version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 593
start: 8 2 117 0 16 2
data:
$ID,574
$MISSION,23
$DIVE,593
$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,30
$R_STBD_OVSHOOT,40
$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
$GPS1,020817,000604,-3344.1211,2717.2380,5,1.4,5,-27.7,0.0,0.0,7,36.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-79.3
$GPS2,020817,001513,-3344.1841,2717.1580,7,0.8,7,-27.7,0.0,0.0,11,104.3
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3349.583,2728.416
$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,-175.2,125,2055,1199,1028,0.0,0.0,0,87,0.00,0.00,-69.47,0.000,16386,0.000,0.000,125,2055,3057,3062,3052,0,0,0,0,0,0,26.18,28.83,26.19
$GC,90,-0.45,-175.2,125,2055,3063,3052,3.7,-5.9,9,109,10.18,2.20,-2.38,0.000,18692,0.226,0.046,2644,3461,3182,3196,3168,0,0,0,0,0,0,25.20,24.15,25.41
$GC,198,-0.45,-175.2,2643,3460,3206,3161,24.6,-12.2,26,208,0.00,2.17,0.00,0.000,1030,0.000,0.026,2644,2044,3183,3208,3158,0,0,0,0,0,0,25.98,25.95,26.01
$GC,258,-0.45,-175.2,2643,2044,3209,3156,32.2,-13.3,35,267,0.00,2.17,0.00,0.000,516,0.000,0.031,2644,638,3182,3209,3156,0,0,0,0,0,0,26.36,25.96,26.36
$GC,327,-0.45,-175.2,2643,637,3210,3156,41.6,-13.3,46,335,0.10,2.17,0.00,0.000,3078,0.148,0.030,2664,2056,3182,3209,3156,0,0,0,0,0,0,25.77,26.00,25.91
$GC,381,-0.45,-175.2,2664,2056,3210,3155,48.1,-12.0,55,388,0.00,2.10,0.00,0.000,260,0.000,0.032,2655,3469,3182,3210,3155,0,0,0,0,0,0,26.42,26.01,26.43
$GC,412,-0.45,-175.2,2654,3469,3210,3155,51.6,-11.3,60,421,0.00,2.15,0.00,0.000,1030,0.000,0.024,2655,2048,3182,3210,3155,0,0,0,0,0,0,26.10,26.08,26.13
$GC,466,-0.45,-175.2,2654,2044,3211,3154,57.0,-9.8,69,473,0.00,2.10,0.00,0.000,516,0.000,0.028,2655,644,3182,3211,3154,0,0,0,0,0,0,26.45,26.05,26.46
$GC,502,-0.45,-175.2,2654,644,3211,3154,61.4,-11.9,75,509,0.00,2.15,0.00,0.000,1030,0.000,0.026,2646,2059,3183,3212,3155,0,0,0,0,0,0,26.16,26.08,26.19
$GC,553,-0.45,-175.2,2645,2059,3212,3154,66.2,-9.0,84,562,0.00,2.12,0.00,0.000,260,0.000,0.032,2635,3460,3182,3211,3154,0,0,0,0,0,0,26.48,26.04,26.48
$GC,569,-0.45,-175.2,2634,3460,3211,3154,67.8,-9.9,86,576,0.00,2.10,0.00,0.000,1030,0.000,0.024,2635,2049,3182,3211,3154,0,0,0,0,0,0,26.17,26.10,26.20
$GC,619,-0.45,-175.2,2634,2044,3213,3153,73.0,-10.1,95,626,0.00,2.10,0.00,0.000,516,0.000,0.027,2635,633,3183,3213,3153,0,0,0,0,0,0,26.49,26.10,26.51
$GC,677,-0.45,-175.2,2634,632,3213,3153,79.2,-11.8,105,688,0.12,2.17,0.00,0.000,3078,0.142,0.029,2663,2056,3183,3213,3153,0,0,0,0,0,0,25.84,26.11,25.98
$GC,731,-0.45,-175.2,2663,2056,3213,3153,84.9,-9.7,114,740,0.00,2.12,0.00,0.000,260,0.000,0.033,2654,3457,3183,3213,3153,0,0,0,0,0,0,26.52,26.10,26.53
$GC,775,-0.45,-175.2,2653,3458,3212,3153,88.7,-9.6,121,782,0.00,2.08,0.00,0.000,1030,0.000,0.023,2654,2046,3182,3212,3153,0,0,0,0,0,0,26.23,26.16,26.26
