version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 430
start: 7 22 117 9 47 55
data:
$ID,574
$MISSION,23
$DIVE,430
$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,225
$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,270
$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,482.00665
$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,37
$R_STBD_OVSHOOT,52
$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
$GPS1,220717,093256,-3145.1658,2950.3857,40,0.9,40,-26.4,0.8,23.7,9,8.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-78.6
$GPS2,220717,094708,-3144.9778,2950.4512,4,1.3,4,-26.4,0.0,0.0,7,243.9
$SPEED_LIMITS,0.325,0.335
$TGT_NAME,HEADING
$TGT_LATLONG,-3144.978,2937.752
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,296.4,20000,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.48,-175.2,125,2020,528,447,0.0,0.0,0,103,0.00,0.00,-84.75,0.000,16386,0.000,0.000,125,2020,2828,2828,2829,0,0,0,0,0,0,26.06,28.83,26.08
$GC,106,-0.48,-175.2,126,2020,2828,2830,3.5,-3.1,11,132,9.80,2.25,-7.05,0.000,18948,0.213,0.040,2646,579,3182,3220,3144,0,0,0,0,0,0,25.20,25.23,25.40
$GC,141,-0.48,-175.2,2645,579,3221,3144,14.8,-28.9,15,150,0.00,2.17,0.00,0.000,1030,0.000,0.024,2636,1974,3182,3221,3144,0,0,0,0,0,0,25.82,25.79,25.87
$GC,200,-0.48,-175.2,2636,1974,3223,3143,27.3,-21.0,24,208,0.00,2.20,0.00,0.000,260,0.000,0.033,2626,3404,3182,3223,3141,0,0,0,0,0,0,26.20,25.77,26.20
$GC,236,-0.48,-175.2,2625,3404,3225,3140,34.3,-20.1,29,245,0.00,2.17,0.00,0.000,1030,0.000,0.024,2626,1984,3182,3225,3140,0,0,0,0,0,0,25.88,25.84,25.91
$GC,375,-0.48,-175.2,2625,1980,3226,3139,64.4,-21.3,54,383,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,1979,3182,3226,3139,0,0,0,0,0,0,26.32,26.32,26.32
$GC,692,-0.48,-175.2,2625,1979,3227,3139,121.9,-17.1,102,701,0.00,2.12,0.00,0.000,260,0.000,0.031,2616,3408,3183,3227,3139,0,0,0,0,0,0,26.44,25.99,26.45
$GC,806,-0.48,-175.2,2615,3408,3228,3139,138.3,-13.9,113,814,0.12,2.12,0.00,0.000,3078,0.155,0.025,2654,1976,3183,3228,3139,0,0,0,0,0,0,25.72,26.05,25.87
$GC,1113,-0.48,-175.2,2654,1972,3228,3138,180.5,-13.9,144,1122,0.00,2.12,0.00,0.000,260,0.000,0.031,2646,3407,3183,3228,3138,0,0,0,0,0,0,26.53,26.07,26.55
$GC,1157,-0.48,-175.2,2645,3406,3228,3138,185.8,-12.9,148,1164,0.00,2.10,0.00,0.000,1030,0.000,0.023,2646,1978,3183,3229,3138,0,0,0,0,0,0,26.21,26.13,26.24
$GC,1465,-0.48,-175.2,2645,1974,3229,3138,229.0,-13.5,169,1471,0.00,2.10,0.00,0.000,260,0.000,0.031,2635,3404,3183,3229,3138,0,0,0,0,0,0,26.58,26.12,26.59
$GC,1487,-0.48,-175.2,2635,3404,3229,3138,231.9,-13.5,170,1491,0.00,2.12,0.00,0.000,1030,0.000,0.023,2636,1989,3183,3228,3138,0,0,0,0,0,0,26.20,26.17,26.23
$GC,2304,-0.48,-175.2,2635,1986,3229,3133,345.4,-13.2,211,2310,0.00,2.10,0.00,0.000,260,0.000,0.031,2625,3407,3181,3229,3133,0,0,0,0,0,0,26.65,26.17,26.66
$GC,2385,-0.48,-175.2,2624,3407,3229,3132,355.1,-12.0,215,2391,0.00,2.10,0.00,0.000,1030,0.000,0.024,2625,1986,3180,3229,3132,0,0,0,0,0,0,26.29,26.20,26.32
