version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 454
start: 7 24 117 22 3 51
data:
$ID,574
$MISSION,23
$DIVE,454
$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,333
$T_MISSION,343
$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,290
$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,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
$GPS1,240717,215122,-3229.1018,2935.2290,43,0.9,43,-27.2,0.6,239.5,10,77.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-70.6
$GPS2,240717,220303,-3229.7700,2934.8474,4,0.9,4,-27.3,1.7,206.8,10,13.4
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3226.076,2922.824
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,317.3,20000,-13.3,-10.010,-16.52,4021
$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,15,-0.48,-175.2,127,2004,539,441,0.0,0.0,0,96,0.00,0.00,-77.88,0.000,16386,0.000,0.000,127,2004,2679,2669,2690,0,0,0,0,0,0,26.08,28.83,26.09
$GC,99,-0.48,-175.2,128,2004,2670,2690,3.2,-2.6,10,125,9.85,2.20,-10.27,0.000,18692,0.215,0.049,2636,3402,3183,3229,3137,0,0,0,0,0,0,25.22,24.09,25.41
$GC,253,-0.48,-175.2,2636,3402,3233,3137,37.6,-15.7,34,262,0.00,2.17,0.00,0.000,1030,0.000,0.028,2636,1988,3184,3232,3137,0,0,0,0,0,0,25.88,25.87,25.94
$GC,390,-0.48,-175.2,2636,1984,3232,3137,65.8,-20.8,59,397,0.00,2.10,0.00,0.000,260,0.000,0.030,2626,3400,3184,3232,3137,0,0,0,0,0,0,26.35,25.93,26.36
$GC,437,-0.48,-175.2,2626,3400,3232,3137,74.7,-19.3,67,444,0.00,2.10,0.00,0.000,1030,0.000,0.024,2626,1980,3184,3232,3137,0,0,0,0,0,0,26.06,25.98,26.08
$GC,756,-0.48,-175.2,2625,1976,3233,3137,140.5,-19.7,109,765,0.00,2.12,0.00,0.000,260,0.000,0.031,2616,3411,3185,3233,3137,0,0,0,0,0,0,26.48,26.04,26.49
$GC,900,-0.48,-175.2,2615,3411,3234,3137,162.7,-14.5,123,908,0.12,2.08,0.00,0.000,3078,0.165,0.023,2654,1987,3185,3234,3137,0,0,0,0,0,0,25.73,26.13,25.89
$GC,1208,-0.48,-175.2,2653,1983,3235,3137,203.4,-12.2,153,1214,0.00,2.05,0.00,0.000,260,0.000,0.030,2645,3396,3186,3235,3137,0,0,0,0,0,0,26.58,26.13,26.58
$GC,1291,-0.48,-175.2,2645,3396,3235,3136,212.0,-10.7,157,1295,0.00,2.10,0.00,0.000,1030,0.000,0.023,2645,1992,3186,3236,3137,0,0,0,0,0,0,26.22,26.19,26.24
$GC,2109,-0.48,-175.2,2645,1988,3235,3135,317.3,-12.0,198,2114,0.00,2.08,0.00,0.000,516,0.000,0.028,2645,588,3185,3235,3135,0,0,0,0,0,0,26.65,26.19,26.67
$GC,2197,-0.48,-175.2,2644,588,3235,3135,326.5,-11.5,202,2201,0.00,2.10,0.00,0.000,1030,0.000,0.027,2635,1993,3185,3235,3135,0,0,0,0,0,0,26.30,26.22,26.32
$GC,3004,-0.48,-175.2,2634,1993,3234,3131,436.3,-12.3,242,3008,0.00,2.10,0.00,0.000,260,0.000,0.034,2624,3399,3182,3233,3131,0,0,0,0,0,0,26.68,26.17,26.70
$GC,3086,-0.48,-175.2,2624,3400,3232,3131,445.2,-10.7,246,3090,0.00,2.10,0.00,0.000,1030,0.000,0.024,2624,1985,3181,3232,3130,0,0,0,0,0,0,26.32,26.24,26.34
$GC,3910,-0.48,-175.2,2624,1981,3227,3127,550.9,-14.1,287,3916,0.00,2.10,0.00,0.000,260,0.000,0.033,2614,3403,3176,3227,3126,0,0,0,0,0,0,26.67,26.17,26.68
