version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 389
start: 7 15 117 4 13 4
data:
$ID,574
$MISSION,23
$DIVE,389
$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,2130
$C_ROLL_CLIMB,1840
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,62
$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,200
$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
$GPS1,150717,040002,-3002.7661,3201.2617,26,0.9,26,-25.3,0.8,178.1,9,7.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-72.4
$GPS2,150717,041217,-3003.4385,3201.3462,5,0.8,5,-25.3,1.9,147.4,9,76.6
$SPEED_LIMITS,0.325,0.335
$TGT_NAME,TGT1
$TGT_LATLONG,-3000.000,3200.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,6.6,6724,-13.3,-9.950,-16.56,3985
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.48,-175.2,127,2155,1031,845,0.0,0.0,0,80,0.00,0.00,-62.22,0.000,16386,0.000,0.000,127,2155,2693,2682,2705,0,0,0,0,0,0,26.06,28.83,26.07
$GC,83,-0.48,-175.2,127,2155,2683,2705,3.6,-4.8,8,109,9.90,2.12,-9.30,0.000,18692,0.216,0.046,2660,3518,3183,3224,3142,0,0,0,0,0,0,25.32,24.30,25.51
$GC,130,-0.48,-175.2,2659,3518,3228,3139,19.3,-33.2,14,139,0.00,2.12,0.00,0.000,1030,0.000,0.023,2660,2129,3184,3231,3137,0,0,0,0,0,0,25.86,25.81,25.88
$GC,189,-0.48,-175.2,2659,2129,3232,3135,32.3,-23.4,23,197,0.00,2.15,0.00,0.000,516,0.000,0.029,2660,722,3183,3232,3135,0,0,0,0,0,0,26.19,25.84,26.20
$GC,213,-0.48,-175.2,2659,722,3232,3135,37.9,-23.7,26,222,0.00,2.15,0.00,0.000,1030,0.000,0.026,2650,2110,3184,3233,3135,0,0,0,0,0,0,25.91,25.89,25.96
$GC,350,-0.48,-175.2,2649,2111,3233,3135,71.3,-24.1,51,357,0.00,2.15,0.00,0.000,260,0.000,0.033,2639,3544,3183,3232,3135,0,0,0,0,0,0,26.30,25.94,26.32
$GC,380,-0.48,-175.2,2638,3544,3233,3135,78.1,-22.7,56,388,0.10,2.15,0.00,0.000,3078,0.134,0.024,2671,2127,3183,3233,3134,0,0,0,0,0,0,25.75,25.98,25.82
$GC,694,-0.48,-175.2,2670,2122,3236,3133,138.9,-17.5,97,698,0.00,2.10,0.00,0.000,260,0.000,0.031,2662,3540,3185,3236,3134,0,0,0,0,0,0,26.44,26.08,26.46
$GC,731,-0.48,-175.2,2661,3540,3236,3133,144.9,-17.1,100,740,0.00,2.10,0.00,0.000,1030,0.000,0.022,2662,2116,3185,3237,3133,0,0,0,0,0,0,26.20,26.12,26.22
$GC,1041,-0.48,-175.2,2661,2112,3238,3133,197.1,-16.7,131,1045,0.00,2.05,0.00,0.000,516,0.000,0.028,2662,718,3185,3238,3133,0,0,0,0,0,0,26.53,26.17,26.54
$GC,1090,-0.48,-175.2,2661,717,3238,3133,202.8,-15.9,134,1097,0.00,2.12,0.00,0.000,1030,0.000,0.029,2651,2135,3185,3238,3133,0,0,0,0,0,0,26.26,26.17,26.28
$GC,1899,-0.48,-175.2,2651,2140,3239,3133,331.9,-15.9,175,1903,0.00,2.08,0.00,0.000,260,0.000,0.033,2641,3540,3186,3239,3133,0,0,0,0,0,0,26.62,26.26,26.63
$GC,1973,-0.48,-175.2,2641,3540,3239,3132,340.0,-13.3,178,1981,0.10,2.08,0.00,0.000,3078,0.126,0.023,2675,2120,3185,3239,3132,0,0,0,0,0,0,26.11,26.29,26.22
