version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 310
start: 7 9 117 5 58 14
data:
$ID,574
$MISSION,23
$DIVE,310
$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,200
$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,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$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,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,33
$R_STBD_OVSHOOT,44
$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
$GPS1,090717,055100,-3010.6462,3113.0190,36,0.7,36,-25.1,0.5,24.3,11,6.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-80.0
$GPS2,090717,055726,-3010.6086,3113.0005,6,0.7,6,-25.1,0.0,0.0,11,29.2
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,TGT1
$TGT_LATLONG,-3011.272,3115.201
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,134.3,3731,-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,-175.2,126,1946,524,448,0.0,0.0,0,104,0.00,0.00,-85.82,0.000,16386,0.000,0.000,126,1946,2923,2937,2910,0,0,0,0,0,0,26.25,28.83,26.27
$GC,106,-0.48,-175.2,126,1946,2937,2911,3.9,-5.9,11,132,9.65,2.15,-4.53,0.000,18948,0.214,0.037,2671,516,3182,3215,3149,0,0,0,0,0,0,25.61,24.63,25.78
$GC,152,-0.48,-175.2,2670,516,3218,3149,25.1,-46.3,17,161,0.00,2.20,0.00,0.000,1030,0.000,0.028,2663,1939,3184,3219,3149,0,0,0,0,0,0,26.06,26.05,26.07
$GC,296,-0.48,-175.2,2661,1940,3224,3146,60.7,-22.1,42,305,0.00,2.12,0.00,0.000,260,0.000,0.033,2652,3345,3184,3224,3145,0,0,0,0,0,0,26.40,26.11,26.41
$GC,416,-0.48,-175.2,2651,3345,3226,3143,81.3,-14.0,64,423,0.00,2.15,0.00,0.000,1030,0.000,0.025,2651,1921,3184,3226,3142,0,0,0,0,0,0,26.22,26.18,26.24
$GC,732,-0.48,-175.2,2651,1919,3229,3141,139.8,-16.8,104,733,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,1918,3185,3229,3141,0,0,0,0,0,0,26.59,26.60,26.60
$GC,1032,-0.48,-175.2,2650,1919,3231,3141,191.9,-18.4,134,1036,0.00,2.10,0.00,0.000,260,0.000,0.028,2642,3359,3186,3231,3141,0,0,0,0,0,0,26.64,26.33,26.65
$GC,1116,-0.48,-175.2,2641,3358,3232,3141,202.1,-12.0,141,1121,0.12,2.08,0.00,0.000,3078,0.151,0.023,2682,1931,3186,3232,3141,0,0,0,0,0,0,26.13,26.36,26.28
$GC,1923,-0.48,-175.2,2682,1927,3232,3138,296.5,-10.9,181,1929,0.00,2.05,0.00,0.000,516,0.000,0.029,2682,538,3185,3232,3138,0,0,0,0,0,0,26.72,26.38,26.73
$GC,2071,-0.48,-175.2,2682,538,3232,3137,309.5,-8.4,188,2075,0.00,2.10,0.00,0.000,1030,0.000,0.028,2674,1946,3184,3232,3137,0,0,0,0,0,0,26.49,26.41,26.51
$GC,2883,-0.48,-175.2,2673,1946,3232,3130,405.9,-11.9,229,2887,0.00,2.10,0.00,0.000,516,0.000,0.030,2674,533,3181,3232,3130,0,0,0,0,0,0,26.75,26.39,26.77
$GC,2921,-0.48,-175.2,2673,533,3232,3130,410.3,-11.9,231,2926,0.00,2.08,0.00,0.000,1030,0.000,0.028,2668,1936,3181,3232,3130,0,0,0,0,0,0,26.46,26.43,26.49
$STATE,3638,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3638,begin apogee
$GC,3643,0.00,0.0,2668,1815,3229,3125,502.0,-13.2,267,3781,0.52,0.08,133.18,0.943,10246,0.125,0.090,2834,1912,2465,2524,2406,0,0,0,0,0,0,26.16,24.89,24.31
