version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 414
start: 7 19 117 12 41 5
data:
$ID,574
$MISSION,23
$DIVE,414
$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,260
$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,1990
$C_ROLL_CLIMB,1790
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,42
$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
$GPS1,190717,123259,-3056.7849,3102.2161,51,1.0,51,-26.0,0.6,191.9,8,16.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-81.8
$GPS2,190717,124019,-3057.1118,3102.1697,3,0.9,4,-26.0,0.6,212.9,10,158.7
$SPEED_LIMITS,0.325,0.335
$TGT_NAME,HEADING
$TGT_LATLONG,-3058.987,3049.765
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,286.0,20000,-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,14,begin dive
$GC,16,-0.48,-175.2,126,2001,1210,1080,0.0,0.0,0,73,0.00,0.00,-54.67,0.000,16386,0.000,0.000,126,2002,2680,2665,2695,0,0,0,0,0,0,26.13,28.83,26.14
$GC,76,-0.48,-175.2,126,2002,2666,2695,3.3,-3.2,7,102,9.68,2.20,-10.20,0.000,19204,0.210,0.047,2635,3405,3182,3221,3143,0,0,0,0,0,0,25.28,24.18,25.47
$GC,245,-0.48,-175.2,2634,3405,3229,3138,40.7,-17.7,34,251,0.00,2.15,0.00,0.000,1030,0.000,0.028,2635,1980,3183,3229,3138,0,0,0,0,0,0,25.98,25.89,26.01
$GC,572,-0.48,-175.2,2634,1976,3233,3135,114.7,-19.3,89,580,0.00,2.12,0.00,0.000,260,0.000,0.033,2624,3398,3184,3234,3135,0,0,0,0,0,0,26.44,26.01,26.45
$GC,673,-0.48,-175.2,2623,3398,3234,3135,130.9,-14.1,99,682,0.10,2.10,0.00,0.000,3078,0.166,0.025,2655,1980,3185,3235,3135,0,0,0,0,0,0,25.79,26.09,25.94
$GC,983,-0.48,-175.2,2654,1977,3237,3135,177.0,-14.9,130,991,0.00,2.10,0.00,0.000,260,0.000,0.031,2646,3400,3186,3237,3135,0,0,0,0,0,0,26.54,26.13,26.55
$GC,1063,-0.48,-175.2,2645,3400,3237,3135,187.5,-12.0,138,1072,0.00,2.08,0.00,0.000,1030,0.000,0.024,2646,1989,3186,3237,3135,0,0,0,0,0,0,26.25,26.17,26.27
$GC,1374,-0.48,-175.2,2645,1984,3238,3134,234.6,-15.2,158,1380,0.00,2.08,0.00,0.000,260,0.000,0.030,2636,3405,3186,3238,3134,0,0,0,0,0,0,26.60,26.17,26.61
$GC,1442,-0.48,-175.2,2635,3406,3238,3135,242.4,-13.3,161,1446,0.00,2.08,0.00,0.000,1030,0.000,0.024,2636,1990,3186,3238,3135,0,0,0,0,0,0,26.29,26.22,26.32
$GC,2249,-0.48,-175.2,2635,1987,3238,3133,358.8,-13.8,201,2254,0.00,2.08,0.00,0.000,260,0.000,0.030,2626,3401,3185,3238,3133,0,0,0,0,0,0,26.67,26.25,26.68
$GC,2392,-0.48,-175.2,2625,3401,3237,3132,374.0,-10.7,208,2395,0.00,2.08,0.00,0.000,1030,0.000,0.024,2626,1990,3185,3237,3133,0,0,0,0,0,0,26.35,26.27,26.38
$GC,3210,-0.48,-175.2,2625,1986,3236,3129,499.4,-16.1,249,3216,0.00,2.08,0.00,0.000,260,0.000,0.031,2616,3404,3182,3236,3129,0,0,0,0,0,0,26.70,26.26,26.71
$GC,3340,-0.48,-175.2,2615,3404,3233,3130,516.5,-13.6,255,3350,0.12,2.08,0.00,0.000,3078,0.150,0.026,2656,1993,3182,3234,3130,0,0,0,0,0,0,25.96,26.27,26.11