$GC,2780,-0.48,-175.2,2675,2116,3239,3129,433.8,-10.9,219,2786,0.00,2.05,0.00,0.000,516,0.000,0.029,2675,725,3184,3239,3129,0,0,0,0,0,0,26.69,26.29,26.70
$GC,2870,-0.48,-175.2,2675,725,3239,3128,442.0,-9.9,223,2874,0.00,2.10,0.00,0.000,1030,0.000,0.027,2669,2139,3183,3239,3128,0,0,0,0,0,0,26.41,26.32,26.43
$GC,3677,-0.48,-175.2,2669,2140,3239,3120,539.2,-11.8,263,3678,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2140,3179,3239,3120,0,0,0,0,0,0,26.71,26.73,26.72
$GC,4477,-0.48,-175.2,2668,2140,3236,3115,633.8,-11.8,303,4482,0.00,2.10,0.00,0.000,516,0.000,0.028,2670,726,3175,3236,3115,0,0,0,0,0,0,26.72,26.30,26.74
$GC,4525,-0.48,-175.2,2669,726,3235,3115,638.4,-11.5,305,4529,0.00,2.10,0.00,0.000,1030,0.000,0.028,2659,2128,3175,3235,3115,0,0,0,0,0,0,26.41,26.32,26.43
$GC,5334,-0.48,-175.2,2659,2127,3232,3108,742.2,-13.5,345,5335,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2127,3170,3232,3108,0,0,0,0,0,0,26.70,26.72,26.72
$GC,6132,-0.48,-175.2,2659,2127,3227,3104,838.3,-11.7,385,6138,0.00,2.10,0.00,0.000,516,0.000,0.029,2660,723,3165,3227,3104,0,0,0,0,0,0,26.73,26.27,26.74
$GC,6214,-0.48,-175.2,2659,723,3227,3104,847.8,-11.9,389,6219,0.00,2.15,0.00,0.000,1030,0.000,0.028,2650,2121,3165,3227,3104,0,0,0,0,0,0,26.34,26.30,26.37
$GC,7032,-0.48,-175.2,2649,2121,3224,3099,948.2,-11.8,430,7037,0.00,2.10,0.00,0.000,516,0.000,0.030,2649,719,3162,3225,3099,0,0,0,0,0,0,26.73,26.25,26.74
$GC,7074,-0.48,-175.2,2649,719,3224,3099,953.2,-12.0,432,7080,0.12,2.15,0.00,0.000,3078,0.151,0.028,2677,2141,3162,3225,3099,0,0,0,0,0,0,25.96,26.28,26.10
$STATE,7592,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7593,begin apogee
$GC,7598,0.00,0.0,2677,1809,3223,3097,1000.7,-9.0,458,7742,0.50,0.00,140.23,1.295,10246,0.118,0.000,2834,1808,2464,2534,2395,0,0,0,0,0,0,25.82,24.48,23.73
$STATE,7743,end apogee,CONTROL_FINISHED_OK
$STATE,7743,begin climb
$GC,7745,0.48,175.2,2834,1808,2534,2395,1005.2,0.0,465,7905,0.43,2.42,151.05,1.285,10500,0.054,0.030,2995,3240,1749,1844,1655,0,0,0,0,0,0,24.66,23.68,23.13
$GC,8012,0.48,175.2,2995,3240,1836,1655,969.9,17.3,479,8016,0.00,2.17,0.00,0.000,1030,0.000,0.030,3005,1881,1746,1837,1655,0,0,0,0,0,0,25.01,24.93,25.03
$GC,8828,0.48,175.2,3004,1881,1829,1649,799.2,21.0,520,8834,0.00,2.28,0.00,0.000,516,0.000,0.041,3016,435,1739,1829,1649,0,0,0,0,0,0,26.35,25.95,26.37
$GC,9008,0.48,175.2,3015,434,1819,1649,763.5,19.0,529,9012,0.00,2.15,0.00,0.000,1030,0.000,0.027,3016,1838,1734,1819,1649,0,0,0,0,0,0,26.15,26.08,26.18
$GC,9825,0.48,175.2,3015,1841,1819,1649,608.1,19.8,570,9830,0.00,2.17,0.00,0.000,516,0.000,0.037,3026,433,1734,1819,1649,0,0,0,0,0,0,26.56,26.12,26.58
