version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 433
start: 7 22 117 22 59 40
data:
$ID,574
$MISSION,23
$DIVE,433
$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,0
$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,34
$R_STBD_OVSHOOT,63
$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
$GPS1,220717,224950,-3140.6543,2952.7800,41,0.9,41,-26.4,0.0,0.0,10,9.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,1
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-75.6
$GPS2,220717,225853,-3140.6450,2952.9312,4,0.8,4,-26.4,1.3,126.0,11,107.0
$SPEED_LIMITS,0.325,0.335
$TGT_NAME,HEADING
$TGT_LATLONG,-3129.846,2952.931
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,26.4,20000,-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,-175.2,125,2019,527,447,0.0,0.0,0,103,0.00,0.00,-84.90,0.000,16386,0.000,0.000,126,2019,2869,2879,2860,0,0,0,0,0,0,26.01,28.83,26.03
$GC,106,-0.48,-175.2,125,2019,2879,2860,3.8,-4.4,11,132,9.88,2.25,-6.00,0.000,18948,0.216,0.040,2644,581,3182,3220,3144,0,0,0,0,0,0,25.13,25.17,25.33
$GC,199,-0.48,-175.2,2644,580,3220,3144,26.8,-15.2,25,208,0.00,2.20,0.00,0.000,1030,0.000,0.031,2636,1968,3182,3221,3144,0,0,0,0,0,0,25.79,25.75,25.82
$GC,343,-0.48,-175.2,2634,1968,3224,3142,55.8,-22.1,50,350,0.00,2.15,0.00,0.000,260,0.000,0.031,2624,3405,3183,3224,3142,0,0,0,0,0,0,26.27,25.82,26.28
$GC,415,-0.48,-175.2,2623,3405,3225,3139,68.4,-15.2,63,422,0.10,2.15,0.00,0.000,3078,0.158,0.028,2655,1984,3183,3227,3139,0,0,0,0,0,0,25.60,25.88,25.74
$GC,740,-0.48,-175.2,2655,1980,3228,3138,114.2,-13.1,115,749,0.00,2.15,0.00,0.000,260,0.000,0.031,2647,3415,3183,3228,3138,0,0,0,0,0,0,26.44,25.97,26.44
$GC,803,-0.48,-175.2,2646,3415,3229,3138,121.4,-11.2,121,811,0.00,2.17,0.00,0.000,1030,0.000,0.024,2647,1981,3183,3229,3138,0,0,0,0,0,0,26.06,26.03,26.09
$GC,1111,-0.48,-175.2,2646,1977,3231,3137,164.5,-14.2,152,1115,0.00,2.15,0.00,0.000,260,0.000,0.031,2637,3414,3184,3231,3137,0,0,0,0,0,0,26.52,26.04,26.53
$GC,1134,-0.48,-175.2,2636,3414,3232,3138,167.3,-13.8,154,1141,0.00,2.15,0.00,0.000,1030,0.000,0.024,2637,1991,3185,3232,3138,0,0,0,0,0,0,26.13,26.09,26.15
$GC,1454,-0.48,-175.2,2636,1987,3232,3137,212.0,-14.4,182,1460,0.00,2.08,0.00,0.000,260,0.000,0.031,2626,3404,3185,3232,3138,0,0,0,0,0,0,26.55,26.10,26.56
$GC,1535,-0.48,-175.2,2626,3404,3232,3137,222.6,-13.2,186,1539,0.00,2.10,0.00,0.000,1030,0.000,0.024,2626,1983,3185,3232,3138,0,0,0,0,0,0,26.22,26.14,26.25
$GC,2348,-0.48,-175.2,2626,1981,3232,3134,345.6,-14.7,227,2354,0.00,2.10,0.00,0.000,260,0.000,0.031,2616,3405,3182,3232,3133,0,0,0,0,0,0,26.65,26.14,26.65
$GC,2495,-0.48,-175.2,2615,3405,3232,3132,363.7,-12.5,234,2500,0.12,2.10,0.00,0.000,3078,0.155,0.026,2656,1990,3182,3232,3132,0,0,0,0,0,0,25.81,26.18,25.96
$GC,3302,-0.48,-175.2,2655,1989,3232,3129,457.6,-10.4,274,3308,0.00,2.10,0.00,0.000,516,0.000,0.031,2655,588,3180,3232,3128,0,0,0,0,0,0,26.67,26.13,26.69
