version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 539
start: 7 31 117 12 35 50
data:
$ID,574
$MISSION,23
$DIVE,539
$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,34
$R_STBD_OVSHOOT,41
$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
$GPS1,310717,122607,-3317.6780,2751.7712,12,0.7,12,-27.4,0.9,211.8,12,295.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-68.3
$GPS2,310717,123500,-3317.8362,2751.6921,15,0.8,15,-27.5,0.6,207.5,11,355.8
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3326.109,2800.010
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,167.5,20000,-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,-175.2,126,2050,527,441,0.0,0.0,0,111,0.00,0.00,-93.35,0.000,16386,0.000,0.000,126,2046,3082,3093,3071,0,0,0,0,0,0,26.22,28.83,26.22
$GC,115,-0.45,-175.2,126,2046,3093,3071,4.1,-5.5,12,133,10.07,2.20,-1.85,0.000,18948,0.225,0.039,2657,621,3183,3205,3162,0,0,0,0,0,0,25.28,24.25,25.51
$GC,200,-0.45,-175.2,2656,619,3209,3156,22.7,-11.1,25,209,0.00,2.25,0.00,0.000,1030,0.000,0.032,2648,2049,3183,3211,3155,0,0,0,0,0,0,25.99,25.95,26.03
$GC,419,-0.45,-175.2,2647,2048,3213,3151,44.8,-9.4,62,426,0.00,2.10,0.00,0.000,260,0.000,0.033,2637,3463,3182,3214,3150,0,0,0,0,0,0,26.46,26.06,26.47
$GC,493,-0.45,-175.2,2636,3463,3214,3150,52.0,-10.8,75,499,0.00,2.12,0.00,0.000,1030,0.000,0.025,2637,2042,3182,3214,3150,0,0,0,0,0,0,26.19,26.10,26.21
$GC,694,-0.45,-175.2,2636,2038,3218,3150,76.4,-12.4,112,701,0.00,2.12,0.00,0.000,516,0.000,0.030,2637,643,3184,3218,3150,0,0,0,0,0,0,26.55,26.14,26.55
$GC,780,-0.45,-175.2,2636,643,3218,3150,87.5,-13.4,127,787,0.12,2.15,0.00,0.000,3078,0.164,0.029,2664,2061,3184,3218,3150,0,0,0,0,0,0,25.84,26.16,26.00
$GC,974,-0.45,-175.2,2664,2061,3219,3150,108.1,-10.1,156,983,0.00,2.08,0.00,0.000,260,0.000,0.034,2654,3461,3184,3219,3150,0,0,0,0,0,0,26.59,26.16,26.60
$GC,1001,-0.45,-175.2,2654,3461,3219,3150,110.3,-10.0,158,1008,0.00,2.10,0.00,0.000,1030,0.000,0.025,2655,2041,3184,3219,3150,0,0,0,0,0,0,26.28,26.20,26.31
$STATE,1146,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1146,begin apogee
$GC,1152,0.00,0.0,2654,1749,3219,3150,125.8,-10.6,173,1289,0.45,0.03,128.57,0.673,10246,0.119,0.073,2801,1819,2466,2519,2413,0,0,0,0,0,0,25.84,24.91,24.51
$STATE,1290,end apogee,CONTROL_FINISHED_OK
$STATE,1290,begin climb
$GC,1292,0.45,175.2,2800,1819,2519,2413,134.1,0.0,187,1434,0.43,2.15,132.90,0.669,10500,0.050,0.031,2976,3189,1748,1822,1675,0,0,0,0,0,0,25.29,24.79,24.41
$GC,1527,0.45,175.2,2975,3189,1820,1672,117.9,11.2,210,1537,0.10,2.12,0.00,0.000,5126,0.176,0.029,2958,1806,1745,1820,1670,0,0,0,0,0,0,25.37,25.60,25.53
$GC,1719,0.45,175.2,2958,1807,1819,1667,94.9,13.5,232,1726,0.00,2.22,0.00,0.000,516,0.000,0.034,2968,388,1741,1816,1667,0,0,0,0,0,0,26.25,25.86,26.26
$GC,1796,0.45,175.2,2967,387,1809,1667,85.0,12.6,246,1805,0.00,2.17,0.00,0.000,1030,0.000,0.026,2968,1782,1739,1811,1667,0,0,0,0,0,0,26.01,25.98,26.04
$GC,1998,0.45,175.2,2967,1787,1812,1667,59.9,14.0,283,2004,0.00,2.15,0.00,0.000,260,0.000,0.031,2968,3212,1739,1812,1667,0,0,0,0,0,0,26.44,26.06,26.45
$GC,2012,0.45,175.2,2967,3212,1812,1667,57.7,14.1,285,2019,0.00,2.15,0.00,0.000,1030,0.000,0.028,2978,1790,1740,1814,1667,0,0,0,0,0,0,26.15,26.07,26.18
$GC,2217,0.45,175.2,2977,1788,1811,1666,35.0,10.1,322,2226,0.00,2.17,0.00,0.000,516,0.000,0.034,2989,394,1737,1808,1666,0,0,0,0,0,0,26.51,26.07,26.52
$GC,2236,0.45,175.2,2988,394,1808,1667,33.2,10.0,324,2245,0.10,2.17,0.00,0.000,5126,0.163,0.027,2959,1805,1737,1808,1666,0,0,0,0,0,0,25.82,26.15,25.94
$GC,2463,0.65,340.6,2959,1810,1808,1666,14.4,5.8,361,2550,0.15,2.28,75.60,0.565,10756,0.070,0.037,3061,391,1073,1182,964,0,0,0,0,0,0,26.28,25.44,24.90
$STATE,2565,end climb,SURFACE_DEPTH_REACHED
$STATE,2565,begin surface coast
$FINISH,1.4,1.025952
$STATE,2574,end surface coast,CONTROL_FINISHED_OK
$STATE,2574,begin surface
$SM_CCo,2593,63.90,0.047,0,0,499,482.01
$SM_GC,1.41,7.78,2.60,63.90,0.030,0.019,0.047,125,2053,499,-8.33,-1.36,482.01,0,0,0,0,0,0,25.68,25.67,25.69
$IRIDIUM_FIX,-3302.17,2753.43,310717,105236
$TT8_MAMPS,0.025466,0.266644
$HUMID,61.06
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,15.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,110.3,30.2
$24V_AH,24.25,50.992
$10V_AH,10.17,26.396
$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,19.200,39.775,337.075,63.900,0.000,25.547,41.190,332.914,2.000,0.000,23.021,857.578,438.211,437.439,1365.449,127.153,0.000,875.874,0.000,938.420,0.000,15.893,0.000
$DEVICE_MAMPS,224.910,75.735,673.200,47.430,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,257.314,116.488,530.901,636.205,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343400
$DATA_FILE_SIZE,27046,375
$CAP_FILE_SIZE,52780,0
$CFSIZE,2097086464,2036269056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,310717,132124,-3318.075,2750.734,41,0.8,41,-27.4,1.5,197.6,10,7.3