$GC,3206,-0.48,-175.2,2625,1984,3228,3127,467.6,-14.0,256,3211,0.00,2.10,0.00,0.000,260,0.000,0.031,2615,3408,3177,3228,3127,0,0,0,0,0,0,26.68,26.17,26.69
$GC,3287,-0.48,-175.2,2615,3408,3228,3127,477.7,-12.2,260,3292,0.12,2.15,0.00,0.000,3078,0.154,0.026,2655,1960,3177,3228,3127,0,0,0,0,0,0,25.85,26.20,26.00
$GC,4106,-0.48,-175.2,2654,1957,3225,3121,569.2,-11.5,301,4110,0.00,2.08,0.00,0.000,516,0.000,0.031,2655,578,3173,3226,3121,0,0,0,0,0,0,26.70,26.15,26.70
$GC,4140,-0.48,-175.2,2654,578,3226,3120,571.9,-11.8,302,4147,0.00,2.15,0.00,0.000,1030,0.000,0.028,2647,1996,3173,3226,3121,0,0,0,0,0,0,26.28,26.19,26.32
$GC,4947,-0.48,-175.2,2646,1996,3222,3116,675.3,-12.4,343,4953,0.00,2.12,0.00,0.000,516,0.000,0.029,2646,585,3169,3222,3116,0,0,0,0,0,0,26.70,26.15,26.72
$GC,4970,-0.48,-175.2,2646,584,3222,3116,677.7,-12.4,344,4974,0.00,2.12,0.00,0.000,1030,0.000,0.027,2638,1991,3169,3222,3116,0,0,0,0,0,0,26.28,26.20,26.32
$GC,5782,-0.48,-175.2,2637,1991,3218,3113,774.8,-12.2,385,5786,0.00,2.12,0.00,0.000,516,0.000,0.029,2638,589,3165,3218,3113,0,0,0,0,0,0,26.70,26.13,26.72
$GC,5863,-0.48,-175.2,2637,587,3217,3113,783.6,-10.7,389,5869,0.00,2.12,0.00,0.000,1030,0.000,0.028,2628,1989,3165,3217,3113,0,0,0,0,0,0,26.27,26.17,26.29
$GC,6686,-0.48,-175.2,2627,1988,3213,3108,891.6,-14.2,430,6691,0.00,2.10,0.00,0.000,516,0.000,0.031,2627,593,3160,3212,3108,0,0,0,0,0,0,26.67,26.09,26.69
$GC,6766,-0.48,-175.2,2627,593,3213,3108,901.9,-12.8,434,6771,0.12,2.15,0.00,0.000,3078,0.182,0.028,2655,2004,3160,3212,3108,0,0,0,0,0,0,25.69,26.14,25.85
$GC,7584,-0.48,-175.2,2654,2004,3210,3104,992.4,-10.3,475,7589,0.00,2.10,0.00,0.000,260,0.000,0.037,2645,3394,3157,3210,3104,0,0,0,0,0,0,26.70,26.02,26.71
$STATE,7682,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7683,begin apogee
$GC,7690,0.00,0.0,2645,1795,3209,3104,1001.4,-8.7,480,7836,0.52,0.00,142.60,1.312,10246,0.127,0.000,2807,1792,2465,2522,2408,0,0,0,0,0,0,25.52,24.35,23.53
$STATE,7837,end apogee,CONTROL_FINISHED_OK
$STATE,7837,begin climb
$GC,7839,0.48,175.2,2807,1792,2521,2408,1007.8,0.0,487,8005,0.43,2.47,153.52,1.281,10756,0.058,0.039,2980,366,1748,1826,1670,0,0,0,0,0,0,24.56,23.59,22.80
$GC,8050,0.48,175.2,2979,366,1814,1670,985.8,16.6,498,8055,0.00,2.38,0.00,0.000,1030,0.000,0.028,2980,1775,1742,1814,1670,0,0,0,0,0,0,24.46,24.41,24.48
$GC,8868,0.48,175.2,2979,1779,1809,1665,838.8,16.3,539,8873,0.00,2.17,0.00,0.000,260,0.000,0.032,2980,3205,1737,1809,1665,0,0,0,0,0,0,26.30,25.88,26.32
$GC,8968,0.48,175.2,2979,3205,1808,1665,824.2,14.1,544,8974,0.00,2.17,0.00,0.000,1030,0.000,0.031,2990,1785,1736,1808,1665,0,0,0,0,0,0,26.01,25.92,26.06
$GC,9788,0.48,175.2,2989,1785,1808,1663,679.6,16.8,585,9793,0.00,2.20,0.00,0.000,516,0.000,0.041,3001,376,1735,1807,1663,0,0,0,0,0,0,26.51,25.96,26.53
$GC,9917,0.48,175.2,3000,376,1800,1663,659.7,16.0,591,9922,0.12,2.17,0.00,0.000,5126,0.190,0.028,2968,1799,1731,1800,1663,0,0,0,0,0,0,25.63,26.08,25.85
$GC,10723,0.48,175.2,2967,1802,1802,1662,538.1,14.4,631,10726,0.00,2.12,0.00,0.000,260,0.000,0.031,2968,3204,1732,1802,1662,0,0,0,0,0,0,26.60,26.09,26.61
