version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 378
start: 7 13 117 11 31 28
data:
$ID,574
$MISSION,23
$DIVE,378
$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,335
$T_MISSION,350
$T_ABORT,400
$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,180
$COURSE_BIAS,0
$GLIDE_SLOPE,17
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52970
$MASS_COMP,0
$NAV_MODE,1
$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,300
$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,2835
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,-6.8056469e+38
$PITCH_GAIN,50
$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,2271
$C_ROLL_CLIMB,1870
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,30
$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
$GPS1,130717,111902,-2945.1528,3145.0789,41,1.1,41,-24.7,0.0,0.0,7,12.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-77.7
$GPS2,130717,113040,-2944.9797,3145.2510,5,0.9,5,-24.7,0.0,0.0,8,96.6
$SPEED_LIMITS,0.325,0.335
$TGT_NAME,TGT1
$TGT_LATLONG,-3000.000,3200.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,164.3,36516,-13.3,-9.950,-16.52,4010
$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,-0.48,-175.2,127,2259,1290,1163,0.0,0.0,0,73,0.00,0.00,-55.25,0.000,16386,0.000,0.000,127,2265,2826,2820,2833,0,0,0,0,0,0,26.15,28.83,26.17
$GC,76,-0.48,-175.2,127,2265,2820,2833,3.8,-5.5,7,101,9.82,2.20,-6.35,0.000,18692,0.216,0.044,2659,3694,3182,3219,3146,0,0,0,0,0,0,25.41,25.31,25.60
$GC,156,-0.48,-175.2,2659,3694,3224,3143,29.7,-20.2,19,165,0.00,2.17,0.00,0.000,1030,0.000,0.024,2659,2270,3184,3228,3140,0,0,0,0,0,0,25.97,25.94,25.99
$GC,301,-0.48,-175.2,2659,2265,3230,3136,59.7,-21.3,44,309,0.00,2.17,0.00,0.000,260,0.000,0.032,2648,3688,3183,3230,3136,0,0,0,0,0,0,26.36,26.00,26.36
$GC,506,-0.48,-175.2,2648,3688,3232,3137,87.7,-11.3,82,514,0.10,2.10,0.00,0.000,3078,0.131,0.022,2681,2263,3185,3233,3137,0,0,0,0,0,0,25.94,26.13,26.06
$GC,822,-0.48,-175.2,2681,2259,3237,3134,127.5,-12.1,121,830,0.00,2.12,0.00,0.000,260,0.000,0.032,2673,3695,3185,3236,3134,0,0,0,0,0,0,26.55,26.17,26.56
$GC,882,-0.48,-175.2,2672,3695,3237,3134,134.1,-10.1,127,886,0.00,2.10,0.00,0.000,1030,0.000,0.022,2673,2263,3186,3237,3135,0,0,0,0,0,0,26.30,26.24,26.33
$GC,1187,-0.48,-175.2,2672,2259,3238,3134,174.1,-13.4,157,1191,0.00,2.05,0.00,0.000,516,0.000,0.028,2673,859,3186,3238,3134,0,0,0,0,0,0,26.62,26.25,26.63
$GC,1293,-0.48,-175.2,2672,859,3238,3135,186.9,-11.2,167,1302,0.00,2.15,0.00,0.000,1030,0.000,0.028,2662,2294,3186,3238,3134,0,0,0,0,0,0,26.35,26.27,26.37
$GC,1616,-0.48,-175.2,2662,2294,3238,3134,231.7,-15.0,188,1621,0.00,2.08,0.00,0.000,516,0.000,0.025,2662,867,3186,3238,3134,0,0,0,0,0,0,26.64,26.30,26.65
$GC,1667,-0.48,-175.2,2662,866,3238,3134,237.7,-15.0,190,1674,0.00,2.10,0.00,0.000,1030,0.000,0.028,2652,2276,3186,3238,3134,0,0,0,0,0,0,26.39,26.31,26.41
$GC,2476,-0.48,-175.2,2651,2276,3236,3131,355.0,-13.0,231,2481,0.00,2.08,0.00,0.000,516,0.000,0.026,2652,859,3183,3236,3131,0,0,0,0,0,0,26.71,26.33,26.72
$GC,2522,-0.48,-175.2,2652,858,3236,3131,360.3,-13.3,233,2526,0.12,2.12,0.00,0.000,3078,0.143,0.028,2682,2280,3183,3236,3131,0,0,0,0,0,0,26.07,26.34,26.22
$GC,3329,-0.48,-175.2,2681,2280,3235,3128,445.9,-10.3,273,3334,0.00,2.10,0.00,0.000,516,0.000,0.028,2681,866,3181,3234,3128,0,0,0,0,0,0,26.72,26.32,26.74
$GC,3408,-0.48,-175.2,2681,866,3234,3127,454.6,-10.8,277,3413,0.00,2.10,0.00,0.000,1030,0.000,0.028,2673,2269,3180,3234,3127,0,0,0,0,0,0,26.43,26.34,26.45
$GC,4225,-0.48,-175.2,2673,2269,3231,3123,546.3,-11.0,318,4230,0.00,2.08,0.00,0.000,516,0.000,0.028,2673,869,3176,3230,3123,0,0,0,0,0,0,26.73,26.32,26.74
