version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 585
start: 8 1 117 18 11 25
data:
$ID,574
$MISSION,23
$DIVE,585
$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,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,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
$GPS1,010817,180147,-3343.9680,2716.5039,4,1.0,5,-27.7,0.0,0.0,9,176.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-78.4
$GPS2,010817,181038,-3344.1089,2716.4395,5,1.2,5,-27.7,0.0,0.0,8,25.6
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3349.509,2727.697
$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,-175.2,125,2066,1178,1030,0.0,0.0,0,87,0.00,0.00,-69.55,0.000,16386,0.000,0.000,125,2066,3024,3031,3018,0,0,0,0,0,0,26.21,28.83,26.22
$GC,90,-0.45,-175.2,125,2066,3031,3018,3.4,-4.1,9,109,9.90,2.20,-3.10,0.000,18948,0.216,0.033,2658,618,3182,3201,3163,0,0,0,0,0,0,25.20,24.13,25.40
$GC,223,-0.45,-175.2,2658,619,3206,3162,24.4,-11.6,30,232,0.00,2.22,0.00,0.000,1030,0.000,0.030,2649,2046,3183,3207,3159,0,0,0,0,0,0,26.02,25.98,26.04
$GC,283,-0.45,-175.2,2648,2046,3209,3156,31.7,-12.4,39,292,0.00,2.15,0.00,0.000,260,0.000,0.034,2638,3460,3182,3209,3156,0,0,0,0,0,0,26.40,25.99,26.41
$GC,319,-0.45,-175.2,2637,3459,3209,3156,35.6,-10.7,44,327,0.00,2.15,0.00,0.000,1030,0.000,0.026,2637,2049,3182,3209,3156,0,0,0,0,0,0,26.08,26.04,26.13
$GC,375,-0.45,-175.2,2637,2047,3210,3155,42.1,-11.8,53,382,0.00,2.10,0.00,0.000,516,0.000,0.031,2638,642,3183,3211,3155,0,0,0,0,0,0,26.44,26.03,26.45
$GC,432,-0.45,-175.2,2637,642,3211,3155,49.0,-11.3,63,440,0.12,2.15,0.00,0.000,3078,0.147,0.030,2666,2055,3183,3211,3155,0,0,0,0,0,0,25.79,26.08,25.95
$GC,484,-0.45,-175.2,2665,2056,3211,3155,54.6,-10.3,72,493,0.00,2.12,0.00,0.000,260,0.000,0.034,2656,3457,3183,3211,3155,0,0,0,0,0,0,26.48,26.07,26.49
$GC,528,-0.45,-175.2,2656,3457,3210,3155,58.9,-10.6,79,534,0.00,2.10,0.00,0.000,1030,0.000,0.024,2656,2037,3183,3211,3155,0,0,0,0,0,0,26.20,26.13,26.22
$GC,579,-0.45,-175.2,2656,2032,3213,3154,64.7,-11.5,88,587,0.00,2.10,0.00,0.000,516,0.000,0.027,2656,645,3184,3214,3154,0,0,0,0,0,0,26.51,26.12,26.52
$GC,621,-0.45,-175.2,2656,645,3212,3154,70.0,-13.0,95,628,0.00,2.12,0.00,0.000,1030,0.000,0.028,2646,2053,3183,3213,3154,0,0,0,0,0,0,26.22,26.14,26.24
$GC,673,-0.45,-175.2,2645,2053,3212,3154,76.7,-12.7,104,680,0.00,2.12,0.00,0.000,260,0.000,0.032,2636,3463,3183,3212,3154,0,0,0,0,0,0,26.53,26.12,26.54
$GC,700,-0.45,-175.2,2635,3464,3212,3154,80.0,-12.9,108,708,0.00,2.15,0.00,0.000,1030,0.000,0.025,2635,2046,3183,3212,3154,0,0,0,0,0,0,26.19,26.15,26.22
$GC,753,-0.45,-175.2,2635,2042,3213,3153,86.5,-11.0,117,760,0.00,2.10,0.00,0.000,516,0.000,0.027,2635,630,3183,3213,3153,0,0,0,0,0,0,26.55,26.15,26.55
$GC,805,-0.45,-175.2,2635,629,3212,3153,92.2,-10.6,126,814,0.10,2.17,0.00,0.000,3078,0.152,0.026,2656,2053,3183,3213,3153,0,0,0,0,0,0,25.85,26.19,25.93
$GC,859,-0.45,-175.2,2655,2052,3213,3153,97.5,-8.8,135,865,0.00,2.08,0.00,0.000,260,0.000,0.033,2646,3452,3182,3212,3153,0,0,0,0,0,0,26.56,26.14,26.58
$GC,888,-0.45,-175.2,2646,3452,3212,3153,100.2,-10.7,139,896,0.00,2.05,0.00,0.000,1030,0.000,0.023,2647,2045,3183,3213,3153,0,0,0,0,0,0,26.22,26.20,26.26
$STATE,901,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,901,begin apogee
$GC,908,0.00,0.0,2646,1748,3213,3152,102.4,-11.0,141,1044,0.47,0.00,129.73,0.646,10246,0.112,0.000,2801,1746,2464,2523,2406,0,0,0,0,0,0,25.82,25.08,24.51
$STATE,1045,end apogee,CONTROL_FINISHED_OK
$STATE,1045,begin climb
$GC,1047,0.45,175.2,2801,1746,2523,2406,107.6,0.0,155,1190,0.40,2.20,132.43,0.639,10756,0.059,0.033,2967,400,1748,1842,1655,0,0,0,0,0,0,25.25,24.98,24.40
