version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 584
start: 8 1 117 17 28 4
data:
$ID,574
$MISSION,23
$DIVE,584
$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,25
$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
$GPS1,010817,172621,-3343.8105,2716.3799,4,0.9,4,-27.7,0.9,18.0,9,17.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-79.9
$GPS2,010817,172716,-3343.8149,2716.3691,4,0.8,5,-27.7,0.0,22.8,10,94.6
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3349.214,2727.626
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.45,-175.2,123,2063,1190,1028,0.0,0.0,0,88,0.00,0.00,-70.22,0.000,16386,0.000,0.000,124,2064,3075,3084,3067,0,0,0,0,0,0,26.38,28.83,26.39
$GC,91,-0.45,-175.2,124,2064,3085,3067,3.8,-5.6,9,110,9.70,2.12,-2.00,0.000,18692,0.211,0.041,2647,3459,3183,3199,3167,0,0,0,0,0,0,25.37,24.29,25.58
$GC,176,-0.45,-175.2,2646,3459,3207,3161,20.8,-10.2,22,185,0.00,2.17,0.00,0.000,1030,0.000,0.027,2647,2035,3183,3209,3157,0,0,0,0,0,0,26.10,26.07,26.13
$GC,236,-0.45,-175.2,2646,2030,3210,3155,27.7,-12.1,31,244,0.00,2.12,0.00,0.000,516,0.000,0.028,2646,638,3183,3211,3155,0,0,0,0,0,0,26.45,26.07,26.46
$GC,302,-0.45,-175.2,2646,638,3211,3155,35.5,-11.6,41,311,0.00,2.17,0.00,0.000,1030,0.000,0.028,2636,2041,3183,3211,3155,0,0,0,0,0,0,26.15,26.10,26.17
$GC,361,-0.45,-175.2,2636,2041,3212,3155,42.8,-12.3,50,368,0.00,2.10,0.00,0.000,516,0.000,0.029,2636,641,3183,3212,3154,0,0,0,0,0,0,26.49,26.11,26.51
$GC,396,-0.45,-175.2,2636,640,3212,3154,47.2,-12.3,56,404,0.12,2.17,0.00,0.000,3078,0.136,0.028,2665,2051,3183,3212,3154,0,0,0,0,0,0,25.84,26.15,25.93
$GC,449,-0.45,-175.2,2664,2051,3212,3154,52.8,-10.6,65,455,0.00,2.10,0.00,0.000,260,0.000,0.033,2655,3472,3182,3212,3153,0,0,0,0,0,0,26.51,26.12,26.53
$GC,474,-0.45,-175.2,2655,3472,3212,3153,55.7,-10.6,69,481,0.00,2.12,0.00,0.000,1030,0.000,0.024,2656,2046,3182,3212,3153,0,0,0,0,0,0,26.23,26.15,26.26
$GC,524,-0.45,-175.2,2655,2040,3213,3151,61.1,-11.0,78,533,0.00,2.12,0.00,0.000,516,0.000,0.026,2655,636,3182,3213,3152,0,0,0,0,0,0,26.53,26.15,26.54
$GC,582,-0.45,-175.2,2655,636,3213,3152,67.7,-12.1,88,589,0.00,2.20,0.00,0.000,1030,0.000,0.029,2646,2055,3182,3213,3152,0,0,0,0,0,0,26.20,26.17,26.23
$GC,636,-0.45,-175.2,2645,2055,3213,3151,73.9,-11.8,97,643,0.00,2.10,0.00,0.000,260,0.000,0.033,2635,3475,3182,3213,3151,0,0,0,0,0,0,26.55,26.14,26.56
$GC,673,-0.45,-175.2,2635,3475,3213,3152,78.1,-11.2,103,679,0.00,2.10,0.00,0.000,1030,0.000,0.024,2635,2047,3182,3213,3152,0,0,0,0,0,0,26.27,26.20,26.29
$GC,724,-0.45,-175.2,2635,2042,3213,3151,83.8,-10.3,112,731,0.00,2.12,0.00,0.000,516,0.000,0.028,2635,639,3182,3213,3151,0,0,0,0,0,0,26.57,26.17,26.58
$GC,738,-0.45,-175.2,2634,639,3213,3151,85.4,-10.8,114,747,0.10,2.20,0.00,0.000,3078,0.140,0.028,2658,2062,3182,3214,3151,0,0,0,0,0,0,25.90,26.18,25.98
$STATE,790,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,790,begin apogee
$GC,796,0.00,0.0,2657,1747,3214,3151,91.4,-12.0,123,930,0.45,0.08,129.02,0.648,10246,0.108,0.089,2807,1842,2465,2523,2407,0,0,0,0,0,0,25.89,25.09,24.51
$STATE,933,end apogee,CONTROL_FINISHED_OK
$STATE,933,begin climb
$GC,935,0.45,175.2,2807,1842,2521,2406,100.6,0.0,145,1081,0.43,2.10,132.52,0.639,11012,0.061,0.031,2970,3163,1748,1840,1657,0,0,0,0,0,0,25.25,24.99,24.41