$GC,4354,-0.48,-175.2,2672,869,3229,3123,558.7,-9.8,324,4358,0.00,2.10,0.00,0.000,1030,0.000,0.029,2663,2272,3175,3229,3122,0,0,0,0,0,0,26.43,26.34,26.45
$GC,5161,-0.48,-175.2,2662,2275,3227,3117,661.3,-12.4,364,5166,0.00,2.10,0.00,0.000,516,0.000,0.028,2663,862,3171,3226,3117,0,0,0,0,0,0,26.70,26.30,26.72
$GC,5253,-0.48,-175.2,2662,862,3227,3117,670.3,-11.2,368,5260,0.00,2.12,0.00,0.000,1030,0.000,0.028,2653,2277,3172,3227,3117,0,0,0,0,0,0,26.41,26.33,26.44
$STATE,5579,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5580,begin apogee
$GC,5585,0.00,0.0,2652,1831,3226,3115,714.5,-13.3,385,5725,0.57,0.00,137.07,1.103,10246,0.122,0.000,2832,1830,2465,2537,2393,0,0,0,0,0,0,25.89,24.68,24.01
$STATE,5726,end apogee,CONTROL_FINISHED_OK
$STATE,5726,begin climb
$GC,5728,0.48,175.2,2831,1830,2537,2393,719.8,0.0,392,5882,0.40,2.40,144.02,1.077,10500,0.044,0.031,2995,3275,1749,1845,1654,0,0,0,0,0,0,24.87,24.43,23.77
$GC,5945,0.48,175.2,2994,3275,1840,1654,694.6,18.8,403,5951,0.00,2.15,0.00,0.000,1030,0.000,0.028,3004,1910,1747,1840,1654,0,0,0,0,0,0,25.19,25.12,25.20
$GC,6765,0.48,175.2,3004,1910,1832,1648,543.9,18.1,444,6771,0.00,2.05,0.00,0.000,260,0.000,0.028,3005,3282,1740,1832,1648,0,0,0,0,0,0,26.43,26.10,26.44
$GC,6818,0.48,175.2,3004,3282,1831,1648,536.2,18.8,446,6825,0.00,2.15,0.00,0.000,1030,0.000,0.029,3015,1856,1739,1831,1648,0,0,0,0,0,0,26.18,26.10,26.22
$GC,7626,0.48,175.2,3014,1857,1827,1646,380.1,17.8,487,7632,0.00,2.10,0.00,0.000,260,0.000,0.030,3015,3276,1736,1827,1646,0,0,0,0,0,0,26.60,26.23,26.61
$GC,7718,0.48,175.2,3014,3276,1827,1646,367.0,16.4,491,7725,0.12,2.12,0.00,0.000,5126,0.178,0.030,2990,1861,1736,1827,1646,0,0,0,0,0,0,25.89,26.23,26.12
$GC,8525,0.48,175.2,2990,1861,1827,1645,225.0,18.0,532,8531,0.00,2.12,0.00,0.000,260,0.000,0.030,2990,3291,1735,1826,1645,0,0,0,0,0,0,26.67,26.28,26.68
$GC,8678,0.48,175.2,2990,3291,1826,1645,202.4,15.7,539,8685,0.00,2.12,0.00,0.000,1030,0.000,0.029,2999,1870,1735,1826,1645,0,0,0,0,0,0,26.37,26.29,26.41
$GC,9492,0.48,175.2,2998,1870,1826,1645,76.5,12.8,636,9501,0.00,2.12,0.00,0.000,260,0.000,0.030,2999,3279,1735,1826,1645,0,0,0,0,0,0,26.70,26.31,26.71
$GC,9635,0.48,175.2,2998,3279,1826,1645,60.8,10.8,662,9641,0.00,2.10,0.00,0.000,1030,0.000,0.028,3009,1869,1735,1826,1645,0,0,0,0,0,0,26.39,26.31,26.43
$GC,9972,0.61,276.0,3008,1866,1827,1645,31.5,7.4,723,10028,0.00,2.25,50.40,0.634,8708,0.000,0.035,3020,459,1337,1458,1216,0,0,0,0,0,0,26.70,25.73,25.20
$GC,10083,0.61,276.0,3019,459,1443,1215,20.5,13.8,739,10092,0.00,2.20,0.00,0.000,1030,0.000,0.024,3020,1874,1328,1443,1214,0,0,0,0,0,0,25.91,25.88,25.93
$STATE,10223,end climb,SURFACE_DEPTH_REACHED
$STATE,10223,begin surface coast
$FINISH,1.1,1.025263
$STATE,10243,end surface coast,CONTROL_FINISHED_OK
$STATE,10243,begin surface
$SM_CCo,10259,9.32,0.050,0,0,1239,300.24
$SM_GC,2.72,7.53,0.60,9.32,0.024,0.034,0.050,123,2289,1239,-8.42,-1.10,300.24,0,0,0,0,0,0,25.96,26.00,25.91
$IRIDIUM_FIX,-2932.67,3146.37,130717,112530
$TT8_MAMPS,0.026964,0.289863
$HUMID,60.19
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,701.2,28.0
$24V_AH,23.77,32.576
$10V_AH,10.18,16.380
$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,18.675,65.525,331.500,9.325,0.000,133.542,101.339,236.090,16.750,0.000,12.960,1870.680,6440.996,386.327,2168.797,130.810,0.000,1151.354,0.000,1620.960,0.000,105.170,0.000
$DEVICE_MAMPS,215.730,52.785,1103.130,50.490,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,527.346,101.244,431.258,431.517,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343296
$DATA_FILE_SIZE,50381,765
$CAP_FILE_SIZE,95531,0
$CFSIZE,2097086464,2055110656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,130717,142332,-2945.810,3146.104,19,0.8,19,-24.8,0.6,55.4,10,106.6