$GC,10826,0.48,175.2,2967,3205,1802,1662,524.8,12.6,636,10830,0.00,2.17,0.00,0.000,1030,0.000,0.031,2976,1793,1732,1803,1662,0,0,0,0,0,0,26.23,26.09,26.27
$GC,11644,0.48,175.2,2976,1793,1803,1661,406.7,13.7,677,11649,0.00,2.20,0.00,0.000,516,0.000,0.038,2987,380,1731,1802,1661,0,0,0,0,0,0,26.64,26.01,26.65
$GC,11767,0.48,175.2,2987,379,1797,1661,390.9,13.0,683,11772,0.00,2.15,0.00,0.000,1030,0.000,0.027,2987,1795,1728,1796,1661,0,0,0,0,0,0,26.23,26.15,26.28
$GC,12579,0.48,175.2,2987,1798,1801,1661,267.3,15.3,724,12584,0.00,2.20,0.00,0.000,516,0.000,0.035,2998,371,1731,1802,1661,0,0,0,0,0,0,26.66,26.02,26.67
$GC,12679,0.48,175.2,2997,369,1797,1661,252.8,14.2,729,12685,0.10,2.17,0.00,0.000,5126,0.190,0.028,2970,1795,1730,1799,1661,0,0,0,0,0,0,25.74,26.14,25.91
$GC,13490,0.48,175.2,2970,1798,1804,1661,152.1,11.9,789,13498,0.00,2.08,0.00,0.000,260,0.000,0.031,2970,3200,1732,1804,1661,0,0,0,0,0,0,26.67,26.11,26.68
$GC,13593,0.48,175.2,2970,3200,1805,1661,140.1,11.3,799,13600,0.00,2.12,0.00,0.000,1030,0.000,0.030,2979,1786,1733,1806,1661,0,0,0,0,0,0,26.21,26.11,26.25
$GC,13901,0.48,175.2,2978,1785,1806,1661,103.5,10.8,830,13909,0.00,2.12,0.00,0.000,260,0.000,0.027,2979,3214,1734,1807,1661,0,0,0,0,0,0,26.67,26.13,26.68
$GC,13931,0.48,175.2,2978,3214,1807,1661,100.0,11.6,833,13938,0.00,2.15,0.00,0.000,1030,0.000,0.029,2989,1785,1734,1807,1661,0,0,0,0,0,0,26.21,26.11,26.25
$GC,14257,0.55,231.9,2989,1785,1808,1661,68.2,8.5,894,14308,0.00,2.20,43.53,0.667,8708,0.000,0.036,3000,376,1517,1605,1429,0,0,0,0,0,0,26.67,25.68,25.03
$GC,14361,0.55,231.9,2999,376,1594,1430,57.7,10.7,912,14370,0.00,2.22,0.00,0.000,1030,0.000,0.026,3000,1785,1512,1596,1429,0,0,0,0,0,0,25.80,25.78,25.84
$GC,14711,0.55,231.9,3000,1786,1597,1429,16.6,11.2,973,14720,0.00,2.20,0.00,0.000,516,0.000,0.034,3010,387,1511,1594,1429,0,0,0,0,0,0,26.36,25.82,26.37
$STATE,14832,end climb,SURFACE_DEPTH_REACHED
$STATE,14832,begin surface coast
$FINISH,0.9,1.014393
$STATE,14864,end surface coast,CONTROL_FINISHED_OK
$STATE,14864,begin surface
$SM_CCo,14883,111.15,0.050,0,0,498,482.01
$SM_GC,2.02,7.47,2.47,111.15,0.025,0.015,0.050,127,2011,498,-8.29,-1.05,482.01,0,0,0,0,0,0,26.01,26.04,25.79
$IRIDIUM_FIX,-3130.35,2952.23,220717,094323
$TT8_MAMPS,0.025466,0.290612
$HUMID,53.89
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,19.50
$XPDR_PINGS,0
$24V_AH,22.80,40.311
$10V_AH,10.11,20.362
$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,18.825,95.675,339.650,111.150,0.000,98.783,134.497,351.667,20.250,0.000,10.774,2439.881,9928.341,541.501,2782.442,177.235,0.000,1548.792,0.000,2069.685,0.000,137.151,0.000
$DEVICE_MAMPS,212.670,40.545,1311.975,50.490,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,690.811,100.206,440.132,440.112,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343424
$DATA_FILE_SIZE,63627,998
$CAP_FILE_SIZE,129550,0
$CFSIZE,2097086464,2048458752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,220717,135902,-3143.774,2950.675,36,0.9,36,-26.4,0.8,34.9,9,9.0