$GC,1098,0.45,175.2,2970,3163,1839,1657,91.5,11.6,168,1107,0.00,2.15,0.00,0.000,1030,0.000,0.028,2980,1806,1747,1838,1656,0,0,0,0,0,0,25.37,25.34,25.40
$GC,1152,0.45,175.2,2980,1805,1837,1655,85.1,12.1,177,1159,0.00,2.08,0.00,0.000,260,0.000,0.026,2980,3183,1745,1836,1655,0,0,0,0,0,0,25.86,25.57,25.87
$GC,1214,0.45,175.2,2979,3183,1836,1655,77.1,12.3,188,1222,0.10,2.15,0.00,0.000,5126,0.155,0.028,2961,1800,1745,1836,1655,0,0,0,0,0,0,25.46,25.72,25.56
$GC,1267,0.46,186.5,2960,1800,1836,1653,71.6,9.7,197,1282,0.00,2.28,9.93,0.555,8708,0.000,0.034,2970,384,1702,1797,1608,0,0,0,0,0,0,26.14,25.57,24.87
$GC,1339,0.51,221.6,2969,383,1787,1609,64.3,9.1,209,1377,0.00,2.10,28.70,0.597,9222,0.000,0.024,2970,1763,1559,1661,1457,0,0,0,0,0,0,25.93,25.85,24.81
$GC,1423,0.51,221.6,2969,1763,1658,1455,54.9,10.6,223,1430,0.00,2.17,0.00,0.000,260,0.000,0.029,2970,3207,1556,1658,1455,0,0,0,0,0,0,26.03,25.72,26.04
$GC,1463,0.51,221.6,2969,3207,1658,1455,50.4,10.3,230,1470,0.00,2.15,0.00,0.000,1030,0.000,0.028,2980,1793,1556,1658,1455,0,0,0,0,0,0,25.87,25.79,25.89
$GC,1514,0.51,221.6,2979,1793,1658,1455,44.8,11.1,239,1520,0.00,2.15,0.00,0.000,516,0.000,0.034,2991,392,1555,1655,1455,0,0,0,0,0,0,26.20,25.82,26.20
$GC,1567,0.51,221.6,2990,392,1650,1455,39.2,10.7,248,1576,0.00,2.20,0.00,0.000,1030,0.000,0.026,2991,1800,1553,1652,1455,0,0,0,0,0,0,25.96,25.93,25.99
$GC,1627,0.51,221.6,2990,1802,1652,1455,32.9,11.5,257,1635,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,1802,1553,1652,1454,0,0,0,0,0,0,26.31,26.32,26.32
$GC,1685,0.51,221.6,2990,1803,1652,1455,26.1,11.4,266,1694,0.00,2.20,0.00,0.000,516,0.000,0.031,3001,395,1552,1650,1455,0,0,0,0,0,0,26.35,25.96,26.36
$GC,1720,0.51,221.6,3000,394,1646,1455,22.0,11.8,271,1729,0.00,2.17,0.00,0.000,1030,0.000,0.025,3001,1798,1552,1650,1455,0,0,0,0,0,0,26.07,26.04,26.09
$GC,1780,0.51,221.6,3001,1799,1651,1455,15.1,11.9,280,1788,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1799,1553,1652,1455,0,0,0,0,0,0,26.41,26.42,26.41
$GC,1838,0.51,221.6,3000,1800,1651,1455,8.5,11.1,289,1847,0.00,2.20,0.00,0.000,516,0.000,0.033,3011,392,1551,1648,1455,0,0,0,0,0,0,26.44,26.03,26.44
$STATE,1883,end climb,SURFACE_DEPTH_REACHED
$STATE,1883,begin surface coast
$FINISH,0.5,1.012660
$STATE,1915,end surface coast,CONTROL_FINISHED_OK
$STATE,1915,begin surface
$SM_CCo,1934,46.62,0.047,0,0,1118,330.17
$SM_GC,1.74,7.50,2.58,46.62,0.029,0.021,0.047,125,2061,1118,-8.32,-1.02,330.17,0,0,0,0,0,0,26.08,26.11,26.01
$IRIDIUM_FIX,-3330.55,2716.79,010817,164020
$TT8_MAMPS,0.025466,0.261401
$HUMID,58.97
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.4,15.8
$24V_AH,24.29,54.218
$10V_AH,10.19,28.086
$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,18.400,61.200,300.175,46.625,0.000,0.000,0.000,0.000,2.000,0.000,12.578,677.856,126.890,410.892,776.520,77.814,0.000,816.954,0.000,763.429,0.000,14.455,0.000
$DEVICE_MAMPS,211.140,88.740,647.955,46.665,0.000,0.000,0.000,0.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,207.307,103.410,483.603,507.768,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343584
$DATA_FILE_SIZE,20448,301
$CAP_FILE_SIZE,49997,0
$CFSIZE,2097086464,2031845376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,010817,180147,-3343.968,2716.504,4,1.0,5,-27.7,0.0,0.0,9,176.1