version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 583
start: 8 1 117 16 52 49
data:
$ID,574
$MISSION,23
$DIVE,583
$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,120
$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,330
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,2
$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,57
$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,2050
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,49
$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,30
$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
$GPS1,010817,163833,-3343.4810,2716.6448,5,0.8,5,-27.7,0.0,0.0,11,326.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-79.7
$GPS2,010817,165201,-3343.5952,2716.3145,25,1.3,25,-27.7,0.7,252.3,7,32.2
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3348.995,2727.571
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,147.7,20000,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.45,-175.2,125,2068,1180,1028,0.0,0.0,0,88,0.00,0.00,-69.65,0.000,16386,0.000,0.000,125,2068,3030,3039,3021,0,0,0,0,0,0,26.25,28.83,26.27
$GC,92,-0.45,-175.2,125,2068,3039,3022,3.2,-3.6,9,110,9.65,2.12,-3.08,0.000,18692,0.206,0.037,2647,3473,3183,3199,3167,0,0,0,0,0,0,25.23,24.15,25.44
$GC,172,-0.45,-175.2,2646,3473,3206,3162,19.1,-11.2,21,181,0.00,2.17,0.00,0.000,1030,0.000,0.025,2647,2048,3184,3208,3160,0,0,0,0,0,0,26.03,25.98,26.05
$GC,231,-0.45,-175.2,2646,2044,3210,3158,26.0,-11.3,30,240,0.00,2.15,0.00,0.000,516,0.000,0.028,2647,639,3184,3210,3158,0,0,0,0,0,0,26.39,26.00,26.40
$GC,309,-0.45,-175.2,2646,639,3211,3158,35.5,-11.4,42,318,0.00,2.17,0.00,0.000,1030,0.000,0.026,2637,2046,3184,3211,3158,0,0,0,0,0,0,26.10,26.07,26.13
$GC,369,-0.45,-175.2,2636,2047,3212,3157,43.2,-12.7,51,375,0.00,2.12,0.00,0.000,516,0.000,0.028,2637,636,3184,3211,3158,0,0,0,0,0,0,26.46,26.06,26.46
$GC,405,-0.45,-175.2,2637,636,3212,3157,47.8,-12.1,57,413,0.12,2.15,0.00,0.000,3078,0.146,0.028,2664,2050,3184,3212,3157,0,0,0,0,0,0,25.80,26.09,25.95
$GC,456,-0.45,-175.2,2664,2050,3212,3157,53.1,-9.6,66,464,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2050,3185,3214,3157,0,0,0,0,0,0,26.48,26.50,26.49
$GC,509,-0.45,-175.2,2664,2050,3213,3157,58.3,-9.5,75,515,0.00,2.15,0.00,0.000,516,0.000,0.028,2665,635,3184,3213,3156,0,0,0,0,0,0,26.50,26.10,26.51
$GC,554,-0.45,-175.2,2664,635,3213,3156,63.2,-10.2,83,561,0.00,2.15,0.00,0.000,1030,0.000,0.027,2656,2056,3185,3213,3157,0,0,0,0,0,0,26.22,26.14,26.24
$GC,606,-0.45,-175.2,2655,2057,3213,3156,68.6,-10.8,92,612,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2056,3184,3213,3156,0,0,0,0,0,0,26.53,26.53,26.53
$GC,657,-0.45,-175.2,2655,2057,3213,3156,73.9,-9.6,101,664,0.00,2.10,0.00,0.000,516,0.000,0.027,2656,643,3184,3213,3156,0,0,0,0,0,0,26.53,26.14,26.55
$GC,683,-0.45,-175.2,2655,643,3213,3157,76.9,-11.2,105,690,0.00,2.15,0.00,0.000,1030,0.000,0.029,2646,2056,3185,3213,3157,0,0,0,0,0,0,26.22,26.15,26.25
$GC,734,-0.45,-175.2,2646,2055,3213,3156,82.1,-11.5,114,743,0.00,2.15,0.00,0.000,260,0.000,0.035,2636,3453,3184,3213,3156,0,0,0,0,0,0,26.55,26.12,26.56
$GC,792,-0.45,-175.2,2635,3452,3213,3156,88.0,-10.1,124,799,0.00,2.12,0.00,0.000,1030,0.000,0.024,2635,2045,3184,3213,3156,0,0,0,0,0,0,26.22,26.18,26.25
$STATE,815,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,815,begin apogee
