version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 381
start: 7 13 117 21 3 19
data:
$ID,574
$MISSION,23
$DIVE,381
$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,48
$R_STBD_OVSHOOT,47
$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
$GPS1,130717,205601,-2947.9583,3147.4548,41,0.7,41,-24.8,0.7,323.8,12,49.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-79.1
$GPS2,130717,210233,-2947.9536,3147.4570,5,0.7,5,-24.8,0.0,0.0,12,53.8
$SPEED_LIMITS,0.325,0.335
$TGT_NAME,TGT1
$TGT_LATLONG,-3000.000,3200.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,162.8,30041,-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,-175.2,124,2250,1297,1153,0.0,0.0,0,73,0.00,0.00,-55.12,0.000,16386,0.000,0.000,124,2250,2762,2747,2778,0,0,0,0,0,0,26.17,28.83,26.19
$GC,76,-0.48,-175.2,124,2250,2748,2778,3.1,-2.6,7,101,9.88,2.17,-8.12,0.000,18692,0.216,0.044,2661,3674,3183,3220,3147,0,0,0,0,0,0,25.37,25.32,25.56
$GC,117,-0.48,-175.2,2660,3674,3223,3144,17.0,-35.0,12,126,0.00,2.15,0.00,0.000,1030,0.000,0.026,2660,2281,3184,3226,3142,0,0,0,0,0,0,25.91,25.87,25.94
$GC,176,-0.48,-175.2,2660,2276,3229,3139,30.1,-23.4,21,185,0.00,2.17,0.00,0.000,516,0.000,0.028,2661,852,3184,3229,3139,0,0,0,0,0,0,26.26,25.91,26.27
$GC,211,-0.48,-175.2,2660,852,3229,3138,37.9,-22.5,26,220,0.00,2.20,0.00,0.000,1030,0.000,0.027,2650,2269,3183,3229,3138,0,0,0,0,0,0,25.98,25.94,26.01
$GC,349,-0.48,-175.2,2650,2275,3231,3138,68.2,-18.0,51,356,0.00,2.12,0.00,0.000,516,0.000,0.024,2650,846,3184,3231,3138,0,0,0,0,0,0,26.36,26.01,26.37
$GC,364,-0.48,-175.2,2650,846,3231,3138,71.0,-18.6,53,371,0.12,2.15,0.00,0.000,3078,0.161,0.023,2676,2283,3184,3230,3138,0,0,0,0,0,0,25.72,26.04,25.89
$GC,683,-0.48,-175.2,2675,2283,3235,3138,117.6,-14.9,102,692,0.00,2.12,0.00,0.000,516,0.000,0.025,2676,848,3186,3235,3138,0,0,0,0,0,0,26.48,26.13,26.50
$GC,696,-0.48,-175.2,2675,848,3235,3138,118.9,-15.6,103,707,0.00,2.15,0.00,0.000,1030,0.000,0.023,2667,2266,3186,3235,3138,0,0,0,0,0,0,26.19,26.16,26.21
$GC,1004,-0.48,-175.2,2667,2266,3238,3138,166.1,-15.0,134,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2266,3188,3238,3138,0,0,0,0,0,0,26.55,26.58,26.57
$GC,1304,-0.48,-175.2,2667,2266,3239,3138,209.3,-14.1,161,1309,0.00,2.10,0.00,0.000,516,0.000,0.027,2667,854,3188,3239,3138,0,0,0,0,0,0,26.60,26.22,26.62
$GC,1337,-0.48,-175.2,2666,854,3239,3138,212.2,-14.1,162,1344,0.00,2.12,0.00,0.000,1030,0.000,0.025,2657,2281,3188,3239,3138,0,0,0,0,0,0,26.33,26.25,26.36
$GC,2145,-0.48,-175.2,2656,2281,3238,3136,323.6,-11.6,203,2151,0.00,2.10,0.00,0.000,516,0.000,0.027,2657,848,3187,3239,3136,0,0,0,0,0,0,26.67,26.29,26.69