$GC,4082,-0.48,-175.2,2613,3403,3226,3126,571.6,-12.7,295,4089,0.12,2.10,0.00,0.000,3078,0.169,0.026,2653,1992,3176,3226,3126,0,0,0,0,0,0,25.82,26.22,25.98
$GC,4889,-0.48,-175.2,2653,1987,3222,3120,667.9,-10.7,336,4894,0.00,2.10,0.00,0.000,260,0.000,0.033,2645,3396,3170,3221,3120,0,0,0,0,0,0,26.70,26.14,26.71
$GC,4982,-0.48,-175.2,2644,3396,3220,3119,675.5,-9.4,340,4989,0.00,2.10,0.00,0.000,1030,0.000,0.025,2645,1984,3169,3220,3119,0,0,0,0,0,0,26.29,26.21,26.32
$GC,5789,-0.48,-175.2,2644,1980,3216,3115,768.2,-11.5,381,5795,0.00,2.10,0.00,0.000,516,0.000,0.032,2645,589,3165,3215,3115,0,0,0,0,0,0,26.70,26.11,26.72
$GC,5851,-0.48,-175.2,2644,588,3214,3115,774.8,-11.3,384,5856,0.00,2.12,0.00,0.000,1030,0.000,0.028,2634,1985,3165,3214,3116,0,0,0,0,0,0,26.25,26.16,26.29
$GC,6669,-0.48,-175.2,2634,1985,3211,3112,875.1,-12.1,425,6673,0.00,2.12,0.00,0.000,516,0.000,0.030,2635,589,3162,3211,3113,0,0,0,0,0,0,26.70,26.09,26.71
$GC,6703,-0.48,-175.2,2634,587,3210,3113,877.6,-12.0,426,6710,0.00,2.12,0.00,0.000,1030,0.000,0.029,2625,1991,3161,3210,3113,0,0,0,0,0,0,26.23,26.13,26.27
$GC,7510,-0.48,-175.2,2624,1991,3207,3109,983.0,-13.0,467,7514,0.00,2.15,0.00,0.000,516,0.000,0.031,2628,582,3158,3207,3109,0,0,0,0,0,0,26.70,26.06,26.71
$GC,7531,-0.48,-175.2,2627,581,3207,3109,985.8,-12.9,468,7538,0.10,2.15,0.00,0.000,3078,0.218,0.028,2648,1993,3158,3207,3109,0,0,0,0,0,0,25.64,26.12,25.80
$STATE,7670,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7670,begin apogee
$GC,7676,0.00,0.0,2647,1747,3207,3108,1001.8,-11.4,475,7822,0.52,0.00,142.62,1.286,10246,0.135,0.000,2808,1743,2465,2518,2412,0,0,0,0,0,0,25.46,24.43,23.60
$STATE,7823,end apogee,CONTROL_FINISHED_OK
$STATE,7823,begin climb
$GC,7825,0.48,175.2,2808,1743,2517,2412,1008.6,0.0,482,7987,0.43,2.25,152.93,1.263,10756,0.059,0.036,2980,429,1750,1819,1682,0,0,0,0,0,0,24.63,23.53,22.95
$GC,8030,0.48,175.2,2979,428,1808,1681,989.9,14.6,492,8036,0.00,2.25,0.00,0.000,1030,0.000,0.028,2980,1792,1744,1808,1681,0,0,0,0,0,0,24.56,24.49,24.58
$GC,8849,0.48,175.2,2979,1796,1804,1674,852.2,16.8,533,8855,0.00,2.15,0.00,0.000,260,0.000,0.033,2980,3209,1738,1803,1674,0,0,0,0,0,0,26.36,25.92,26.37
$GC,8917,0.48,175.2,2979,3209,1803,1673,842.6,16.3,536,8922,0.00,2.10,0.00,0.000,1030,0.000,0.031,2990,1831,1738,1803,1673,0,0,0,0,0,0,26.04,25.94,26.08
$GC,9724,0.48,175.2,2989,1831,1800,1672,698.7,17.1,576,9730,0.00,2.28,0.00,0.000,516,0.000,0.040,3001,376,1736,1800,1672,0,0,0,0,0,0,26.54,25.96,26.55
$GC,9769,0.48,175.2,3001,377,1793,1671,691.7,17.3,578,9774,0.12,2.17,0.00,0.000,5126,0.210,0.028,2968,1801,1733,1794,1672,0,0,0,0,0,0,25.58,26.08,25.82
$GC,10581,0.48,175.2,2968,1804,1795,1671,567.6,15.0,619,10587,0.00,2.20,0.00,0.000,516,0.000,0.037,2977,379,1732,1795,1670,0,0,0,0,0,0,26.61,26.00,26.63
$GC,10731,0.48,175.2,2976,379,1791,1669,547.7,13.9,626,10735,0.00,2.15,0.00,0.000,1030,0.000,0.029,2977,1787,1730,1791,1670,0,0,0,0,0,0,26.20,26.11,26.25
$GC,11536,0.48,175.2,2976,1791,1796,1669,433.9,12.7,666,11542,0.00,2.17,0.00,0.000,516,0.000,0.037,2987,380,1732,1795,1669,0,0,0,0,0,0,26.65,26.00,26.66
