version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 538
start: 7 31 117 11 43 22
data:
$ID,574
$MISSION,23
$DIVE,538
$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,482.00665
$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,42
$R_STBD_OVSHOOT,57
$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
$GPS1,310717,114142,-3317.4636,2752.3667,5,0.9,5,-27.4,1.3,238.7,10,58.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-70.0
$GPS2,310717,114235,-3317.4651,2752.3625,5,1.6,5,-27.4,0.0,0.0,5,133.3
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3325.738,2800.680
$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,15,-0.45,-175.2,124,2073,530,444,0.0,0.0,0,111,0.00,0.00,-93.15,0.000,16386,0.000,0.000,125,2075,3092,3105,3080,0,0,0,0,0,0,26.48,28.83,26.48
$GC,114,-0.45,-175.2,125,2075,3106,3080,4.0,-6.0,12,133,9.80,2.15,-1.70,0.000,19204,0.216,0.034,2658,626,3182,3205,3159,0,0,0,0,0,0,25.43,25.49,25.63
$GC,195,-0.45,-175.2,2657,627,3208,3156,23.3,-14.5,24,204,0.00,2.20,0.00,0.000,1030,0.000,0.032,2648,2031,3182,3210,3154,0,0,0,0,0,0,26.13,26.09,26.16
$GC,412,-0.45,-175.2,2648,2031,3213,3150,48.9,-12.0,61,419,0.00,2.15,0.00,0.000,260,0.000,0.035,2638,3471,3181,3213,3150,0,0,0,0,0,0,26.55,26.12,26.56
$GC,504,-0.45,-175.2,2637,3471,3213,3150,59.3,-11.5,78,512,0.00,2.15,0.00,0.000,1030,0.000,0.024,2638,2044,3181,3213,3150,0,0,0,0,0,0,26.24,26.20,26.26
$GC,704,-0.45,-175.2,2637,2038,3217,3150,81.8,-10.3,115,711,0.00,2.08,0.00,0.000,516,0.000,0.028,2638,644,3183,3217,3150,0,0,0,0,0,0,26.60,26.19,26.61
$GC,793,-0.45,-175.2,2637,642,3217,3150,91.8,-11.3,131,800,0.12,2.15,0.00,0.000,3078,0.145,0.031,2667,2060,3183,3217,3150,0,0,0,0,0,0,25.95,26.21,26.09
$GC,987,-0.45,-175.2,2666,2063,3219,3150,110.0,-9.2,158,996,0.00,2.08,0.00,0.000,260,0.000,0.034,2658,3458,3184,3219,3150,0,0,0,0,0,0,26.63,26.19,26.64
$GC,1012,-0.45,-175.2,2657,3458,3219,3150,111.7,-8.7,160,1018,0.00,2.08,0.00,0.000,1030,0.000,0.024,2658,2042,3184,3219,3149,0,0,0,0,0,0,26.32,26.25,26.35
$STATE,1077,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1077,begin apogee
$GC,1083,0.00,0.0,2658,1752,3219,3149,117.8,-9.4,167,1219,0.45,0.05,129.98,0.672,10246,0.112,0.117,2806,1839,2464,2517,2412,0,0,0,0,0,0,25.91,25.09,24.51
$STATE,1220,end apogee,CONTROL_FINISHED_OK
$STATE,1221,begin climb
$GC,1223,0.45,175.2,2806,1839,2517,2411,120.2,0.0,181,1370,0.38,2.08,132.88,0.672,11012,0.052,0.029,2965,3175,1748,1823,1673,0,0,0,0,0,0,25.29,24.81,24.42
$GC,1385,0.45,175.2,2964,3175,1820,1671,107.0,11.4,197,1392,0.00,2.05,0.00,0.000,1030,0.000,0.022,2974,1828,1745,1821,1670,0,0,0,0,0,0,25.39,25.33,25.41
$GC,1583,0.45,175.2,2973,1828,1817,1668,84.5,10.3,229,1590,0.00,2.20,0.00,0.000,516,0.000,0.033,2985,400,1741,1815,1668,0,0,0,0,0,0,26.17,25.80,26.19
$GC,1609,0.48,198.6,2984,399,1808,1667,82.1,9.4,233,1636,0.00,2.10,18.52,0.615,9222,0.000,0.028,2985,1765,1654,1730,1579,0,0,0,0,0,0,25.96,25.88,24.94
$GC,1830,0.48,198.6,2984,1769,1726,1576,58.0,11.4,273,1837,0.00,2.17,0.00,0.000,260,0.000,0.033,2985,3209,1651,1726,1576,0,0,0,0,0,0,26.31,25.94,26.32
$GC,1898,0.48,198.6,2984,3209,1726,1576,50.7,10.5,285,1906,0.10,2.12,0.00,0.000,5126,0.179,0.028,2967,1802,1650,1726,1575,0,0,0,0,0,0,25.75,26.00,25.90
$GC,2112,0.50,215.5,2966,1802,1726,1572,28.7,9.6,322,2129,0.00,2.20,7.95,0.528,8708,0.000,0.035,2976,403,1584,1665,1504,0,0,0,0,0,0,26.46,25.61,25.13
$GC,2139,0.58,283.9,2975,402,1659,1505,26.5,8.3,325,2179,0.00,2.17,33.72,0.593,9222,0.000,0.028,2976,1801,1306,1409,1203,0,0,0,0,0,0,26.12,26.06,25.02
$STATE,2380,end climb,SURFACE_DEPTH_REACHED
$STATE,2380,begin surface coast
$FINISH,0.8,1.026044
$STATE,2411,end surface coast,CONTROL_FINISHED_OK
$STATE,2411,begin surface
$SM_CCo,2428,88.45,0.047,0,0,498,482.01
$SM_GC,1.57,7.35,0.35,88.45,0.024,0.028,0.047,125,2122,498,-8.30,-1.24,482.01,0,0,0,0,0,0,26.00,26.14,25.91
$IRIDIUM_FIX,-3302.17,2755.71,310717,093259
$TT8_MAMPS,0.024717,0.26964
$HUMID,60.63
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.1,32.0
$24V_AH,24.42,50.906
$10V_AH,10.18,26.348
$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,18.200,34.850,323.050,88.450,0.000,0.000,0.000,0.000,1.750,0.000,11.534,836.055,322.504,451.813,923.914,68.827,0.000,856.976,0.000,909.843,0.000,13.094,0.000
$DEVICE_MAMPS,216.495,117.045,672.435,46.665,0.000,0.000,0.000,0.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,258.753,124.502,533.048,542.443,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343524
$DATA_FILE_SIZE,27078,369
$CAP_FILE_SIZE,43476,0
$CFSIZE,2097086464,2036367360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,310717,122607,-3317.678,2751.771,12,0.7,12,-27.4,0.9,211.8,12,295.4