$GC,2278,-0.48,-175.2,2656,848,3239,3136,337.5,-11.4,209,2286,0.10,2.12,0.00,0.000,3078,0.148,0.027,2678,2274,3187,3238,3137,0,0,0,0,0,0,26.07,26.31,26.20
$GC,3084,-0.48,-175.2,2678,2274,3237,3131,426.4,-10.4,250,3089,0.00,2.10,0.00,0.000,516,0.000,0.028,2679,858,3184,3238,3131,0,0,0,0,0,0,26.71,26.29,26.72
$GC,3227,-0.48,-175.2,2678,858,3237,3131,440.8,-10.3,257,3232,0.00,2.15,0.00,0.000,1030,0.000,0.029,2669,2260,3184,3237,3131,0,0,0,0,0,0,26.35,26.32,26.38
$GC,4045,-0.48,-175.2,2669,2260,3235,3128,534.9,-11.1,298,4051,0.00,2.08,0.00,0.000,516,0.000,0.027,2670,857,3181,3235,3128,0,0,0,0,0,0,26.72,26.30,26.74
$GC,4166,-0.48,-175.2,2669,857,3235,3127,547.2,-9.8,304,4172,0.00,2.10,0.00,0.000,1030,0.000,0.028,2659,2269,3181,3235,3127,0,0,0,0,0,0,26.36,26.32,26.39
$GC,4986,-0.48,-175.2,2659,2269,3232,3123,643.3,-11.8,345,4992,0.00,2.08,0.00,0.000,516,0.000,0.029,2660,862,3177,3232,3123,0,0,0,0,0,0,26.72,26.27,26.74
$GC,5079,-0.48,-175.2,2659,862,3232,3123,651.7,-10.3,349,5086,0.00,2.12,0.00,0.000,1030,0.000,0.028,2649,2275,3177,3232,3123,0,0,0,0,0,0,26.40,26.31,26.42
$GC,5886,-0.48,-175.2,2649,2275,3228,3119,755.2,-13.3,390,5893,0.08,2.12,0.00,0.000,2564,0.175,0.026,2679,861,3173,3228,3119,0,0,0,0,0,0,26.22,26.27,26.25
$GC,6009,-0.48,-175.2,2678,860,3228,3119,767.9,-9.9,396,6013,0.00,2.12,0.00,0.000,1030,0.000,0.028,2672,2273,3173,3228,3119,0,0,0,0,0,0,26.39,26.29,26.41
$STATE,6645,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6645,begin apogee
$GC,6650,0.00,0.0,2671,1839,3227,3116,835.4,-10.6,428,6794,0.50,0.00,139.88,1.175,10246,0.112,0.000,2830,1836,2465,2540,2390,0,0,0,0,0,0,25.90,24.57,23.85
$STATE,6795,end apogee,CONTROL_FINISHED_OK
$STATE,6795,begin climb
$GC,6797,0.48,175.2,2831,1836,2539,2390,841.0,0.0,435,6955,0.45,2.25,147.70,1.168,10756,0.042,0.034,3015,498,1750,1845,1655,0,0,0,0,0,0,24.75,23.96,23.44
$GC,6987,0.48,175.2,3015,498,1835,1654,820.4,18.1,445,6991,0.00,2.22,0.00,0.000,1030,0.000,0.026,3015,1867,1744,1834,1655,0,0,0,0,0,0,24.77,24.70,24.78
$GC,7804,0.48,175.2,3015,1872,1827,1650,652.3,19.3,486,7809,0.00,2.15,0.00,0.000,516,0.000,0.037,3025,490,1739,1828,1650,0,0,0,0,0,0,26.34,25.95,26.36
$GC,7824,0.48,175.2,3024,490,1825,1650,648.3,19.5,487,7830,0.12,2.12,0.00,0.000,5126,0.190,0.024,2993,1890,1737,1825,1650,0,0,0,0,0,0,25.67,26.03,25.91
$GC,8644,0.48,175.2,2992,1893,1825,1648,495.0,18.3,528,8645,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,1893,1737,1825,1649,0,0,0,0,0,0,26.55,26.56,26.56
$GC,9444,0.48,175.2,2992,1893,1825,1647,359.3,17.9,568,9445,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,1893,1736,1825,1648,0,0,0,0,0,0,26.63,26.64,26.64
