version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 357
start: 7 12 117 6 5 48
data:
$ID,574
$MISSION,23
$DIVE,357
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,110
$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,300
$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,30
$R_STBD_OVSHOOT,49
$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,20
$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
$GPS1,120717,055901,-2940.2083,3132.5869,12,0.8,12,-24.5,0.0,0.0,10,139.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-81.1
$GPS2,120717,060500,-2940.0454,3132.7153,13,0.8,13,-24.5,0.5,51.2,11,352.6
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,-2943.739,3144.401
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,134.5,20000,-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,-175.2,125,1940,1315,1155,0.0,0.0,0,73,0.00,0.00,-55.20,0.000,16386,0.000,0.000,124,1940,2803,2792,2815,0,0,0,0,0,0,26.34,28.83,26.35
$GC,76,-0.48,-175.2,125,1940,2793,2814,3.3,-4.3,7,101,9.55,2.15,-7.07,0.000,18692,0.210,0.042,2658,3348,3180,3212,3149,0,0,0,0,0,0,25.71,25.53,25.85
$GC,201,-0.48,-175.2,2657,3347,3221,3141,36.4,-16.0,26,209,0.00,2.15,0.00,0.000,1030,0.000,0.024,2658,1925,3181,3224,3139,0,0,0,0,0,0,26.20,26.17,26.22
$GC,344,-0.48,-175.2,2657,1923,3226,3137,70.9,-22.1,51,351,0.00,2.10,0.00,0.000,260,0.000,0.030,2647,3343,3181,3226,3136,0,0,0,0,0,0,26.51,26.22,26.52
$GC,426,-0.48,-175.2,2647,3343,3226,3137,87.8,-14.5,66,435,0.08,2.12,0.00,0.000,3078,0.161,0.025,2674,1931,3181,3227,3136,0,0,0,0,0,0,26.06,26.27,26.15
$GC,740,-0.48,-175.2,2673,1929,3228,3135,135.0,-15.6,104,744,0.00,2.10,0.00,0.000,260,0.000,0.031,2665,3343,3181,3228,3135,0,0,0,0,0,0,26.64,26.32,26.65
$GC,803,-0.48,-175.2,2664,3343,3228,3135,142.9,-11.9,110,807,0.00,2.05,0.00,0.000,1030,0.000,0.022,2665,1931,3181,3228,3135,0,0,0,0,0,0,26.43,26.36,26.45
$GC,1108,-0.48,-175.2,2664,1931,3229,3135,183.8,-12.5,140,1112,0.00,2.08,0.00,0.000,260,0.000,0.032,2655,3343,3182,3229,3135,0,0,0,0,0,0,26.69,26.37,26.70
$GC,1236,-0.48,-175.2,2654,3343,3230,3134,197.8,-10.7,152,1245,0.00,2.03,0.00,0.000,1030,0.000,0.021,2655,1939,3182,3230,3134,0,0,0,0,0,0,26.48,26.42,26.49
$STATE,1406,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1406,begin apogee
$GC,1411,0.00,0.0,2655,1819,3230,3134,220.4,-13.5,162,1546,0.55,0.00,128.80,0.728,10246,0.128,0.000,2828,1817,2464,2529,2399,0,0,0,0,0,0,26.17,25.16,24.66
$STATE,1547,end apogee,CONTROL_FINISHED_OK
$STATE,1547,begin climb
$GC,1549,0.48,175.2,2828,1816,2529,2399,226.2,0.0,169,1690,0.40,2.15,132.35,0.722,10756,0.033,0.031,3045,477,1748,1837,1660,0,0,0,0,0,0,25.38,25.04,24.53
$GC,1707,0.48,175.2,3044,476,1828,1660,207.6,19.3,177,1714,0.17,2.17,0.00,0.000,5126,0.172,0.027,2997,1873,1743,1828,1659,0,0,0,0,0,0,25.19,25.36,25.34
$GC,2523,0.48,175.2,2996,1878,1828,1653,87.7,12.2,265,2529,0.00,2.10,0.00,0.000,516,0.000,0.031,3005,476,1740,1827,1653,0,0,0,0,0,0,26.60,26.27,26.60
$GC,2594,0.48,175.2,3005,475,1822,1653,78.8,12.1,278,2601,0.00,2.10,0.00,0.000,1030,0.000,0.028,3005,1876,1738,1824,1653,0,0,0,0,0,0,26.39,26.32,26.41
$GC,2919,0.69,345.2,3005,1876,1825,1651,51.9,5.6,339,3057,0.15,0.00,132.88,0.620,10502,0.074,0.000,3093,1880,1055,1190,921,0,0,0,0,0,0,26.39,25.22,24.79
$STATE,3176,end climb,SURFACE_DEPTH_REACHED
$STATE,3176,begin surface coast
$FINISH,0.6,1.021901
$STATE,3189,end surface coast,CONTROL_FINISHED_OK
$STATE,3190,begin surface
$SM_CCo,3266,0.00,0.000,0,0,1046,348.08
$SM_GC,1.90,7.88,0.08,0.00,0.037,0.084,0.000,127,2014,1046,-8.36,-1.13,348.08,0,0,0,0,0,0,25.87,25.96,25.91
$IRIDIUM_FIX,-2927.71,3134.83,120717,060012
$TT8_MAMPS,0.025466,0.260652
$HUMID,58.34
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,18.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,220.4,10.5
$24V_AH,24.53,30.649
$10V_AH,10.34,15.452
$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,18.775,25.600,394.025,0.000,0.000,30.804,41.099,181.417,5.500,0.000,20.488,900.194,1176.216,378.549,1126.752,75.514,0.000,800.227,0.000,827.131,0.000,36.148,0.000
$DEVICE_MAMPS,210.375,123.165,728.280,0.000,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,261.348,75.266,305.780,315.187,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343308
$DATA_FILE_SIZE,23704,382
$CAP_FILE_SIZE,47999,0
$CFSIZE,2097086464,2057240576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,120717,070124,-2939.979,3133.395,38,0.8,38,-24.5,0.0,0.0,10,8.4