version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 398
start: 7 16 117 18 20 55
data:
$ID,574
$MISSION,23
$DIVE,398
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,320
$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,29
$R_STBD_OVSHOOT,45
$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
$GPS1,160717,181139,-3054.8491,3127.6628,44,1.5,44,-26.1,1.1,298.5,6,38.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-73.9
$GPS2,160717,182008,-3054.8740,3127.2261,6,0.9,6,-26.1,1.0,265.4,9,102.8
$SPEED_LIMITS,0.325,0.335
$TGT_NAME,HEADING
$TGT_LATLONG,-3046.602,3119.147
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,346.1,20000,-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,16,-0.48,-175.2,124,2137,1288,1158,0.0,0.0,0,57,0.00,0.00,-39.60,0.000,16386,0.000,0.000,125,2137,2349,2329,2370,0,0,0,0,0,0,26.12,28.83,26.13
$GC,60,-0.48,-175.2,125,2137,2331,2370,3.1,-3.5,5,94,9.95,2.25,-18.23,0.000,18948,0.216,0.045,2674,703,3182,3228,3136,0,0,0,0,0,0,25.30,24.20,25.47
$GC,150,-0.48,-175.2,2674,702,3230,3136,19.8,-15.6,18,159,0.00,2.22,0.00,0.000,1030,0.000,0.031,2666,2125,3183,3230,3136,0,0,0,0,0,0,25.88,25.82,25.91
$GC,209,-0.48,-175.2,2665,2125,3230,3136,29.6,-19.0,27,217,0.00,2.17,0.00,0.000,260,0.000,0.036,2655,3540,3183,3230,3136,0,0,0,0,0,0,26.26,25.86,26.27
$GC,245,-0.48,-175.2,2654,3540,3229,3136,37.3,-23.2,32,253,0.00,2.17,0.00,0.000,1030,0.000,0.026,2655,2121,3183,3230,3136,0,0,0,0,0,0,25.96,25.92,26.00
$GC,384,-0.48,-175.2,2654,2119,3233,3134,65.8,-22.0,57,390,0.00,2.10,0.00,0.000,516,0.000,0.028,2655,708,3183,3232,3134,0,0,0,0,0,0,26.36,25.98,26.37
$GC,419,-0.48,-175.2,2654,708,3233,3134,73.5,-20.4,63,427,0.10,2.17,0.00,0.000,3078,0.152,0.029,2675,2140,3183,3233,3134,0,0,0,0,0,0,25.77,26.00,25.91
$GC,735,-0.48,-175.2,2674,2140,3235,3134,128.9,-14.4,107,736,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2140,3184,3235,3133,0,0,0,0,0,0,26.49,26.51,26.50
$GC,1036,-0.48,-175.2,2674,2140,3237,3134,171.9,-14.0,137,1040,0.00,2.08,0.00,0.000,260,0.000,0.034,2665,3541,3185,3237,3134,0,0,0,0,0,0,26.56,26.15,26.57
$GC,1097,-0.48,-175.2,2665,3541,3238,3134,179.8,-11.9,143,1101,0.00,2.08,0.00,0.000,1030,0.000,0.023,2665,2119,3186,3238,3134,0,0,0,0,0,0,26.28,26.21,26.30
$GC,1403,-0.48,-175.2,2665,2116,3238,3134,221.4,-13.0,165,1409,0.00,2.03,0.00,0.000,516,0.000,0.027,2665,723,3186,3239,3134,0,0,0,0,0,0,26.58,26.22,26.60
$GC,1445,-0.48,-175.2,2665,723,3239,3134,226.3,-12.9,167,1450,0.00,2.10,0.00,0.000,1030,0.000,0.028,2655,2132,3186,3239,3134,0,0,0,0,0,0,26.32,26.23,26.34
$GC,2259,-0.48,-175.2,2654,2132,3238,3132,336.1,-13.8,208,2264,0.00,2.05,0.00,0.000,260,0.000,0.035,2644,3531,3185,3239,3132,0,0,0,0,0,0,26.68,26.24,26.69
$GC,2346,-0.48,-175.2,2644,3531,3238,3132,345.5,-11.5,212,2350,0.10,2.05,0.00,0.000,3078,0.126,0.024,2678,2127,3185,3238,3132,0,0,0,0,0,0,26.10,26.30,26.22
$GC,3153,-0.48,-175.2,2678,2123,3238,3128,424.1,-9.1,252,3158,0.00,2.10,0.00,0.000,260,0.000,0.034,2670,3535,3183,3238,3128,0,0,0,0,0,0,26.71,26.25,26.72