$STATE,3782,end apogee,CONTROL_FINISHED_OK
$STATE,3782,begin climb
$GC,3783,0.48,175.2,2833,1912,2524,2406,507.5,0.0,274,3933,0.40,2.38,138.32,0.938,10756,0.039,0.031,3028,479,1748,1821,1676,0,0,0,0,0,0,25.09,24.72,24.14
$GC,3988,0.48,175.2,3028,478,1808,1675,483.0,20.6,284,3993,0.12,2.12,0.00,0.000,5126,0.177,0.028,2995,1832,1741,1809,1674,0,0,0,0,0,0,25.17,25.33,25.34
$GC,4795,0.48,175.2,2994,1835,1807,1669,321.9,19.3,324,4799,0.00,2.17,0.00,0.000,260,0.000,0.030,2995,3290,1738,1807,1669,0,0,0,0,0,0,26.51,26.20,26.51
$GC,4834,0.48,175.2,2994,3290,1807,1669,315.2,18.6,326,4838,0.00,2.10,0.00,0.000,1030,0.000,0.028,3004,1880,1738,1807,1669,0,0,0,0,0,0,26.29,26.20,26.31
$GC,5641,0.48,175.2,3004,1880,1807,1667,152.1,17.4,379,5645,0.00,2.15,0.00,0.000,516,0.000,0.034,3014,463,1737,1807,1667,0,0,0,0,0,0,26.65,26.29,26.67
$GC,5778,0.48,175.2,3014,462,1799,1667,130.4,15.6,392,5787,0.00,2.12,0.00,0.000,1030,0.000,0.028,3014,1876,1734,1802,1667,0,0,0,0,0,0,26.43,26.35,26.46
$GC,6093,0.48,175.2,3014,1879,1802,1667,82.4,13.2,434,6100,0.00,2.15,0.00,0.000,516,0.000,0.033,3025,457,1734,1802,1667,0,0,0,0,0,0,26.69,26.33,26.70
$GC,6197,0.48,175.2,3024,456,1798,1667,67.9,13.9,453,6205,0.10,2.15,0.00,0.000,5126,0.177,0.029,2995,1876,1733,1800,1667,0,0,0,0,0,0,26.13,26.37,26.32
$GC,6528,0.56,241.7,2995,1877,1803,1666,37.0,8.3,514,6584,0.00,2.17,49.88,0.644,8452,0.000,0.030,2995,3284,1478,1571,1386,0,0,0,0,0,0,26.71,25.75,25.25
$GC,6657,0.59,263.6,2994,3284,1565,1387,25.3,9.4,533,6675,0.00,2.17,10.77,0.550,9222,0.000,0.026,3004,1868,1389,1485,1293,0,0,0,0,0,0,25.95,25.94,25.25
$GC,6819,0.59,263.6,3004,1868,1480,1289,7.4,12.0,559,6827,0.00,2.17,0.00,0.000,516,0.000,0.035,3014,471,1382,1477,1288,0,0,0,0,0,0,26.29,25.96,26.30
$STATE,6852,end climb,SURFACE_DEPTH_REACHED
$STATE,6852,begin surface coast
$FINISH,0.9,1.024775
$STATE,6872,end surface coast,CONTROL_FINISHED_OK
$STATE,6872,begin surface
$SM_CCo,6889,96.03,0.047,0,0,499,482.01
$SM_GC,1.65,7.47,2.25,96.03,0.024,0.017,0.047,125,1968,499,-8.41,-1.16,482.01,0,0,0,0,0,0,26.02,26.08,25.98
$IRIDIUM_FIX,-2957.51,3114.07,090717,055214
$TT8_MAMPS,0.024717,0.260652
$HUMID,56.10
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,20.00
$XPDR_PINGS,0
$24V_AH,24.14,26.286
$10V_AH,10.28,13.285
$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,18.400,47.550,332.150,96.025,0.000,36.895,43.533,205.185,11.500,0.000,12.790,1380.738,3906.184,463.732,1563.697,89.643,0.000,1054.102,0.000,1218.860,0.000,71.723,0.000
$DEVICE_MAMPS,214.200,89.505,943.245,46.665,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,392.169,90.880,403.365,409.515,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343208
$DATA_FILE_SIZE,37024,567
$CAP_FILE_SIZE,72533,0
$CFSIZE,2097086464,2061795328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,090717,075521,-3010.105,3113.635,6,1.2,6,-25.1,0.6,47.9,6,32.5