$GC,1060,-0.45,-126.5,2692,2006,3013,2949,189.2,-15.6,135,1061,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2005,2981,3013,2949,0,0,0,0,0,0,26.69,26.70,26.70
$GC,1371,-0.45,-126.5,2692,2003,3013,2948,228.5,-12.7,155,1377,0.00,2.08,0.00,0.000,516,0.000,0.028,2693,590,2980,3013,2948,0,0,0,0,0,0,26.72,26.42,26.74
$GC,1383,-0.45,-126.5,2692,590,3013,2949,228.5,-12.7,155,1394,0.00,2.08,0.00,0.000,1030,0.000,0.027,2684,1994,2980,3012,2948,0,0,0,0,0,0,26.51,26.44,26.53
$STATE,1969,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1969,begin apogee
$GC,1974,0.00,0.0,2684,1836,3013,2946,308.2,-13.4,185,2072,0.50,0.08,93.18,0.783,10246,0.121,0.093,2841,1918,2464,2514,2415,0,0,0,0,0,0,26.29,25.25,24.74
$STATE,2073,end apogee,CONTROL_FINISHED_OK
$STATE,2073,begin climb
$GC,2075,0.45,126.5,2841,1918,2514,2415,310.6,0.0,190,2178,0.38,2.25,96.93,0.791,10756,0.031,0.031,3047,493,1948,2001,1895,0,0,0,0,0,0,25.45,24.98,24.46
$GC,2314,0.45,126.5,3046,492,1990,1893,279.6,18.1,202,2319,0.17,2.17,0.00,0.000,5126,0.166,0.031,2998,1878,1941,1990,1893,0,0,0,0,0,0,25.58,25.77,25.69
$GC,3122,0.45,126.5,2997,1882,1992,1884,152.7,13.1,258,3126,0.00,2.08,0.00,0.000,516,0.000,0.031,3007,500,1938,1992,1884,0,0,0,0,0,0,26.61,26.31,26.62
$GC,3320,0.45,126.5,3006,499,1987,1883,129.9,12.4,277,3328,0.00,2.12,0.00,0.000,1030,0.000,0.030,3007,1887,1935,1987,1884,0,0,0,0,0,0,26.41,26.37,26.43
$GC,3628,0.53,192.5,3006,1890,1989,1883,103.4,8.3,308,3684,0.00,2.17,48.88,0.672,8452,0.000,0.033,3007,3312,1679,1756,1602,0,0,0,0,0,0,26.70,25.58,25.21
$GC,3831,0.53,192.5,3006,3312,1750,1602,82.2,12.3,342,3840,0.00,2.15,0.00,0.000,1030,0.000,0.027,3017,1908,1675,1750,1601,0,0,0,0,0,0,26.09,26.06,26.11
$GC,4164,0.53,192.5,3016,1908,1750,1598,32.3,12.9,403,4173,0.00,2.17,0.00,0.000,516,0.000,0.034,3028,491,1673,1748,1598,0,0,0,0,0,0,26.54,26.24,26.55
$GC,4240,0.53,192.5,3027,490,1740,1598,21.3,18.3,415,4249,0.00,2.15,0.00,0.000,1030,0.000,0.026,3028,1900,1669,1741,1598,0,0,0,0,0,0,26.31,26.32,26.36
$STATE,4361,end climb,SURFACE_DEPTH_REACHED
$STATE,4361,begin surface coast
$FINISH,0.8,1.025341
$STATE,4381,end surface coast,CONTROL_FINISHED_OK
$STATE,4381,begin surface
$SM_CCo,4396,124.78,0.048,0,0,499,482.01
$SM_GC,1.66,7.40,0.10,124.78,0.022,0.073,0.048,125,2037,499,-8.44,-1.44,482.01,0,0,0,0,0,0,26.35,26.41,26.21
$IRIDIUM_FIX,-2935.15,3120.83,030717,151811
$TT8_MAMPS,0.024717,0.297353
$HUMID,54.60
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,20.60
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,291.9,30.0
$24V_AH,24.46,19.597
$10V_AH,10.34,9.635
$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,18.025,34.325,238.975,124.775,0.000,64.292,45.736,190.427,7.000,0.000,11.963,1075.926,2121.123,429.423,1314.648,67.103,0.000,889.935,0.000,967.920,0.000,45.465,0.000
$DEVICE_MAMPS,205.785,93.330,791.010,48.195,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,301.550,79.952,341.219,346.980,0.000,0.000,0.000,0.000,0.000,0.000
$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,27058,438
$CAP_FILE_SIZE,58995,0
$CFSIZE,2097086464,2069430272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,030717,163920,-2948.748,3120.270,6,1.1,6,-24.6,0.7,276.0,7,79.3