$GC,4151,-0.48,-175.2,2656,1990,3232,3123,625.4,-11.7,296,4152,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,1990,3177,3232,3123,0,0,0,0,0,0,26.71,26.72,26.72
$GC,4949,-0.48,-175.2,2655,1990,3228,3118,708.3,-10.2,336,4955,0.00,2.10,0.00,0.000,260,0.000,0.034,2647,3398,3173,3228,3118,0,0,0,0,0,0,26.72,26.21,26.72
$GC,5010,-0.48,-175.2,2647,3398,3227,3118,713.9,-9.5,339,5016,0.00,2.10,0.00,0.000,1030,0.000,0.025,2647,1983,3172,3227,3118,0,0,0,0,0,0,26.35,26.26,26.38
$GC,5831,-0.48,-175.2,2647,1982,3225,3114,826.8,-14.7,380,5837,0.00,2.10,0.00,0.000,260,0.000,0.033,2638,3394,3169,3225,3114,0,0,0,0,0,0,26.72,26.20,26.73
$GC,5890,-0.48,-175.2,2637,3394,3224,3114,834.7,-13.6,383,5896,0.00,2.10,0.00,0.000,1030,0.000,0.027,2637,1991,3169,3225,3114,0,0,0,0,0,0,26.32,26.23,26.36
$GC,6711,-0.48,-175.2,2636,1988,3222,3108,947.1,-12.2,424,6715,0.00,2.12,0.00,0.000,260,0.000,0.034,2627,3403,3165,3222,3108,0,0,0,0,0,0,26.72,26.17,26.73
$GC,6732,-0.48,-175.2,2626,3405,3221,3108,949.7,-12.3,425,6738,0.00,2.12,0.00,0.000,1030,0.000,0.028,2626,1990,3164,3221,3108,0,0,0,0,0,0,26.30,26.20,26.33
$STATE,7133,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7133,begin apogee
$GC,7138,0.00,0.0,2627,1758,3219,3107,1001.1,-13.4,445,7283,0.60,0.00,141.65,1.300,10246,0.138,0.000,2808,1757,2464,2537,2392,0,0,0,0,0,0,25.58,24.46,23.68
$STATE,7284,end apogee,CONTROL_FINISHED_OK
$STATE,7284,begin climb
$GC,7286,0.48,175.2,2808,1757,2537,2392,1006.4,0.0,452,7442,0.43,0.00,152.18,1.274,10758,0.053,0.000,2973,1757,1749,1849,1650,0,0,0,0,0,0,24.67,23.77,23.04
$GC,8232,0.48,175.2,2972,1757,1835,1643,869.7,16.5,500,8238,0.00,2.20,0.00,0.000,260,0.000,0.031,2973,3197,1739,1835,1644,0,0,0,0,0,0,26.31,25.93,26.32
$GC,8292,0.48,175.2,2973,3196,1833,1643,859.9,16.5,503,8298,0.00,2.10,0.00,0.000,1030,0.000,0.031,2983,1821,1738,1833,1644,0,0,0,0,0,0,26.04,25.95,26.08
$GC,9112,0.48,175.2,2982,1821,1830,1642,714.9,17.8,544,9118,0.00,2.25,0.00,0.000,516,0.000,0.041,2994,377,1736,1830,1642,0,0,0,0,0,0,26.53,26.03,26.55
$GC,9152,0.48,175.2,2993,377,1824,1642,707.5,18.4,546,9158,0.00,2.17,0.00,0.000,1030,0.000,0.028,2994,1792,1733,1824,1642,0,0,0,0,0,0,26.22,26.13,26.26
$GC,9972,0.48,175.2,2993,1796,1825,1642,570.0,16.1,587,9978,0.00,2.12,0.00,0.000,260,0.000,0.031,2994,3213,1733,1825,1642,0,0,0,0,0,0,26.61,26.15,26.63
$GC,10015,0.48,175.2,2993,3213,1824,1642,563.9,15.5,589,10020,0.12,2.15,0.00,0.000,5126,0.193,0.031,2970,1785,1733,1824,1642,0,0,0,0,0,0,25.75,26.16,25.98
$GC,10827,0.48,175.2,2970,1785,1825,1642,442.5,15.5,630,10833,0.00,2.17,0.00,0.000,516,0.000,0.037,2979,376,1733,1824,1642,0,0,0,0,0,0,26.65,26.10,26.67
$GC,10875,0.48,175.2,2979,376,1819,1642,436.7,14.9,632,10879,0.00,2.17,0.00,0.000,1030,0.000,0.028,2979,1799,1730,1819,1642,0,0,0,0,0,0,26.30,26.20,26.34
