version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 250
start: 7 4 117 16 34 34
data:
$ID,574
$MISSION,23
$DIVE,250
$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,160
$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,135
$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,350
$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,50
$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,1940
$C_ROLL_CLIMB,1896
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,54
$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
$GPS1,040717,162756,-2959.0398,3123.3562,42,1.0,42,-24.9,1.1,233.6,9,8.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-79.4
$GPS2,040717,163348,-2959.1758,3123.2710,6,0.9,6,-24.9,1.2,197.5,10,49.6
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,-3006.812,3132.099
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,159.9,20000,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.46,-155.7,125,1912,1082,965,0.0,0.0,0,80,0.00,0.00,-62.30,0.000,16386,0.000,0.000,126,1913,2750,2744,2757,0,0,0,0,0,0,26.36,28.83,26.36
$GC,83,-0.46,-155.7,126,1912,2745,2757,3.0,-2.7,8,108,9.60,2.10,-6.93,0.000,18948,0.212,0.039,2692,530,3100,3141,3059,0,0,0,0,0,0,25.72,25.55,25.87
$GC,186,-0.46,-155.7,2691,530,3144,3059,29.5,-15.1,24,195,0.00,2.15,0.00,0.000,1030,0.000,0.027,2684,1929,3101,3146,3056,0,0,0,0,0,0,26.18,26.15,26.20
$GC,330,-0.46,-155.7,2683,1933,3149,3054,65.7,-30.4,49,337,0.00,2.08,0.00,0.000,260,0.000,0.028,2673,3351,3101,3148,3054,0,0,0,0,0,0,26.51,26.21,26.52
$GC,390,-0.46,-155.7,2672,3351,3153,3052,78.8,-13.3,60,399,0.00,2.12,0.00,0.000,1030,0.000,0.024,2673,1940,3102,3154,3051,0,0,0,0,0,0,26.28,26.25,26.30
$GC,705,-0.46,-155.7,2673,1938,3155,3050,143.2,-20.2,101,713,0.00,2.08,0.00,0.000,516,0.000,0.031,2673,536,3102,3154,3050,0,0,0,0,0,0,26.63,26.30,26.63
$GC,738,-0.46,-155.7,2673,535,3154,3050,149.2,-19.7,104,747,0.10,2.12,0.00,0.000,3078,0.151,0.025,2694,1942,3102,3154,3050,0,0,0,0,0,0,26.13,26.35,26.22
$GC,1045,-0.46,-155.7,2694,1942,3156,3050,188.6,-13.1,135,1049,0.00,2.05,0.00,0.000,260,0.000,0.031,2685,3345,3102,3155,3050,0,0,0,0,0,0,26.69,26.37,26.70
$GC,1115,-0.46,-155.7,2685,3345,3157,3050,195.3,-9.7,141,1122,0.00,2.05,0.00,0.000,1030,0.000,0.023,2685,1932,3103,3157,3050,0,0,0,0,0,0,26.47,26.41,26.49
$GC,1423,-0.46,-155.7,2684,1931,3157,3049,240.1,-13.8,159,1428,0.00,2.05,0.00,0.000,516,0.000,0.029,2685,531,3103,3157,3050,0,0,0,0,0,0,26.70,26.40,26.71
$GC,1441,-0.46,-155.7,2685,531,3157,3050,243.1,-13.8,160,1445,0.00,2.08,0.00,0.000,1030,0.000,0.024,2675,1944,3103,3158,3049,0,0,0,0,0,0,26.50,26.44,26.52
$GC,2258,-0.46,-155.7,2674,1945,3157,3046,348.7,-12.8,201,2264,0.00,2.08,0.00,0.000,516,0.000,0.029,2675,540,3101,3158,3045,0,0,0,0,0,0,26.77,26.44,26.77
$GC,2402,-0.46,-155.7,2674,540,3157,3046,365.1,-10.7,208,2406,0.10,2.08,0.00,0.000,3078,0.227,0.029,2696,1933,3101,3157,3046,0,0,0,0,0,0,26.12,26.46,26.34