$GC,3274,-0.48,-175.2,2669,3535,3237,3128,433.6,-7.9,258,3279,0.00,2.03,0.00,0.000,1030,0.000,0.022,2671,2137,3182,3237,3128,0,0,0,0,0,0,26.35,26.32,26.38
$GC,4093,-0.48,-175.2,2669,2133,3234,3122,528.5,-12.2,299,4098,0.00,2.10,0.00,0.000,260,0.000,0.036,2660,3538,3178,3234,3122,0,0,0,0,0,0,26.72,26.25,26.73
$GC,4195,-0.48,-175.2,2659,3538,3233,3122,538.8,-10.2,304,4199,0.00,2.08,0.00,0.000,1030,0.000,0.024,2660,2126,3177,3232,3122,0,0,0,0,0,0,26.39,26.31,26.41
$GC,5014,-0.48,-175.2,2659,2121,3231,3117,631.0,-10.3,345,5019,0.00,2.10,0.00,0.000,260,0.000,0.035,2649,3533,3173,3230,3117,0,0,0,0,0,0,26.69,26.24,26.70
$GC,5161,-0.48,-175.2,2649,3533,3228,3117,643.9,-9.2,352,5166,0.10,2.08,0.00,0.000,3078,0.124,0.024,2684,2124,3172,3228,3117,0,0,0,0,0,0,26.10,26.29,26.21
$GC,5969,-0.48,-175.2,2683,2120,3227,3113,713.7,-8.6,392,5974,0.00,2.12,0.00,0.000,260,0.000,0.036,2676,3539,3170,3228,3113,0,0,0,0,0,0,26.72,26.22,26.74
$GC,6062,-0.48,-175.2,2675,3539,3228,3113,720.2,-8.0,396,6068,0.00,2.08,0.00,0.000,1030,0.000,0.023,2676,2123,3170,3227,3113,0,0,0,0,0,0,26.38,26.29,26.40
$GC,6869,-0.48,-175.2,2675,2119,3226,3108,794.7,-8.2,437,6874,0.00,2.12,0.00,0.000,260,0.000,0.037,2665,3533,3167,3226,3108,0,0,0,0,0,0,26.72,26.20,26.74
$GC,6990,-0.48,-175.2,2665,3533,3225,3108,803.3,-7.0,443,6995,0.00,2.05,0.00,0.000,1030,0.000,0.024,2666,2132,3166,3225,3108,0,0,0,0,0,0,26.32,26.27,26.34
$GC,7809,-0.48,-175.2,2665,2128,3224,3107,877.1,-9.7,484,7814,0.00,2.12,0.00,0.000,260,0.000,0.037,2655,3540,3165,3223,3107,0,0,0,0,0,0,26.72,26.17,26.74
$GC,7909,-0.48,-175.2,2654,3540,3222,3107,885.9,-8.3,489,7915,0.00,2.10,0.00,0.000,1030,0.000,0.025,2655,2127,3164,3222,3106,0,0,0,0,0,0,26.34,26.24,26.36
$GC,8730,-0.48,-175.2,2654,2124,3220,3102,997.2,-13.6,530,8735,0.00,2.10,0.00,0.000,260,0.000,0.037,2645,3527,3161,3220,3102,0,0,0,0,0,0,26.72,26.13,26.74
$STATE,8768,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8768,begin apogee
$GC,8775,0.00,0.0,2645,1838,3219,3103,1002.2,-13.3,532,8921,0.60,0.00,142.18,1.311,10246,0.116,0.000,2834,1835,2465,2539,2391,0,0,0,0,0,0,25.71,24.44,23.64
$STATE,8922,end apogee,CONTROL_FINISHED_OK
$STATE,8922,begin climb
$GC,8924,0.48,175.2,2834,1835,2538,2390,1010.8,0.0,539,9085,0.40,2.35,151.52,1.284,10500,0.056,0.031,2987,3239,1751,1847,1656,0,0,0,0,0,0,24.62,23.60,23.03
$GC,9107,0.48,175.2,2987,3238,1842,1656,993.8,16.0,548,9113,0.00,2.30,0.00,0.000,1030,0.000,0.030,2997,1841,1748,1841,1656,0,0,0,0,0,0,24.37,24.30,24.39
$GC,9927,0.48,175.2,2997,1841,1832,1651,809.3,23.1,589,9933,0.00,2.20,0.00,0.000,516,0.000,0.041,3008,433,1741,1832,1650,0,0,0,0,0,0,26.31,25.88,26.32
$GC,10056,0.48,175.2,3008,433,1823,1650,783.9,20.2,595,10060,0.00,2.15,0.00,0.000,1030,0.000,0.030,3008,1831,1737,1824,1650,0,0,0,0,0,0,26.08,25.99,26.11
$GC,10862,0.48,175.2,3008,1835,1824,1649,621.5,19.3,635,10863,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1834,1736,1824,1649,0,0,0,0,0,0,26.54,26.55,26.55
