version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 501
start: 7 30 117 13 35 8
data:
$ID,574
$MISSION,23
$DIVE,501
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$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,333
$T_MISSION,343
$T_ABORT,400
$T_TURN,225
$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,140
$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,320
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,2
$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,2810
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,-6.8056469e+38
$PITCH_GAIN,57
$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,2050
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,40
$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
$GPS1,300717,132700,-3307.7673,2806.2024,24,0.9,24,-27.4,0.9,246.7,9,7.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-80.8
$GPS2,300717,133421,-3307.7886,2806.0393,4,0.9,4,-27.4,0.7,293.5,9,13.9
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3316.061,2814.341
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,167.4,20000,-13.3,-10.010,-16.52,4021
$D_GRID,1000
$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,16,-0.45,-175.2,124,2060,1216,1070,0.0,0.0,0,80,0.00,0.00,-62.25,0.000,16386,0.000,0.000,124,2060,2894,2902,2886,0,0,0,0,0,0,26.23,28.83,26.25
$GC,84,-0.45,-175.2,124,2060,2902,2887,3.4,-4.3,8,108,9.80,0.00,-5.85,0.000,18694,0.214,0.000,2656,2054,3182,3219,3146,0,0,0,0,0,0,25.39,24.76,25.57
$GC,159,-0.45,-175.2,2656,2054,3227,3139,19.3,-12.8,19,168,0.00,2.20,0.00,0.000,516,0.000,0.028,2656,620,3183,3227,3139,0,0,0,0,0,0,26.33,25.97,26.34
$GC,200,-0.45,-175.2,2656,620,3228,3139,24.6,-12.2,25,209,0.00,2.22,0.00,0.000,1030,0.000,0.028,2648,2050,3183,3227,3139,0,0,0,0,0,0,26.05,26.01,26.08
$GC,412,-0.45,-175.2,2647,2050,3229,3138,51.8,-12.4,62,419,0.00,2.12,0.00,0.000,260,0.000,0.032,2636,3471,3182,3228,3137,0,0,0,0,0,0,26.48,26.10,26.49
$GC,490,-0.45,-175.2,2636,3471,3229,3136,59.8,-10.6,76,500,0.00,2.17,0.00,0.000,1030,0.000,0.026,2636,2036,3183,3233,3133,0,0,0,0,0,0,26.18,26.15,26.21
$STATE,655,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,655,begin apogee
$GC,661,0.00,0.0,2636,1741,3233,3133,78.7,-12.6,106,795,0.52,0.08,128.38,0.620,10246,0.129,0.089,2801,1845,2464,2530,2398,0,0,0,0,0,0,25.81,25.16,24.64
$STATE,797,end apogee,CONTROL_FINISHED_OK
$STATE,798,begin climb
$GC,800,0.45,175.2,2801,1845,2529,2398,84.5,0.0,128,940,0.43,2.35,131.35,0.608,10756,0.066,0.033,2978,385,1748,1841,1655,0,0,0,0,0,0,25.29,24.90,24.55
$GC,959,0.45,175.2,2977,384,1832,1655,73.8,10.4,154,965,0.00,2.15,0.00,0.000,1030,0.000,0.026,2978,1759,1743,1832,1655,0,0,0,0,0,0,25.44,25.37,25.46
$GC,1158,0.49,207.2,2978,1762,1832,1654,49.5,9.2,191,1190,0.00,2.28,25.60,0.572,8452,0.000,0.031,2978,3218,1618,1719,1518,0,0,0,0,0,0,26.20,25.56,24.96
$GC,1229,0.51,223.6,2977,3218,1716,1518,42.6,9.6,203,1250,0.00,2.15,14.15,0.539,9222,0.000,0.027,2988,1799,1552,1656,1449,0,0,0,0,0,0,25.85,25.77,24.91
$GC,1467,0.56,268.9,2987,1799,1652,1446,17.2,8.9,242,1500,0.00,2.22,21.25,0.515,8708,0.000,0.036,2999,387,1363,1477,1249,0,0,0,0,0,0,26.32,25.71,25.14
$GC,1574,0.62,315.3,2998,386,1467,1249,7.7,8.8,258,1606,0.00,2.20,21.15,0.490,9222,0.000,0.026,2999,1802,1176,1308,1045,0,0,0,0,0,0,25.97,25.94,25.09
$STATE,1625,end climb,SURFACE_DEPTH_REACHED
$STATE,1625,begin surface coast
$FINISH,0.6,1.025609
$STATE,1657,end surface coast,CONTROL_FINISHED_OK
$STATE,1657,begin surface
$SM_CCo,1674,0.95,0.058,0,0,1159,320.11
$SM_GC,2.33,7.43,0.35,0.95,0.024,0.033,0.058,125,2065,1159,-8.31,-1.50,320.11,0,0,0,0,0,0,25.90,25.96,25.84
$IRIDIUM_FIX,-3254.46,2808.28,300717,121826
$TT8_MAMPS,0.025466,0.268891
$HUMID,57.44
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,18.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,60.3,33.1
$24V_AH,24.55,48.399
$10V_AH,10.23,25.001
$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,18.175,22.950,341.875,0.950,0.000,22.673,21.028,281.634,0.750,0.000,11.561,576.127,104.496,318.964,1053.067,98.179,0.000,669.746,0.000,710.786,0.000,7.018,0.000
$DEVICE_MAMPS,214.200,90.270,620.415,58.140,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,185.640,99.434,489.547,493.649,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343372
$DATA_FILE_SIZE,20353,270
$CAP_FILE_SIZE,38462,0
$CFSIZE,2097086464,2040004608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,300717,140344,-3307.969,2805.766,4,1.0,4,-27.4,1.0,210.3,8,92.3