$GC,10244,0.48,175.2,2992,1893,1825,1647,225.1,15.5,608,10249,0.00,2.15,0.00,0.000,516,0.000,0.035,3002,492,1736,1825,1647,0,0,0,0,0,0,26.67,26.20,26.68
$GC,10297,0.48,175.2,3001,490,1819,1648,218.8,15.5,610,10304,0.00,2.10,0.00,0.000,1030,0.000,0.027,3002,1871,1734,1821,1648,0,0,0,0,0,0,26.36,26.27,26.39
$GC,11109,0.48,175.2,3002,1875,1823,1648,86.3,14.2,695,11115,0.00,2.10,0.00,0.000,260,0.000,0.029,3002,3290,1735,1823,1648,0,0,0,0,0,0,26.69,26.27,26.70
$GC,11187,0.48,175.2,3001,3290,1823,1648,75.6,14.0,709,11194,0.00,2.08,0.00,0.000,1030,0.000,0.028,3011,1903,1736,1824,1648,0,0,0,0,0,0,26.36,26.27,26.40
$GC,11512,0.54,223.7,3011,1902,1824,1648,42.1,8.7,770,11560,0.00,2.25,37.45,0.663,8708,0.000,0.034,3022,470,1551,1652,1450,0,0,0,0,0,0,26.70,25.84,25.27
$GC,11599,0.54,223.7,3022,470,1643,1451,33.5,11.2,783,11607,0.00,2.17,0.00,0.000,1030,0.000,0.026,3023,1866,1548,1645,1451,0,0,0,0,0,0,25.98,25.94,26.00
$GC,11753,0.54,223.7,3022,1869,1645,1450,15.2,13.2,808,11762,0.00,2.15,0.00,0.000,260,0.000,0.030,3022,3280,1547,1645,1450,0,0,0,0,0,0,26.34,25.99,26.35
$GC,11783,0.54,223.7,3022,3281,1644,1450,11.5,12.2,812,11791,0.00,2.17,0.00,0.000,1030,0.000,0.030,3033,1873,1547,1644,1450,0,0,0,0,0,0,26.03,25.98,26.07
$GC,11842,0.54,223.7,3032,1873,1644,1450,3.9,13.0,821,11850,0.00,2.20,0.00,0.000,516,0.000,0.034,3043,457,1546,1642,1450,0,0,0,0,0,0,26.38,25.99,26.39
$STATE,11857,end climb,SURFACE_DEPTH_REACHED
$STATE,11857,begin surface coast
$FINISH,1.0,1.014541
$STATE,11865,end surface coast,CONTROL_FINISHED_OK
$STATE,11865,begin surface
$SM_CCo,11884,33.10,0.049,0,0,1240,300.24
$SM_GC,2.74,7.62,2.80,33.10,0.030,0.019,0.049,123,2286,1240,-8.41,-1.05,300.24,0,0,0,0,0,0,26.03,26.06,25.96
$IRIDIUM_FIX,-2935.15,3147.68,130717,205724
$TT8_MAMPS,0.025466,0.26215
$HUMID,58.54
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,19.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,820.4,28.3
$24V_AH,23.44,32.944
$10V_AH,10.18,16.582
$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,18.875,74.100,325.025,33.100,0.000,31.463,19.723,232.661,19.750,0.000,11.972,2025.476,7721.138,437.234,2013.856,137.178,0.000,1237.646,0.000,1649.386,0.000,123.356,0.000
$DEVICE_MAMPS,216.495,44.370,1175.040,48.960,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,568.366,90.250,384.488,386.028,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343288
$DATA_FILE_SIZE,53712,824
$CAP_FILE_SIZE,103463,0
$CFSIZE,2097086464,2054782976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,140717,002332,-2949.250,3148.865,60,1.0,60,-24.9,0.6,86.4,9,11.7