version: 66.12
revision: CLOWNFISH
glider: 574
mission: 21
dive: 15
start: 5 31 117 20 19 50
data:
$ID,574
$MISSION,21
$DIVE,15
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,71
$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,23
$T_MISSION,33
$T_ABORT,90
$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,130
$COURSE_BIAS,0
$GLIDE_SLOPE,17
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52970
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$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,446.92932
$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,2845
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,-6.8056469e+38
$PITCH_GAIN,45
$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,2062
$C_ROLL_CLIMB,2062
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3961
$C_VBD,2322
$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,-48.053528
$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,70
$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
$GPS1,310517,201439,-3354.2595,1815.3586,5,1.2,5,-24.4,0.0,103.6,5,66.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-78.0
$GPS2,310517,201903,-3354.2634,1815.3571,4,1.2,4,-24.4,0.0,0.0,5,222.3
$SPEED_LIMITS,0.337,0.347
$TGT_NAME,TRIAL
$TGT_LATLONG,-3353.000,1815.600
$TGT_RADIUS,300.000
$MHEAD_RNG_PITCHd_Wd,39.4,2369,-13.4,-10.290,-16.54,4068
$D_GRID,71
$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,-126.5,125,2064,532,445,0.0,0.0,0,111,0.00,0.00,-90.40,0.000,16390,0.000,0.000,125,2064,2840,2841,2839,0,0,0,0,0,0,26.11,25.06,26.13
$GC,113,-0.45,-126.5,126,2064,2845,2835,2.0,-2.0,12,130,10.02,2.17,0.00,0.000,2820,0.231,0.030,2698,639,2841,2854,2829,0,0,0,0,0,0,25.68,25.89,25.80
$GC,138,-0.45,-126.5,2698,640,2856,2827,7.9,-17.0,15,148,0.00,2.30,0.00,0.000,1030,0.000,0.044,2690,2058,2841,2860,2823,0,0,0,0,0,0,25.92,25.89,25.96
$GC,198,-0.45,-126.5,2689,2058,2864,2819,17.9,-14.4,24,207,0.00,2.20,0.00,0.000,516,0.000,0.035,2691,649,2841,2864,2819,0,0,0,0,0,0,26.23,25.96,26.25
$GC,438,-0.45,-126.5,2689,648,2864,2818,52.5,-14.9,65,444,0.00,2.25,0.00,0.000,1030,0.000,0.049,2680,2062,2841,2864,2819,0,0,0,0,0,0,26.17,26.08,26.20
$STATE,562,end dive,TARGET_DEPTH_EXCEEDED
$STATE,562,begin apogee
$GC,565,0.00,0.0,2680,2062,2865,2817,72.2,-16.8,88,662,0.52,0.00,92.30,0.679,10246,0.174,0.000,2831,2062,2321,2354,2289,0,0,0,0,0,0,26.00,25.06,24.58
$STATE,663,end apogee,CONTROL_FINISHED_OK
$STATE,663,begin climb
$GC,664,0.45,126.5,2831,2062,2354,2289,78.2,0.0,103,771,0.50,2.35,97.75,0.667,10756,0.122,0.044,2995,650,1805,1870,1741,0,0,0,0,0,0,25.06,24.60,24.27
$GC,804,0.56,216.6,2995,650,1864,1741,68.7,8.0,126,881,0.00,2.40,69.72,0.653,9222,0.000,0.052,2996,2057,1437,1523,1351,0,0,0,0,0,0,25.17,25.12,24.30
$GC,1217,0.59,242.3,2995,2057,1518,1348,30.7,9.6,198,1243,0.10,2.28,14.77,0.605,10756,0.084,0.047,3086,659,1331,1419,1243,0,0,0,0,0,0,25.88,25.63,25.14
$GC,1329,0.59,242.3,3086,659,1411,1242,12.8,16.3,215,1339,0.15,2.33,0.00,0.000,5126,0.146,0.051,3041,2065,1326,1412,1241,0,0,0,0,0,0,25.70,25.79,25.77
$GC,1389,0.59,242.3,3041,2065,1413,1240,4.3,12.6,224,1398,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2066,1326,1413,1240,0,0,0,0,0,0,26.15,26.16,26.16
$STATE,1405,end climb,SURFACE_DEPTH_REACHED
$STATE,1405,begin surface coast
$FINISH,0.2,1.027027
$STATE,1432,end surface coast,CONTROL_FINISHED_OK
$STATE,1432,begin surface
$SM_CCo,1445,92.90,0.052,0,0,499,446.93
$SM_GC,1.00,7.88,0.00,92.90,0.046,0.000,0.052,125,2069,499,-8.44,0.17,446.93,0,0,0,0,0,0,25.92,26.20,25.88
$IRIDIUM_FIX,-3340.91,1812.96,310517,194645
$TT8_MAMPS,0.025466,0.267393
$HUMID,56.73
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,13.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.8,19.4
$24V_AH,24.27,1.913
$10V_AH,10.34,0.891
$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,19.175,18.275,274.550,92.900,0.000,31.133,19.883,139.541,0.500,0.000,12.138,523.578,83.024,381.091,830.615,26.138,0.000,683.372,0.000,616.977,0.000,5.466,0.000
$DEVICE_MAMPS,231.030,52.020,679.320,52.020,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,159.632,85.151,431.848,430.799,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343468
$DATA_FILE_SIZE,17166,230
$CAP_FILE_SIZE,32530,0
$CFSIZE,2097086464,2090958848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$CURRENT,0.117,216.15,1
$GPS,310517,204606,-3354.235,1815.374,5,1.3,5,-24.4,0.0,0.0,5,52.1