$GC,1221,0.49,208.6,2967,400,1829,1655,95.2,9.2,175,1259,0.00,2.17,27.15,0.616,9222,0.000,0.027,2967,1790,1612,1711,1514,0,0,0,0,0,0,25.46,25.39,24.50
$GC,1304,0.49,208.6,2967,1790,1709,1513,85.1,12.4,189,1311,0.00,2.17,0.00,0.000,260,0.000,0.031,2968,3210,1611,1709,1513,0,0,0,0,0,0,25.83,25.52,25.84
$GC,1416,0.49,210.3,2968,3210,1709,1513,73.2,10.0,209,1423,0.00,2.15,0.00,0.000,1030,0.000,0.028,2977,1796,1611,1709,1513,0,0,0,0,0,0,25.87,25.79,25.89
$GC,1467,0.49,210.3,2976,1796,1707,1511,66.9,12.7,218,1474,0.00,2.15,0.00,0.000,516,0.000,0.034,2988,393,1607,1704,1511,0,0,0,0,0,0,26.19,25.81,26.20
$GC,1523,0.49,210.3,2987,393,1697,1511,60.4,12.4,228,1531,0.00,2.17,0.00,0.000,1030,0.000,0.027,2988,1792,1604,1698,1511,0,0,0,0,0,0,25.96,25.93,25.98
$GC,1576,0.49,210.3,2987,1792,1699,1511,53.6,12.9,237,1583,0.00,2.12,0.00,0.000,260,0.000,0.031,2988,3212,1606,1700,1512,0,0,0,0,0,0,26.31,25.94,26.32
$GC,1596,0.49,210.3,2988,3212,1699,1512,50.9,13.0,240,1604,0.00,2.17,0.00,0.000,1030,0.000,0.027,2998,1797,1606,1700,1512,0,0,0,0,0,0,26.01,25.98,26.04
$GC,1649,0.49,210.3,2998,1797,1699,1512,44.2,12.6,249,1656,0.00,2.15,0.00,0.000,516,0.000,0.033,3009,389,1605,1699,1512,0,0,0,0,0,0,26.36,25.95,26.36
$GC,1687,0.49,210.3,3008,388,1695,1512,39.3,13.2,255,1697,0.12,2.17,0.00,0.000,5126,0.134,0.025,2970,1802,1604,1696,1512,0,0,0,0,0,0,25.72,26.04,25.83
$GC,1748,0.49,210.3,2970,1805,1698,1512,32.7,10.8,264,1756,0.00,2.12,0.00,0.000,260,0.000,0.029,2971,3209,1605,1698,1512,0,0,0,0,0,0,26.41,26.03,26.42
$GC,1795,0.49,210.3,2970,3209,1698,1512,27.7,10.4,271,1804,0.00,2.15,0.00,0.000,1030,0.000,0.027,2979,1802,1605,1698,1512,0,0,0,0,0,0,26.10,26.07,26.13
$GC,1854,0.50,216.6,2979,1802,1698,1512,21.9,9.9,280,1863,0.00,2.17,2.92,0.293,8708,0.000,0.033,2990,389,1581,1677,1485,0,0,0,0,0,0,26.46,25.25,24.74
$GC,1891,0.50,216.6,2989,389,1670,1484,18.2,10.2,285,1900,0.00,2.15,0.00,0.000,1030,0.000,0.024,2990,1789,1578,1672,1485,0,0,0,0,0,0,26.15,26.12,26.17
$GC,1951,0.50,216.6,2989,1794,1672,1485,12.0,10.3,294,1959,0.00,2.17,0.00,0.000,516,0.000,0.034,3000,393,1578,1671,1485,0,0,0,0,0,0,26.47,26.03,26.48
$GC,1974,0.50,216.6,2999,393,1668,1485,9.5,10.1,297,1983,0.00,2.17,0.00,0.000,1030,0.000,0.026,3000,1803,1577,1670,1485,0,0,0,0,0,0,26.16,26.13,26.18
$GC,2033,0.50,216.6,2999,1806,1672,1485,3.1,10.8,306,2041,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,1807,1578,1672,1485,0,0,0,0,0,0,26.50,26.51,26.51
$STATE,2048,end climb,SURFACE_DEPTH_REACHED
$STATE,2048,begin surface coast
$FINISH,0.6,1.026701
$STATE,2080,end surface coast,CONTROL_FINISHED_OK
$STATE,2080,begin surface
$SM_CCo,2098,49.28,0.048,0,0,1118,330.17
$SM_GC,1.78,7.40,0.35,49.28,0.027,0.038,0.048,126,2064,1118,-8.29,-1.36,330.17,0,0,0,0,0,0,26.16,26.23,26.02
$IRIDIUM_FIX,-3330.55,2714.48,010817,164852
$TT8_MAMPS,0.024717,0.266644
$HUMID,58.46
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.2,15.9
$24V_AH,24.13,54.295
$10V_AH,10.17,28.129
$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,18.525,69.400,292.225,49.275,0.000,29.754,23.187,344.149,2.250,0.000,11.569,748.970,147.286,443.865,1220.189,150.497,0.000,865.180,0.000,805.513,0.000,15.944,0.000
$DEVICE_MAMPS,215.730,38.250,646.425,48.195,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,217.869,110.625,503.705,546.711,0.000,0.000,0.000,0.000,0.000,0.000
$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,23710,313
$CAP_FILE_SIZE,63012,0
$CFSIZE,2097086464,2031747072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,010817,184753,-3344.170,2716.617,4,1.3,4,-27.7,0.0,0.0,7,36.4