$GC,3325,-0.48,-175.2,2655,587,3232,3128,459.8,-10.5,275,3329,0.00,2.15,0.00,0.000,1030,0.000,0.027,2647,2002,3180,3232,3128,0,0,0,0,0,0,26.27,26.18,26.30
$GC,4143,-0.48,-175.2,2647,2002,3228,3123,545.8,-10.9,316,4148,0.00,2.08,0.00,0.000,260,0.000,0.034,2637,3396,3175,3228,3123,0,0,0,0,0,0,26.69,26.13,26.70
$GC,4195,-0.48,-175.2,2636,3396,3228,3123,549.9,-10.7,318,4203,0.00,2.10,0.00,0.000,1030,0.000,0.025,2637,1982,3175,3228,3123,0,0,0,0,0,0,26.28,26.20,26.31
$GC,5002,-0.48,-175.2,2636,1979,3226,3118,654.3,-13.1,359,5008,0.00,2.12,0.00,0.000,260,0.000,0.033,2627,3400,3172,3225,3119,0,0,0,0,0,0,26.70,26.12,26.71
$GC,5052,-0.48,-175.2,2626,3400,3225,3118,659.2,-12.8,361,5056,0.00,2.10,0.00,0.000,1030,0.000,0.025,2627,1983,3171,3225,3118,0,0,0,0,0,0,26.27,26.17,26.29
$GC,5857,-0.48,-175.2,2626,1983,3223,3115,767.3,-13.7,401,5863,0.00,2.12,0.00,0.000,260,0.000,0.032,2617,3401,3168,3222,3115,0,0,0,0,0,0,26.70,26.10,26.71
$GC,5880,-0.48,-175.2,2616,3401,3222,3115,770.1,-13.9,402,5886,0.10,2.10,0.00,0.000,3078,0.132,0.026,2649,1985,3168,3222,3115,0,0,0,0,0,0,25.84,26.15,25.91
$GC,6699,-0.48,-175.2,2649,1983,3219,3110,863.8,-10.9,443,6704,0.00,2.10,0.00,0.000,516,0.000,0.032,2650,588,3164,3219,3109,0,0,0,0,0,0,26.70,26.06,26.71
$GC,6731,-0.48,-175.2,2649,587,3220,3110,866.1,-11.1,444,6738,0.00,2.12,0.00,0.000,1030,0.000,0.027,2641,1989,3164,3219,3110,0,0,0,0,0,0,26.24,26.15,26.27
$GC,7538,-0.48,-175.2,2640,1988,3216,3107,962.6,-11.7,485,7544,0.00,2.12,0.00,0.000,260,0.000,0.035,2630,3399,3161,3215,3107,0,0,0,0,0,0,26.70,26.03,26.71
$GC,7681,-0.48,-175.2,2629,3399,3213,3107,976.6,-9.7,492,7686,0.00,2.10,0.00,0.000,1030,0.000,0.027,2630,1994,3160,3213,3108,0,0,0,0,0,0,26.15,26.10,26.18
$STATE,7878,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7878,begin apogee
$GC,7883,0.00,0.0,2630,1747,3213,3107,1001.4,-12.7,502,8030,0.60,0.00,143.43,1.297,10246,0.135,0.000,2809,1746,2464,2522,2406,0,0,0,0,0,0,25.37,24.33,23.49
$STATE,8031,end apogee,CONTROL_FINISHED_OK
$STATE,8031,begin climb
$GC,8033,0.48,175.2,2809,1746,2522,2406,1008.6,0.0,509,8201,0.43,2.47,154.07,1.289,10500,0.052,0.030,2971,3186,1748,1828,1669,0,0,0,0,0,0,24.53,23.56,22.74
$GC,8283,0.48,175.2,2970,3186,1823,1667,981.8,15.2,522,8289,0.00,2.20,0.00,0.000,1030,0.000,0.031,2979,1828,1745,1824,1666,0,0,0,0,0,0,24.72,24.63,24.75
$GC,9103,0.48,175.2,2978,1828,1819,1657,833.1,17.8,563,9109,0.00,2.08,0.00,0.000,260,0.000,0.028,2979,3206,1738,1819,1657,0,0,0,0,0,0,26.31,25.90,26.32
$GC,9211,0.48,175.2,2979,3205,1819,1658,817.4,14.9,568,9215,0.00,2.17,0.00,0.000,1030,0.000,0.031,2989,1789,1737,1818,1657,0,0,0,0,0,0,26.01,25.91,26.05
$GC,10018,0.48,175.2,2988,1789,1815,1656,678.9,16.4,608,10024,0.00,2.20,0.00,0.000,516,0.000,0.041,3000,382,1735,1815,1656,0,0,0,0,0,0,26.51,25.94,26.53
$GC,10121,0.48,175.2,2999,381,1807,1656,663.1,15.5,613,10126,0.12,2.17,0.00,0.000,5126,0.194,0.028,2967,1797,1731,1807,1656,0,0,0,0,0,0,25.59,26.07,25.82