$GC,9944,0.48,175.2,3026,432,1814,1649,584.2,19.4,576,9951,0.12,2.15,0.00,0.000,5126,0.183,0.028,2992,1840,1732,1815,1649,0,0,0,0,0,0,25.82,26.20,26.06
$GC,10765,0.48,175.2,2992,1844,1817,1649,444.8,15.9,617,10771,0.00,2.10,0.00,0.000,260,0.000,0.031,2992,3250,1733,1817,1649,0,0,0,0,0,0,26.63,26.23,26.65
$GC,10878,0.48,175.2,2992,3250,1817,1649,430.3,14.1,622,10884,0.00,2.12,0.00,0.000,1030,0.000,0.030,3001,1835,1733,1817,1649,0,0,0,0,0,0,26.32,26.22,26.36
$GC,11685,0.48,175.2,3001,1835,1818,1649,290.9,17.9,663,11690,0.00,2.15,0.00,0.000,516,0.000,0.037,3012,433,1733,1818,1649,0,0,0,0,0,0,26.67,26.18,26.68
$GC,11868,0.48,175.2,3012,433,1813,1649,261.3,15.8,672,11872,0.00,2.12,0.00,0.000,1030,0.000,0.026,3012,1843,1731,1813,1649,0,0,0,0,0,0,26.36,26.29,26.40
$GC,12677,0.48,175.2,3011,1848,1819,1649,146.1,12.1,733,12686,0.00,2.05,0.00,0.000,260,0.000,0.031,3012,3244,1734,1820,1649,0,0,0,0,0,0,26.69,26.27,26.70
$GC,12812,0.48,175.2,3011,3244,1820,1649,130.3,11.8,746,12819,0.10,2.08,0.00,0.000,5126,0.176,0.026,2994,1834,1735,1821,1649,0,0,0,0,0,0,25.96,26.29,26.14
$GC,13122,0.65,308.8,2993,1834,1824,1648,97.3,6.5,781,13238,0.12,2.25,105.97,0.682,11012,0.068,0.034,3080,447,1204,1329,1079,0,0,0,0,0,0,26.42,25.13,24.58
$GC,13272,0.65,308.8,3079,446,1317,1078,75.2,18.0,806,13279,0.12,2.17,0.00,0.000,5126,0.156,0.026,3045,1836,1197,1316,1078,0,0,0,0,0,0,25.22,25.41,25.40
$GC,13609,0.65,308.8,3044,1842,1316,1073,24.0,16.4,867,13618,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1842,1194,1316,1073,0,0,0,0,0,0,26.20,26.22,26.22
$STATE,13742,end climb,SURFACE_DEPTH_REACHED
$STATE,13742,begin surface coast
$FINISH,1.0,1.024809
$STATE,13763,end surface coast,CONTROL_FINISHED_OK
$STATE,13763,begin surface
$SM_CCo,13839,0.00,0.000,0,0,1191,312.51
$SM_GC,1.76,7.57,0.43,0.00,0.026,0.022,0.000,125,2212,1191,-8.38,-1.16,312.51,0,0,0,0,0,0,25.96,26.13,26.02
$IRIDIUM_FIX,-2950.05,3158.48,150717,040901
$TT8_MAMPS,0.025466,0.289863
$HUMID,55.59
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,21.50
$XPDR_PINGS,0
$24V_AH,23.13,34.098
$10V_AH,10.15,17.169
$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,19.200,73.475,397.250,0.000,0.000,76.469,63.620,387.623,20.250,0.000,12.761,2163.966,9365.893,439.052,2473.094,154.334,0.000,1341.849,0.000,1812.974,0.000,137.130,0.000
$DEVICE_MAMPS,216.495,45.900,1295.145,0.000,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,614.966,73.993,333.821,337.314,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343244
$DATA_FILE_SIZE,57134,892
$CAP_FILE_SIZE,116166,0
$CFSIZE,2097086464,2053799936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,150717,080457,-3007.273,3202.351,41,1.1,41,-25.4,1.5,196.0,7,54.4