$GC,11682,0.48,175.2,2978,1803,1823,1642,311.5,13.4,672,11688,0.00,2.10,0.00,0.000,260,0.000,0.031,2980,3208,1733,1823,1643,0,0,0,0,0,0,26.67,26.19,26.69
$GC,11785,0.48,175.2,2979,3208,1824,1643,299.0,12.1,677,11789,0.00,2.12,0.00,0.000,1030,0.000,0.031,2990,1789,1733,1824,1643,0,0,0,0,0,0,26.29,26.19,26.33
$GC,12597,0.48,175.2,2990,1789,1825,1642,188.1,12.8,722,12598,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,1789,1734,1825,1643,0,0,0,0,0,0,26.69,26.70,26.70
$GC,12898,0.48,175.2,2989,1789,1826,1643,151.4,13.5,752,12900,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,1789,1734,1826,1643,0,0,0,0,0,0,26.69,26.71,26.70
$GC,13199,0.50,188.8,2989,1788,1828,1642,116.3,9.6,782,13217,0.00,2.20,10.12,0.613,8708,0.000,0.035,3001,378,1694,1788,1600,0,0,0,0,0,0,26.70,26.10,25.37
$GC,13230,0.53,218.1,3000,378,1783,1600,113.3,9.2,785,13261,0.00,2.15,25.00,0.672,9222,0.000,0.028,3001,1792,1574,1678,1471,0,0,0,0,0,0,26.29,26.22,25.20
$GC,13571,0.62,289.4,3000,1795,1673,1469,81.1,8.1,836,13639,0.00,2.20,58.33,0.660,8452,0.000,0.029,3001,3193,1283,1412,1154,0,0,0,0,0,0,26.41,25.17,24.78
$GC,13683,0.62,289.4,3000,3193,1407,1154,70.6,10.5,855,13690,0.00,2.17,0.00,0.000,1030,0.000,0.028,3010,1785,1281,1407,1155,0,0,0,0,0,0,25.64,25.56,25.66
$GC,14015,0.62,289.4,3010,1785,1399,1155,32.1,11.2,916,14024,0.00,2.20,0.00,0.000,516,0.000,0.036,3021,391,1275,1396,1155,0,0,0,0,0,0,26.27,25.84,26.28
$GC,14096,0.62,289.4,3021,391,1390,1155,22.7,11.6,929,14105,0.00,2.17,0.00,0.000,1030,0.000,0.025,3021,1790,1272,1390,1155,0,0,0,0,0,0,26.03,25.96,26.02
$GC,14251,0.62,289.4,3021,1794,1390,1155,3.1,15.1,954,14259,0.00,2.15,0.00,0.000,260,0.000,0.031,3022,3200,1272,1390,1155,0,0,0,0,0,0,26.39,25.99,26.39
$STATE,14266,end climb,SURFACE_DEPTH_REACHED
$STATE,14266,begin surface coast
$FINISH,0.9,1.024881
$STATE,14291,end surface coast,CONTROL_FINISHED_OK
$STATE,14291,begin surface
$SM_CCo,14308,12.68,0.050,0,0,1159,320.11
$SM_GC,2.52,7.45,1.83,12.68,0.021,0.018,0.050,126,1966,1159,-8.34,1.10,320.11,0,0,0,0,0,0,26.06,26.13,25.94
$IRIDIUM_FIX,-3034.97,3256.17,190717,082611
$TT8_MAMPS,0.025466,0.26215
$HUMID,54.92
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.04,37.750
$10V_AH,10.17,19.087
$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,18.500,76.775,387.275,12.675,0.000,32.960,49.935,243.766,20.250,0.000,11.793,2335.806,9500.700,470.765,2311.709,164.576,0.000,1365.852,0.000,1886.366,0.000,137.319,0.000
$DEVICE_MAMPS,209.610,46.665,1299.735,50.490,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,668.197,96.849,419.484,420.065,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343336
$DATA_FILE_SIZE,60343,960
$CAP_FILE_SIZE,114698,0
$CFSIZE,2097086464,2050555904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$WARN,PPS timeout
$GPS,190717,164149,-3102.780,3100.954,86,0.7,86,-26.1,1.3,181.2,12,122.8