version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 404
start: 7 17 117 20 6 9
data:
$ID,574
$MISSION,23
$DIVE,404
$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,10
$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,320
$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,2810
$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,2020
$C_ROLL_CLIMB,1810
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,71
$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
$GPS1,170717,195756,-3050.1455,3055.6055,38,0.8,38,-25.8,0.5,283.0,10,7.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-80.7
$GPS2,170717,200521,-3050.1118,3055.4163,5,0.8,5,-25.8,0.7,280.9,10,35.9
$SPEED_LIMITS,0.325,0.335
$TGT_NAME,HEADING
$TGT_LATLONG,-3039.477,3057.596
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,35.8,20000,-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,-175.2,124,2017,1090,958,0.0,0.0,0,80,0.00,0.00,-62.15,0.000,16386,0.000,0.000,124,2018,2740,2734,2747,0,0,0,0,0,0,26.09,28.83,26.10
$GC,83,-0.48,-175.2,124,2017,2734,2749,3.2,-2.0,8,108,9.82,0.00,-9.12,0.000,18694,0.216,0.000,2643,2010,3181,3220,3143,0,0,0,0,0,0,25.25,25.27,25.43
$GC,158,-0.48,-175.2,2643,2011,3226,3140,23.7,-24.3,19,167,0.00,2.15,0.00,0.000,260,0.000,0.034,2634,3402,3183,3227,3140,0,0,0,0,0,0,26.17,25.77,26.18
$GC,229,-0.48,-175.2,2633,3401,3228,3138,37.4,-15.6,30,238,0.00,2.15,0.00,0.000,1030,0.000,0.025,2634,2002,3182,3228,3137,0,0,0,0,0,0,25.88,25.87,25.93
$GC,368,-0.48,-175.2,2633,1998,3229,3136,65.4,-19.8,55,374,0.00,2.10,0.00,0.000,260,0.000,0.031,2624,3400,3182,3229,3136,0,0,0,0,0,0,26.30,25.90,26.32
$GC,407,-0.48,-175.2,2623,3400,3230,3137,73.4,-18.0,62,415,0.10,2.08,0.00,0.000,3078,0.145,0.024,2655,2013,3183,3230,3136,0,0,0,0,0,0,25.71,25.95,25.84
$GC,726,-0.48,-175.2,2655,2009,3233,3136,121.0,-15.2,109,735,0.00,2.08,0.00,0.000,260,0.000,0.032,2646,3400,3185,3234,3136,0,0,0,0,0,0,26.44,26.01,26.45
$GC,819,-0.48,-175.2,2646,3400,3235,3136,132.5,-11.6,118,826,0.00,2.10,0.00,0.000,1030,0.000,0.024,2647,2012,3185,3235,3136,0,0,0,0,0,0,26.12,26.10,26.15
$GC,1127,-0.48,-175.2,2646,2009,3236,3136,179.3,-15.2,149,1135,0.00,2.08,0.00,0.000,260,0.000,0.032,2637,3405,3186,3236,3136,0,0,0,0,0,0,26.53,26.10,26.54
$GC,1218,-0.48,-175.2,2636,3406,3237,3136,191.3,-12.6,158,1227,0.00,2.05,0.00,0.000,1030,0.000,0.024,2636,2019,3186,3237,3136,0,0,0,0,0,0,26.23,26.15,26.25
$GC,1529,-0.48,-175.2,2636,2017,3237,3136,237.5,-15.2,177,1535,0.00,2.03,0.00,0.000,260,0.000,0.031,2627,3394,3186,3237,3136,0,0,0,0,0,0,26.58,26.15,26.60
$GC,1601,-0.48,-175.2,2626,3395,3237,3136,245.6,-13.9,180,1608,0.00,2.03,0.00,0.000,1030,0.000,0.024,2627,2018,3186,3237,3136,0,0,0,0,0,0,26.27,26.20,26.30
$GC,2410,-0.48,-175.2,2626,2017,3237,3133,373.0,-16.3,221,2415,0.00,2.05,0.00,0.000,260,0.000,0.033,2617,3403,3184,3237,3132,0,0,0,0,0,0,26.63,26.19,26.65
