version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 544
start: 7 31 117 16 21 20
data:
$ID,574
$MISSION,23
$DIVE,544
$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,330
$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,29
$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
$GPS1,310717,161939,-3320.1011,2746.3821,4,1.6,4,-27.5,0.0,0.0,5,356.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-67.6
$GPS2,310717,162033,-3320.1116,2746.3408,5,0.8,5,-27.5,1.4,232.1,10,276.9
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3328.384,2754.663
$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,-175.2,125,2053,1139,1000,0.0,0.0,0,87,0.00,0.00,-69.50,0.000,16386,0.000,0.000,125,2054,3015,3024,3007,0,0,0,0,0,0,26.32,28.83,26.33
$GC,90,-0.45,-175.2,125,2054,3026,3006,3.8,-5.8,9,109,9.90,2.20,-3.10,0.000,18948,0.221,0.039,2658,625,3181,3201,3162,0,0,0,0,0,0,25.32,24.25,25.56
$GC,223,-0.45,-175.2,2657,625,3209,3156,29.7,-11.3,30,232,0.00,2.22,0.00,0.000,1030,0.000,0.031,2649,2041,3182,3213,3151,0,0,0,0,0,0,26.03,26.02,26.08
$GC,433,-0.45,-175.2,2648,2040,3215,3150,56.0,-10.1,67,440,0.00,2.12,0.00,0.000,516,0.000,0.027,2649,622,3182,3215,3150,0,0,0,0,0,0,26.48,26.10,26.49
$GC,547,-0.45,-175.2,2648,622,3216,3150,67.7,-10.6,88,554,0.00,2.22,0.00,0.000,1030,0.000,0.029,2638,2052,3183,3216,3150,0,0,0,0,0,0,26.16,26.12,26.20
$GC,749,-0.45,-175.2,2638,2057,3218,3150,91.7,-15.5,125,756,0.00,2.08,0.00,0.000,260,0.000,0.031,2628,3464,3184,3218,3150,0,0,0,0,0,0,26.55,26.15,26.57
$GC,769,-0.45,-175.2,2626,3464,3219,3150,94.6,-15.0,128,777,0.10,2.15,0.00,0.000,3078,0.118,0.023,2664,2025,3184,3220,3149,0,0,0,0,0,0,25.95,26.20,26.02
$STATE,801,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,801,begin apogee
$GC,807,0.00,0.0,2663,1744,3220,3149,97.2,-7.6,133,941,0.43,0.08,128.75,0.649,10246,0.105,0.089,2808,1844,2465,2524,2406,0,0,0,0,0,0,25.90,25.08,24.52
$STATE,942,end apogee,CONTROL_FINISHED_OK
$STATE,942,begin climb
$GC,946,0.45,175.2,2808,1843,2523,2406,102.3,0.0,151,1088,0.40,2.33,132.55,0.644,10756,0.065,0.031,2978,409,1748,1830,1666,0,0,0,0,0,0,25.23,24.77,24.39
$GC,1129,0.45,175.2,2977,408,1817,1667,91.1,12.2,175,1136,0.00,2.12,0.00,0.000,1030,0.000,0.028,2978,1762,1742,1818,1667,0,0,0,0,0,0,25.46,25.39,25.49
$GC,1327,0.45,175.2,2977,1767,1818,1665,66.5,11.2,212,1335,0.00,2.15,0.00,0.000,516,0.000,0.034,2987,408,1741,1817,1665,0,0,0,0,0,0,26.17,25.81,26.18
$GC,1347,0.45,175.2,2987,408,1814,1665,64.6,10.3,215,1355,0.10,2.15,0.00,0.000,5126,0.169,0.027,2960,1808,1739,1814,1665,0,0,0,0,0,0,25.60,25.86,25.79
$GC,1548,0.60,298.7,2959,1811,1816,1664,46.0,6.9,252,1653,0.12,2.15,96.15,0.622,10500,0.081,0.028,3039,3207,1246,1354,1139,0,0,0,0,0,0,26.07,25.00,24.61
$GC,1687,0.60,298.7,3039,3207,1350,1138,25.5,15.4,272,1696,0.12,2.20,0.00,0.000,5126,0.163,0.028,3013,1810,1244,1350,1139,0,0,0,0,0,0,25.25,25.49,25.36
$STATE,1864,end climb,SURFACE_DEPTH_REACHED
$STATE,1864,begin surface coast
$FINISH,0.5,1.006326
$STATE,1901,end surface coast,CONTROL_FINISHED_OK
$STATE,1901,begin surface
$SM_CCo,1919,13.25,0.049,0,0,1118,330.17
$SM_GC,1.22,7.65,0.35,13.25,0.033,0.037,0.049,125,2090,1118,-8.35,-1.41,330.17,0,0,0,0,0,0,25.91,25.98,25.84
$IRIDIUM_FIX,-3304.75,2748.88,310717,140331
$TT8_MAMPS,0.025466,0.289863
$HUMID,62.28
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,15.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.1,31.8
$24V_AH,24.25,51.354
$10V_AH,10.14,26.599
$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,18.825,27.000,357.450,13.250,0.000,0.000,0.000,0.000,1.250,0.000,12.579,670.354,162.831,357.648,770.784,59.055,0.000,718.686,0.000,762.257,0.000,10.052,0.000
$DEVICE_MAMPS,221.085,88.740,649.485,48.960,0.000,0.000,0.000,0.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,211.267,104.799,446.650,486.577,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343520
$DATA_FILE_SIZE,20376,307
$CAP_FILE_SIZE,35507,0
$CFSIZE,2097086464,2035777536
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,775.10,0x212b6e,0,24
$WARN,PPS timeout
$GPS,310717,165450,-3320.503,2745.438,41,0.9,41,-27.5,0.9,166.0,9,95.3