$GC,821,0.00,0.0,2635,1737,3213,3156,90.2,-11.1,127,960,0.52,0.05,129.32,0.656,10246,0.114,0.053,2805,1836,2464,2522,2406,0,0,0,0,0,0,25.82,25.02,24.50
$STATE,962,end apogee,CONTROL_FINISHED_OK
$STATE,963,begin climb
$GC,965,0.45,175.2,2805,1836,2522,2406,96.3,0.0,150,1106,0.38,2.08,132.00,0.646,10500,0.037,0.028,2984,3171,1751,1840,1662,0,0,0,0,0,0,25.35,24.82,24.41
$GC,1154,0.45,175.2,2983,3170,1836,1660,80.4,11.5,181,1161,0.12,2.10,0.00,0.000,5126,0.156,0.027,2958,1801,1747,1836,1659,0,0,0,0,0,0,25.22,25.46,25.39
$GC,1205,0.45,175.2,2958,1801,1836,1657,74.2,11.2,190,1211,0.00,2.08,0.00,0.000,260,0.000,0.028,2958,3181,1746,1836,1657,0,0,0,0,0,0,25.94,25.63,25.95
$GC,1246,0.45,175.2,2958,3181,1836,1657,69.6,11.2,197,1253,0.00,2.10,0.00,0.000,1030,0.000,0.028,2966,1801,1746,1836,1657,0,0,0,0,0,0,25.81,25.72,25.82
$GC,1297,0.45,175.2,2966,1801,1836,1655,64.1,10.5,206,1303,0.00,2.15,0.00,0.000,516,0.000,0.033,2977,392,1744,1833,1655,0,0,0,0,0,0,26.14,25.77,26.15
$GC,1364,0.47,190.1,2976,392,1825,1656,57.4,9.6,218,1384,0.00,2.08,12.40,0.569,9222,0.000,0.024,2977,1763,1689,1780,1598,0,0,0,0,0,0,25.98,25.91,24.95
$GC,1430,0.47,190.1,2977,1765,1779,1597,50.4,11.5,229,1436,0.00,2.10,0.00,0.000,516,0.000,0.033,2987,393,1687,1777,1597,0,0,0,0,0,0,26.19,25.82,26.20
$GC,1485,0.47,190.1,2986,391,1770,1598,44.0,11.9,239,1492,0.00,2.15,0.00,0.000,1030,0.000,0.025,2987,1803,1684,1771,1597,0,0,0,0,0,0,26.01,25.94,26.03
$GC,1539,0.47,190.1,2986,1806,1774,1597,38.3,10.9,248,1548,0.00,2.20,0.00,0.000,516,0.000,0.033,2997,396,1684,1772,1597,0,0,0,0,0,0,26.30,25.94,26.31
$GC,1570,0.47,190.1,2997,396,1769,1597,35.1,10.5,252,1579,0.10,2.17,0.00,0.000,5126,0.142,0.026,2967,1804,1684,1771,1597,0,0,0,0,0,0,25.73,26.00,25.82
$GC,1630,0.53,244.6,2967,1808,1772,1597,29.1,8.6,261,1662,0.00,0.00,27.15,0.584,8454,0.000,0.000,2967,1808,1466,1578,1354,0,0,0,0,0,0,26.36,25.59,25.00
$GC,1713,0.53,244.6,2966,1808,1573,1352,21.4,10.0,273,1721,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,1808,1462,1573,1352,0,0,0,0,0,0,26.17,26.18,26.17
$GC,1772,0.56,264.0,2967,1808,1573,1351,15.7,9.5,282,1789,0.00,2.22,8.80,0.490,8708,0.000,0.033,2976,398,1385,1500,1271,0,0,0,0,0,0,26.25,25.41,24.98
$GC,1833,0.60,297.6,2975,398,1490,1271,10.0,9.2,291,1858,0.00,2.15,15.57,0.512,9222,0.000,0.021,2975,1803,1251,1377,1125,0,0,0,0,0,0,25.97,25.96,24.98
$STATE,1907,end climb,SURFACE_DEPTH_REACHED
$STATE,1907,begin surface coast
$FINISH,0.5,1.012960
$STATE,1939,end surface coast,CONTROL_FINISHED_OK
$STATE,1940,begin surface
$SM_CCo,1956,14.07,0.047,0,0,1118,330.17
$SM_GC,1.25,7.40,0.35,14.07,0.022,0.031,0.047,124,2139,1118,-8.34,-1.44,330.17,0,0,0,0,0,0,25.94,26.03,25.87
$IRIDIUM_FIX,-3330.55,2716.79,010817,164020
$TT8_MAMPS,0.025466,0.289114
$HUMID,58.38
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.2,14.0
$24V_AH,24.15,54.163
$10V_AH,10.14,28.050
$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,18.300,52.050,325.250,14.075,0.000,49.891,74.409,445.834,2.000,0.000,32.577,686.039,186.092,379.851,1411.943,149.350,0.000,800.870,0.000,785.113,0.000,14.452,0.000
$DEVICE_MAMPS,205.785,52.785,655.605,47.430,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,209.685,107.224,515.377,519.752,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343416
$DATA_FILE_SIZE,23697,307
$CAP_FILE_SIZE,60450,0
$CFSIZE,2097086464,2031943680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,010817,172621,-3343.811,2716.380,4,0.9,4,-27.7,0.9,18.0,9,17.0