$GC,2534,-0.48,-175.2,2616,3402,3237,3132,389.1,-12.4,227,2539,0.12,2.05,0.00,0.000,3078,0.139,0.025,2658,2012,3184,3237,3132,0,0,0,0,0,0,25.94,26.25,26.09
$GC,3348,-0.48,-175.2,2657,2007,3237,3128,491.6,-11.6,268,3352,0.00,2.08,0.00,0.000,260,0.000,0.034,2649,3397,3182,3237,3127,0,0,0,0,0,0,26.67,26.20,26.67
$GC,3417,-0.48,-175.2,2648,3397,3236,3128,498.1,-10.7,271,3421,0.00,2.05,0.00,0.000,1030,0.000,0.025,2649,2013,3181,3236,3127,0,0,0,0,0,0,26.34,26.25,26.36
$GC,4224,-0.48,-175.2,2648,2010,3234,3123,599.7,-11.7,311,4230,0.00,2.08,0.00,0.000,260,0.000,0.034,2639,3397,3178,3233,3123,0,0,0,0,0,0,26.70,26.19,26.71
$GC,4264,-0.48,-175.2,2639,3397,3233,3123,603.9,-11.2,313,4270,0.00,2.05,0.00,0.000,1030,0.000,0.026,2639,2017,3178,3233,3123,0,0,0,0,0,0,26.33,26.24,26.36
$GC,5086,-0.48,-175.2,2638,2017,3230,3119,716.4,-14.5,354,5091,0.00,2.05,0.00,0.000,260,0.000,0.034,2629,3395,3174,3229,3119,0,0,0,0,0,0,26.70,26.18,26.72
$GC,5147,-0.48,-175.2,2628,3395,3228,3118,724.2,-13.2,357,5151,0.00,2.10,0.00,0.000,1030,0.000,0.027,2629,2017,3173,3228,3118,0,0,0,0,0,0,26.27,26.22,26.29
$GC,5966,-0.48,-175.2,2628,2016,3227,3115,843.1,-15.3,398,5967,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2017,3171,3227,3115,0,0,0,0,0,0,26.71,26.72,26.72
$GC,6765,-0.48,-175.2,2628,2017,3225,3111,958.3,-13.3,438,6768,0.00,2.12,0.00,0.000,516,0.000,0.035,2629,615,3168,3225,3111,0,0,0,0,0,0,26.71,26.13,26.72
$GC,6786,-0.48,-175.2,2628,615,3225,3111,961.1,-13.4,439,6793,0.10,2.10,0.00,0.000,3078,0.194,0.028,2648,1996,3168,3225,3111,0,0,0,0,0,0,25.81,26.20,25.96
$STATE,7124,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7125,begin apogee
$GC,7130,0.00,0.0,2648,1765,3225,3108,1000.4,-11.2,456,7277,0.52,0.00,143.45,1.317,10246,0.129,0.000,2809,1763,2464,2530,2399,0,0,0,0,0,0,25.62,24.34,23.53
$STATE,7278,end apogee,CONTROL_FINISHED_OK
$STATE,7278,begin climb
$GC,7280,0.48,175.2,2809,1764,2529,2399,1006.0,0.0,463,7448,0.43,2.33,153.70,1.306,10756,0.054,0.037,2980,445,1748,1840,1657,0,0,0,0,0,0,24.53,23.56,22.77
$GC,7463,0.48,175.2,2979,444,1832,1657,990.8,14.9,472,7470,0.00,2.28,0.00,0.000,1030,0.000,0.028,2980,1802,1744,1832,1657,0,0,0,0,0,0,24.18,24.11,24.20
$GC,8271,0.48,175.2,2980,1806,1825,1651,838.0,16.6,513,8273,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,1806,1738,1825,1651,0,0,0,0,0,0,26.25,26.26,26.26
$GC,9070,0.48,175.2,2979,1806,1823,1649,695.6,18.1,553,9076,0.00,2.17,0.00,0.000,260,0.000,0.034,2980,3234,1736,1823,1649,0,0,0,0,0,0,26.47,26.04,26.48
$GC,9133,0.48,175.2,2979,3234,1821,1649,685.7,16.9,556,9137,0.00,2.10,0.00,0.000,1030,0.000,0.031,2990,1851,1735,1822,1649,0,0,0,0,0,0,26.15,26.06,26.20
$GC,9950,0.48,175.2,2989,1851,1820,1649,539.5,17.9,597,9956,0.00,2.25,0.00,0.000,516,0.000,0.040,3001,404,1734,1820,1649,0,0,0,0,0,0,26.57,26.04,26.59
$GC,10099,0.48,175.2,3001,404,1812,1649,515.9,16.2,604,10104,0.12,2.17,0.00,0.000,5126,0.189,0.028,2968,1827,1731,1813,1649,0,0,0,0,0,0,25.72,26.15,25.95
