version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 293
start: 7 7 117 21 2 12
data:
$ID,574
$MISSION,23
$DIVE,293
$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,180
$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,10
$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,290
$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,2835
$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,1870
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,91
$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
$GPS1,070717,205437,-3010.9617,3101.9558,8,0.8,8,-25.0,0.0,0.0,10,343.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-79.2
$GPS2,070717,210125,-3011.0369,3101.9402,41,0.7,41,-25.0,0.0,0.0,10,7.7
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,-3000.402,3104.106
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,35.0,20000,-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,-0.48,-175.2,126,1936,1314,1215,0.0,0.0,0,73,0.00,0.00,-55.42,0.000,16386,0.000,0.000,126,1936,2807,2795,2820,0,0,0,0,0,0,26.37,28.83,26.39
$GC,75,-0.48,-175.2,126,1936,2797,2818,3.2,-3.4,7,101,9.57,2.10,-7.32,0.000,18948,0.214,0.037,2671,536,3182,3213,3151,0,0,0,0,0,0,25.69,25.55,25.87
$GC,167,-0.48,-175.2,2671,536,3221,3149,27.7,-14.2,21,176,0.00,2.08,0.00,0.000,1030,0.000,0.028,2663,1887,3184,3225,3144,0,0,0,0,0,0,26.17,26.14,26.19
$GC,310,-0.48,-175.2,2662,1887,3226,3143,60.8,-25.8,46,317,0.00,2.08,0.00,0.000,260,0.000,0.031,2652,3300,3184,3226,3143,0,0,0,0,0,0,26.48,26.20,26.49
$GC,406,-0.48,-175.2,2651,3300,3228,3141,80.4,-17.1,63,413,0.00,2.00,0.00,0.000,1030,0.000,0.024,2652,1941,3184,3228,3141,0,0,0,0,0,0,26.32,26.26,26.34
$GC,724,-0.48,-175.2,2651,1936,3232,3140,142.7,-17.9,103,728,0.00,2.00,0.00,0.000,260,0.000,0.031,2642,3302,3185,3232,3139,0,0,0,0,0,0,26.63,26.32,26.64
$GC,833,-0.48,-175.2,2641,3302,3233,3140,157.7,-13.9,113,841,0.12,1.98,0.00,0.000,3078,0.154,0.024,2682,1939,3186,3233,3140,0,0,0,0,0,0,26.15,26.36,26.30
$GC,1150,-0.48,-175.2,2682,1935,3236,3139,208.4,-18.8,143,1154,0.00,2.00,0.00,0.000,260,0.000,0.030,2675,3307,3187,3236,3139,0,0,0,0,0,0,26.70,26.38,26.70
$GC,1186,-0.48,-175.2,2674,3307,3236,3139,213.6,-16.7,145,1190,0.00,2.00,0.00,0.000,1030,0.000,0.023,2674,1930,3187,3236,3139,0,0,0,0,0,0,26.47,26.41,26.49
$GC,2003,-0.48,-175.2,2674,1927,3236,3135,337.2,-13.7,186,2006,0.00,2.00,0.00,0.000,260,0.000,0.028,2664,3311,3185,3236,3135,0,0,0,0,0,0,26.75,26.44,26.76
$GC,2133,-0.48,-175.2,2664,3311,3236,3135,350.3,-8.6,192,2136,0.00,2.00,0.00,0.000,1030,0.000,0.024,2664,1940,3185,3236,3135,0,0,0,0,0,0,26.52,26.45,26.54
$STATE,2602,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2602,begin apogee
$GC,2607,0.00,0.0,2664,1814,3235,3132,422.5,-14.6,216,2744,0.55,0.00,133.05,0.878,10246,0.150,0.000,2835,1813,2464,2534,2394,0,0,0,0,0,0,26.20,24.97,24.41
$STATE,2745,end apogee,CONTROL_FINISHED_OK
$STATE,2745,begin climb
$GC,2747,0.48,175.2,2834,1813,2534,2394,428.3,0.0,223,2892,0.40,2.25,136.73,0.869,10500,0.055,0.028,3026,3221,1749,1832,1666,0,0,0,0,0,0,25.14,24.82,24.27
$GC,2958,0.48,175.2,3026,3221,1826,1666,403.9,20.5,233,2965,0.15,2.08,0.00,0.000,5126,0.202,0.028,2996,1869,1745,1825,1666,0,0,0,0,0,0,25.27,25.45,25.44
$GC,3765,0.48,175.2,2996,1868,1820,1659,242.1,22.2,274,3768,0.00,2.12,0.00,0.000,516,0.000,0.034,3006,465,1739,1820,1659,0,0,0,0,0,0,26.54,26.22,26.55
$GC,3858,0.48,175.2,3005,464,1813,1658,225.7,20.3,278,3866,0.00,2.05,0.00,0.000,1030,0.000,0.028,3006,1825,1735,1813,1658,0,0,0,0,0,0,26.34,26.27,26.37
$GC,4673,0.48,175.2,3005,1831,1815,1656,82.2,11.7,365,4680,0.00,2.15,0.00,0.000,260,0.000,0.030,3006,3284,1735,1815,1656,0,0,0,0,0,0,26.69,26.37,26.70
$GC,4918,0.48,175.2,3005,3284,1815,1656,50.1,13.8,411,4925,0.00,2.10,0.00,0.000,1030,0.000,0.028,3016,1867,1735,1815,1656,0,0,0,0,0,0,26.47,26.39,26.50
$GC,5274,0.48,175.2,3015,1866,1815,1656,3.2,13.8,472,5282,0.00,2.15,0.00,0.000,516,0.000,0.033,3027,459,1734,1813,1655,0,0,0,0,0,0,26.72,26.39,26.73
$STATE,5291,end climb,SURFACE_DEPTH_REACHED
$STATE,5291,begin surface coast
$FINISH,0.7,1.012523
$STATE,5316,end surface coast,CONTROL_FINISHED_OK
$STATE,5316,begin surface
$SM_CCo,5333,47.55,0.051,0,0,1280,290.19
$SM_GC,2.56,7.38,2.25,47.55,0.026,0.019,0.051,125,1956,1280,-8.41,-0.93,290.19,0,0,0,0,0,0,26.41,26.43,26.32
$IRIDIUM_FIX,-3000.00,3059.54,070717,205544
$TT8_MAMPS,0.025466,0.260652
$HUMID,57.95
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,401.6,35.3
$24V_AH,24.27,24.665
$10V_AH,10.31,12.411
$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,18.175,37.500,269.775,47.550,0.000,29.779,49.829,198.721,9.250,0.000,48.091,1177.284,2776.239,361.577,1431.278,76.341,0.000,837.017,0.000,1067.268,0.000,59.566,0.000
$DEVICE_MAMPS,214.200,125.460,878.220,51.255,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,328.081,89.663,387.822,384.357,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342308
$DATA_FILE_SIZE,30425,478
$CAP_FILE_SIZE,61055,0
$CFSIZE,2097086464,2063532032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,070717,223238,-3010.508,3102.978,10,0.8,10,-25.0,0.5,124.1,10,83.0