$GC,10934,0.48,175.2,2966,1800,1808,1656,549.4,14.0,654,10939,0.00,2.20,0.00,0.000,516,0.000,0.037,2975,380,1732,1808,1656,0,0,0,0,0,0,26.59,25.98,26.60
$GC,11075,0.48,175.2,2975,379,1803,1656,530.8,13.2,661,11080,0.00,2.15,0.00,0.000,1030,0.000,0.028,2975,1792,1729,1803,1656,0,0,0,0,0,0,26.15,26.11,26.19
$GC,11894,0.48,175.2,2975,1795,1808,1656,404.7,15.1,702,11899,0.00,2.10,0.00,0.000,260,0.000,0.029,2975,3204,1731,1807,1656,0,0,0,0,0,0,26.64,26.10,26.65
$GC,12006,0.48,175.2,2975,3204,1808,1656,390.8,13.4,707,12013,0.00,2.15,0.00,0.000,1030,0.000,0.031,2985,1781,1732,1808,1656,0,0,0,0,0,0,26.19,26.09,26.24
$GC,12813,0.48,175.2,2985,1781,1808,1656,264.8,16.0,748,12815,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,1781,1732,1808,1656,0,0,0,0,0,0,26.65,26.67,26.67
$GC,13614,0.48,175.2,2985,1781,1809,1656,152.1,12.3,806,13622,0.00,2.15,0.00,0.000,516,0.000,0.037,2997,382,1732,1808,1656,0,0,0,0,0,0,26.67,25.99,26.68
$GC,13728,0.48,175.2,2996,381,1805,1657,138.5,11.8,817,13735,0.10,2.15,0.00,0.000,5126,0.179,0.028,2969,1797,1732,1807,1657,0,0,0,0,0,0,25.75,26.14,25.91
$GC,14035,0.50,192.8,2969,1800,1809,1657,104.2,9.5,848,14055,0.00,2.10,13.23,0.655,8452,0.000,0.029,2969,3204,1678,1759,1597,0,0,0,0,0,0,26.67,25.75,25.27
$GC,14156,0.58,256.9,2969,3204,1758,1597,93.1,8.3,866,14217,0.00,2.12,52.55,0.696,9222,0.000,0.028,2978,1785,1415,1512,1319,0,0,0,0,0,0,26.16,26.07,24.80
$GC,14535,0.64,306.2,2978,1785,1508,1313,58.5,8.7,936,14582,0.08,2.28,40.65,0.661,10756,0.116,0.036,3046,386,1215,1323,1107,0,0,0,0,0,0,25.94,25.35,24.75
$GC,14660,0.64,306.2,3045,386,1308,1107,42.7,12.6,957,14667,0.00,2.20,0.00,0.000,1030,0.000,0.028,3046,1787,1207,1308,1107,0,0,0,0,0,0,25.66,25.58,25.70
$STATE,14879,end climb,SURFACE_DEPTH_REACHED
$STATE,14879,begin surface coast
$FINISH,1.1,1.017911
$STATE,14899,end surface coast,CONTROL_FINISHED_OK
$STATE,14899,begin surface
$SM_CCo,14916,78.80,0.047,0,0,499,482.01
$SM_GC,2.22,7.62,0.30,78.80,0.022,0.028,0.047,124,2115,499,-8.35,-0.85,482.01,0,0,0,0,0,0,25.83,25.99,25.72
$IRIDIUM_FIX,-3127.82,2952.23,220717,225121
$TT8_MAMPS,0.025466,0.26215
$HUMID,54.84
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,19.30
$XPDR_PINGS,0
$24V_AH,22.74,40.767
$10V_AH,10.12,20.608
$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,19.150,86.575,403.925,78.800,0.000,32.079,43.270,351.637,20.250,0.000,10.786,2415.306,9884.131,543.443,2550.225,166.969,0.000,1541.828,0.000,2015.729,0.000,137.267,0.000
$DEVICE_MAMPS,215.730,40.545,1297.440,47.430,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,692.482,91.520,372.709,383.476,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343428
$DATA_FILE_SIZE,63779,997
$CAP_FILE_SIZE,123392,0
$CFSIZE,2097086464,2048065536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,230717,031050,-3139.797,2954.345,39,0.9,39,-26.4,0.0,0.0,9,7.4