$GC,10905,0.48,175.2,2967,1828,1815,1649,397.8,13.2,644,10910,0.00,2.10,0.00,0.000,260,0.000,0.031,2968,3228,1732,1815,1649,0,0,0,0,0,0,26.63,26.15,26.64
$GC,10968,0.48,175.2,2966,3228,1815,1649,389.9,13.4,647,10972,0.00,2.15,0.00,0.000,1030,0.000,0.031,2976,1806,1732,1815,1649,0,0,0,0,0,0,26.25,26.15,26.29
$GC,11785,0.48,175.2,2975,1806,1816,1649,262.4,15.9,688,11791,0.00,2.17,0.00,0.000,516,0.000,0.037,2987,397,1732,1816,1649,0,0,0,0,0,0,26.65,26.08,26.67
$GC,11845,0.48,175.2,2986,396,1812,1649,253.2,15.5,691,11851,0.00,2.17,0.00,0.000,1030,0.000,0.028,2987,1813,1731,1813,1649,0,0,0,0,0,0,26.29,26.20,26.32
$GC,12656,0.48,175.2,2986,1816,1816,1649,131.0,14.5,754,12664,0.00,2.08,0.00,0.000,260,0.000,0.031,2987,3216,1733,1817,1649,0,0,0,0,0,0,26.67,26.17,26.68
$GC,12717,0.48,175.2,2986,3216,1817,1649,122.2,14.1,760,12726,0.10,2.12,0.00,0.000,5126,0.176,0.030,2970,1803,1733,1818,1649,0,0,0,0,0,0,25.85,26.17,26.03
$GC,13035,0.48,175.2,2969,1803,1819,1649,82.6,12.1,805,13042,0.00,2.15,0.00,0.000,516,0.000,0.037,2978,405,1733,1818,1649,0,0,0,0,0,0,26.67,26.08,26.69
$GC,13103,0.48,175.2,2978,405,1814,1649,74.7,11.2,817,13110,0.00,2.15,0.00,0.000,1030,0.000,0.027,2978,1822,1732,1815,1650,0,0,0,0,0,0,26.30,26.21,26.34
$GC,13429,0.54,226.1,2978,1821,1820,1650,40.5,8.6,878,13475,0.00,2.15,39.25,0.674,8452,0.000,0.029,2979,3227,1542,1644,1440,0,0,0,0,0,0,26.67,25.56,25.13
$GC,13573,0.56,241.3,2978,3227,1639,1441,26.4,9.6,900,13591,0.00,2.20,7.68,0.558,9222,0.000,0.029,2989,1811,1479,1582,1376,0,0,0,0,0,0,25.89,25.86,25.03
$GC,13733,0.56,241.3,2988,1811,1579,1374,8.2,12.9,926,13742,0.00,2.28,0.00,0.000,516,0.000,0.037,3000,388,1474,1576,1373,0,0,0,0,0,0,26.26,25.82,26.27
$STATE,13778,end climb,SURFACE_DEPTH_REACHED
$STATE,13779,begin surface coast
$FINISH,1.0,1.025713
$STATE,13810,end surface coast,CONTROL_FINISHED_OK
$STATE,13810,begin surface
$SM_CCo,13828,34.40,0.052,0,0,1159,320.11
$SM_GC,2.16,7.47,2.53,34.40,0.023,0.018,0.052,125,2030,1159,-8.33,-1.30,320.11,0,0,0,0,0,0,25.95,25.96,25.82
$IRIDIUM_FIX,-3037.47,3055.67,170717,195933
$TT8_MAMPS,0.025466,0.26215
$HUMID,56.97
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,18.10
$XPDR_PINGS,0
$24V_AH,22.77,36.265
$10V_AH,10.12,18.339
$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,18.800,81.475,344.075,34.400,0.000,32.961,48.526,251.635,20.250,0.000,12.767,2291.001,9113.590,447.528,2317.726,162.685,0.000,1359.638,0.000,1886.502,0.000,138.410,0.000
$DEVICE_MAMPS,215.730,74.205,1316.565,52.020,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,654.140,100.606,430.891,436.059,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343340
$DATA_FILE_SIZE,60238,938
$CAP_FILE_SIZE,115175,0
$CFSIZE,2097086464,2051833856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,170717,235826,-3047.932,3054.719,37,1.0,37,-25.7,0.0,0.0,8,8.3