$GC,3220,-0.46,-155.7,2695,1934,3157,3037,449.2,-9.3,249,3225,0.00,2.08,0.00,0.000,516,0.000,0.030,2696,538,3097,3157,3038,0,0,0,0,0,0,26.78,26.44,26.79
$GC,3287,-0.46,-155.7,2695,538,3157,3038,454.3,-8.9,252,3291,0.00,2.10,0.00,0.000,1030,0.000,0.028,2688,1944,3097,3157,3038,0,0,0,0,0,0,26.55,26.47,26.57
$STATE,3312,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3312,begin apogee
$GC,3316,0.00,0.0,2687,1944,3157,3037,457.5,-8.7,253,3437,0.50,0.00,117.05,0.910,10246,0.117,0.000,2848,1947,2464,2525,2404,0,0,0,0,0,0,26.26,24.99,24.44
$STATE,3438,end apogee,CONTROL_FINISHED_OK
$STATE,3438,begin climb
$GC,3440,0.46,155.7,2847,1947,2525,2404,461.6,0.0,259,3570,0.40,2.20,122.12,0.900,11012,0.031,0.031,3040,3306,1829,1888,1770,0,0,0,0,0,0,25.18,24.81,24.25
$GC,3793,0.46,155.7,3039,3306,1882,1766,401.8,21.7,276,3799,0.20,2.15,0.00,0.000,5126,0.199,0.028,2996,1897,1824,1882,1766,0,0,0,0,0,0,25.61,25.82,25.79
$GC,4612,0.46,155.7,2995,1896,1883,1753,243.8,17.4,317,4618,0.00,2.12,0.00,0.000,516,0.000,0.035,3005,483,1817,1883,1752,0,0,0,0,0,0,26.58,26.26,26.60
$GC,4628,0.46,155.7,3005,482,1879,1752,243.8,17.4,317,4635,0.00,2.10,0.00,0.000,1030,0.000,0.024,3005,1902,1815,1879,1752,0,0,0,0,0,0,26.37,26.31,26.39
$GC,5436,0.46,155.7,3005,1907,1880,1750,106.6,16.3,386,5444,0.00,2.15,0.00,0.000,516,0.000,0.033,3016,478,1813,1877,1750,0,0,0,0,0,0,26.70,26.36,26.71
$GC,5557,0.46,155.7,3015,478,1875,1750,89.1,11.5,405,5563,0.00,2.12,0.00,0.000,1030,0.000,0.025,3016,1902,1813,1876,1750,0,0,0,0,0,0,26.48,26.42,26.51
$GC,5881,0.62,290.2,3015,1906,1878,1749,58.5,6.5,466,5990,0.00,2.30,102.32,0.662,8708,0.000,0.034,3026,484,1279,1383,1175,0,0,0,0,0,0,26.72,25.29,24.79
$GC,6021,0.62,290.2,3025,483,1373,1174,42.7,16.3,489,6028,0.00,2.17,0.00,0.000,1030,0.000,0.025,3026,1888,1272,1372,1173,0,0,0,0,0,0,25.61,25.55,25.63
$STATE,6223,end climb,SURFACE_DEPTH_REACHED
$STATE,6223,begin surface coast
$FINISH,0.7,1.000655
$STATE,6243,end surface coast,CONTROL_FINISHED_OK
$STATE,6243,begin surface
$SM_CCo,6258,25.73,0.049,0,0,1037,350.04
$SM_GC,2.52,7.60,0.00,25.73,0.031,0.000,0.049,126,1894,1037,-8.42,-1.33,350.04,0,0,0,0,0,0,25.97,26.26,25.94
$IRIDIUM_FIX,-2947.56,3121.29,040717,162910
$TT8_MAMPS,0.025466,0.261401
$HUMID,58.30
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,441.7,29.8
$24V_AH,24.25,20.860
$10V_AH,10.33,10.396
$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,18.500,46.525,341.500,25.725,0.000,37.406,20.352,200.625,10.500,0.000,12.756,1280.029,3440.920,400.491,1462.857,83.743,0.000,961.990,0.000,1148.008,0.000,65.457,0.000
$DEVICE_MAMPS,227.205,39.015,909.585,48.960,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,359.943,80.743,336.727,340.872,0.000,0.000,0.000,0.000,0.000,0.000
$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,33773,526
$CAP_FILE_SIZE,70783,0
$CFSIZE,2097086464,2067693568
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,3566.47,0x212b6e,1,24
$INTR,1,4612.40,0x2338ba,1,24
$WARN,PPS timeout
$GPS,040717,181958,-3000.701,3124.189,6,1.1,6,-25.0,0.8,226.5,7,40.0