$GC,11650,0.48,175.2,2987,380,1791,1669,421.6,12.0,671,11656,0.00,2.15,0.00,0.000,1030,0.000,0.029,2987,1790,1730,1792,1668,0,0,0,0,0,0,26.22,26.12,26.26
$GC,12456,0.48,175.2,2987,1792,1795,1669,307.3,13.2,712,12462,0.00,2.17,0.00,0.000,516,0.000,0.035,2997,379,1731,1794,1669,0,0,0,0,0,0,26.67,26.00,26.68
$GC,12598,0.48,175.2,2997,379,1791,1668,290.0,12.0,719,12604,0.08,2.15,0.00,0.000,5126,0.203,0.030,2976,1793,1730,1792,1668,0,0,0,0,0,0,25.68,26.11,25.76
$GC,13407,0.48,175.2,2975,1797,1797,1669,190.0,10.3,764,13415,0.00,2.17,0.00,0.000,516,0.000,0.035,2985,379,1732,1796,1669,0,0,0,0,0,0,26.67,26.00,26.69
$GC,13558,0.49,181.5,2984,379,1794,1668,175.1,9.8,779,13567,0.00,2.17,0.00,0.000,1030,0.000,0.028,2985,1796,1732,1796,1668,0,0,0,0,0,0,26.22,26.13,26.25
$GC,13868,0.49,181.5,2984,1796,1801,1669,143.7,10.3,810,13879,0.00,2.10,3.80,0.459,8452,0.000,0.031,2985,3201,1725,1790,1660,0,0,0,0,0,0,26.67,25.47,24.89
$GC,14002,0.53,212.3,2984,3200,1791,1660,130.3,9.2,823,14034,0.00,2.12,26.62,0.673,9222,0.000,0.028,2995,1779,1601,1674,1528,0,0,0,0,0,0,26.25,26.15,25.13
$GC,14341,0.57,245.4,2994,1779,1671,1524,97.7,9.2,859,14371,0.00,0.00,27.77,0.643,8198,0.000,0.000,2995,1779,1464,1547,1381,0,0,0,0,0,0,26.43,25.63,25.03
$GC,14691,0.60,268.4,2994,1778,1544,1378,66.7,9.4,924,14717,0.00,2.17,19.67,0.606,8452,0.000,0.027,2995,3206,1371,1459,1283,0,0,0,0,0,0,26.34,25.47,25.04
$GC,14770,0.64,301.1,2994,3206,1458,1283,59.4,9.2,937,14808,0.00,2.15,27.62,0.605,9222,0.000,0.028,3005,1791,1238,1338,1139,0,0,0,0,0,0,25.87,25.79,24.85
$GC,15144,0.64,301.1,3004,1791,1333,1138,20.3,13.7,1003,15153,0.00,2.22,0.00,0.000,516,0.000,0.038,3016,380,1234,1330,1138,0,0,0,0,0,0,26.28,25.80,26.29
$GC,15233,0.64,301.1,3015,380,1323,1137,9.9,11.1,1017,15242,0.00,2.17,0.00,0.000,1030,0.000,0.024,3016,1786,1230,1324,1137,0,0,0,0,0,0,25.98,25.95,26.02
$STATE,15289,end climb,SURFACE_DEPTH_REACHED
$STATE,15289,begin surface coast
$FINISH,1.0,1.024924
$STATE,15314,end surface coast,CONTROL_FINISHED_OK
$STATE,15314,begin surface
$SM_CCo,15331,80.25,0.045,0,0,498,482.01
$SM_GC,1.93,7.57,0.30,80.25,0.031,0.041,0.045,126,2008,498,-8.34,-1.05,482.01,0,0,0,0,0,0,25.93,26.08,25.86
$IRIDIUM_FIX,-3218.62,3010.05,240717,215311
$TT8_MAMPS,0.025466,0.290612
$HUMID,53.15
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,22.95,42.936
$10V_AH,10.11,21.756
$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,18.925,90.575,401.050,80.250,0.000,67.592,112.763,307.531,20.250,0.000,11.574,2514.531,10109.662,542.606,2784.927,185.075,0.000,1588.169,0.000,2155.654,0.000,137.290,0.000
$DEVICE_MAMPS,218.025,48.960,1285.965,45.135,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,716.176,104.443,444.004,451.058,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343412
$DATA_FILE_SIZE,66984,1030
$CAP_FILE_SIZE,131660,0
$CFSIZE,2097086464,2045640704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,250717,022202,-3235.742,2928.824,41,1.0,41,-27.3,1.0,207.0,8,8.7