$GC,11662,0.48,175.2,3008,1834,1823,1649,466.3,18.8,675,11668,0.00,2.17,0.00,0.000,516,0.000,0.036,3018,429,1736,1823,1649,0,0,0,0,0,0,26.61,26.12,26.63
$GC,11702,0.48,175.2,3018,429,1818,1649,459.5,18.1,677,11706,0.00,2.17,0.00,0.000,1030,0.000,0.029,3018,1842,1734,1819,1649,0,0,0,0,0,0,26.27,26.18,26.32
$GC,12518,0.48,175.2,3018,1845,1821,1649,305.8,18.8,718,12524,0.00,2.12,0.00,0.000,260,0.000,0.032,3018,3261,1735,1821,1649,0,0,0,0,0,0,26.65,26.19,26.67
$GC,12551,0.48,175.2,3018,3261,1821,1649,301.8,18.9,719,12559,0.12,2.15,0.00,0.000,5126,0.201,0.031,2995,1832,1735,1822,1649,0,0,0,0,0,0,25.75,26.20,25.99
$GC,13358,0.48,175.2,2994,1832,1822,1649,173.8,14.0,769,13367,0.00,2.12,0.00,0.000,260,0.000,0.029,2994,3261,1736,1824,1649,0,0,0,0,0,0,26.67,26.22,26.69
$GC,13382,0.48,175.2,2994,3261,1824,1649,170.8,14.0,771,13389,0.00,2.12,0.00,0.000,1030,0.000,0.028,3003,1837,1736,1824,1649,0,0,0,0,0,0,26.31,26.22,26.35
$GC,13689,0.48,175.2,3003,1836,1824,1650,128.4,13.5,802,13698,0.00,2.15,0.00,0.000,516,0.000,0.036,3014,426,1735,1822,1649,0,0,0,0,0,0,26.68,26.14,26.70
$GC,13853,0.48,175.2,3014,426,1818,1649,108.6,11.9,818,13860,0.00,2.15,0.00,0.000,1030,0.000,0.028,3014,1846,1735,1821,1649,0,0,0,0,0,0,26.32,26.24,26.36
$GC,14176,0.48,175.2,3014,1849,1825,1649,74.0,10.5,871,14183,0.00,2.15,0.00,0.000,516,0.000,0.033,3024,433,1736,1824,1649,0,0,0,0,0,0,26.68,26.15,26.70
$GC,14263,0.48,175.2,3024,433,1821,1649,63.5,11.1,887,14270,0.10,2.12,0.00,0.000,5126,0.171,0.028,2996,1841,1735,1822,1649,0,0,0,0,0,0,25.93,26.24,26.10
$GC,14597,0.65,308.8,2995,1842,1828,1649,35.7,6.5,948,14692,0.12,2.20,84.10,0.630,10500,0.072,0.029,3071,3242,1203,1330,1077,0,0,0,0,0,0,26.40,25.27,24.82
$GC,14708,0.65,308.8,3071,3243,1325,1076,21.8,16.6,962,14718,0.12,2.22,0.00,0.000,5126,0.151,0.031,3046,1834,1200,1324,1077,0,0,0,0,0,0,25.33,25.51,25.41
$STATE,14831,end climb,SURFACE_DEPTH_REACHED
$STATE,14832,begin surface coast
$FINISH,1.2,1.025058
$STATE,14851,end surface coast,CONTROL_FINISHED_OK
$STATE,14852,begin surface
$SM_CCo,14928,0.00,0.000,0,0,1191,312.26
$SM_GC,2.04,7.78,0.45,0.00,0.034,0.024,0.000,125,2192,1191,-8.37,-1.07,312.26,0,0,0,0,0,0,25.72,25.86,25.78
$IRIDIUM_FIX,-3039.98,3135.30,160717,140323
$TT8_MAMPS,0.025466,0.267393
$HUMID,56.41
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,20.70
$XPDR_PINGS,0
$24V_AH,23.03,35.419
$10V_AH,10.17,17.863
$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,19.500,90.800,377.800,0.000,0.000,32.944,71.049,291.681,20.250,0.000,13.769,2428.295,9942.812,416.289,2511.303,159.139,0.000,1407.094,0.000,2009.739,0.000,138.149,0.000
$DEVICE_MAMPS,215.730,65.790,1311.210,0.000,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,683.268,93.406,398.511,400.673,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343272
$DATA_FILE_SIZE,63864,985
$CAP_FILE_SIZE,123849,0
$CFSIZE,2097086464,2052620288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,160717,223059,-3056.005,3119.465,43,0.9,43,-26.1,2.1,282.0,8,129.4