$GC,826,-0.45,-175.2,2653,2041,3213,3152,94.0,-9.8,130,832,0.00,2.08,0.00,0.000,516,0.000,0.027,2654,642,3183,3213,3153,0,0,0,0,0,0,26.54,26.13,26.55
$GC,879,-0.45,-175.2,2653,641,3213,3153,99.4,-11.1,139,886,0.00,2.15,0.00,0.000,1030,0.000,0.029,2644,2056,3183,3213,3153,0,0,0,0,0,0,26.22,26.14,26.25
$GC,924,-0.45,-175.2,2644,2056,3214,3153,104.1,-10.3,144,932,0.00,2.08,0.00,0.000,260,0.000,0.032,2634,3459,3183,3213,3153,0,0,0,0,0,0,26.55,26.12,26.56
$GC,977,-0.45,-175.2,2633,3459,3213,3153,109.4,-10.2,149,988,0.10,2.08,0.00,0.000,3078,0.123,0.025,2667,2042,3182,3213,3152,0,0,0,0,0,0,25.92,26.17,25.99
$STATE,1014,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1014,begin apogee
$GC,1020,0.00,0.0,2667,1746,3214,3152,113.5,-9.9,153,1157,0.43,0.08,130.07,0.669,10246,0.110,0.091,2808,1851,2465,2525,2405,0,0,0,0,0,0,25.82,25.03,24.43
$STATE,1158,end apogee,CONTROL_FINISHED_OK
$STATE,1158,begin climb
$GC,1160,0.45,175.2,2808,1851,2525,2405,122.6,0.0,167,1308,0.38,2.15,133.48,0.677,10500,0.044,0.031,2975,3209,1748,1841,1655,0,0,0,0,0,0,25.27,24.72,24.32
$GC,1391,0.45,175.2,2974,3209,1840,1654,106.9,10.9,190,1400,0.00,2.15,0.00,0.000,1030,0.000,0.028,2984,1805,1745,1840,1651,0,0,0,0,0,0,25.63,25.56,25.66
$GC,1589,0.45,175.2,2984,1804,1837,1650,84.0,11.7,221,1595,0.00,2.15,0.00,0.000,516,0.000,0.032,2996,393,1742,1834,1650,0,0,0,0,0,0,26.23,25.84,26.25
$GC,1629,0.45,175.2,2995,393,1827,1651,79.3,11.5,228,1639,0.10,2.20,0.00,0.000,5126,0.148,0.027,2966,1809,1739,1829,1650,0,0,0,0,0,0,25.67,25.93,25.75
$GC,1684,0.45,179.7,2965,1809,1831,1651,73.8,9.9,237,1691,0.00,2.10,0.00,0.000,260,0.000,0.030,2965,3213,1741,1832,1650,0,0,0,0,0,0,26.32,25.96,26.32
$GC,1711,0.45,179.7,2965,3213,1832,1650,71.2,10.3,241,1724,0.00,2.15,4.05,0.431,9222,0.000,0.030,2973,1797,1731,1824,1639,0,0,0,0,0,0,26.05,25.96,24.82
$GC,1768,0.50,214.9,2973,1797,1822,1639,65.3,9.1,251,1806,0.00,2.22,29.42,0.623,8708,0.000,0.033,2984,397,1587,1691,1483,0,0,0,0,0,0,26.34,25.32,24.91
$GC,1884,0.50,214.9,2984,397,1678,1483,52.4,12.6,271,1891,0.00,2.15,0.00,0.000,1030,0.000,0.027,2984,1793,1581,1679,1483,0,0,0,0,0,0,25.91,25.83,25.94
$GC,1935,0.50,214.9,2984,1793,1679,1483,46.1,12.1,280,1942,0.00,2.17,0.00,0.000,260,0.000,0.032,2984,3209,1581,1680,1483,0,0,0,0,0,0,26.22,25.87,26.24
$GC,1989,0.50,214.9,2984,3209,1679,1483,39.8,12.0,289,1998,0.00,2.17,0.00,0.000,1030,0.000,0.027,2994,1793,1581,1679,1483,0,0,0,0,0,0,25.98,25.94,26.01
$GC,2049,0.50,214.9,2994,1792,1679,1483,33.2,10.9,298,2057,0.00,2.17,0.00,0.000,260,0.000,0.029,2994,3216,1581,1679,1483,0,0,0,0,0,0,26.33,25.94,26.34
$GC,2066,0.50,214.9,2994,3216,1679,1483,31.1,11.5,300,2076,0.10,2.17,0.00,0.000,5126,0.147,0.027,2974,1801,1581,1679,1483,0,0,0,0,0,0,25.72,25.98,25.80
$GC,2127,0.53,241.7,2974,1801,1679,1483,25.1,9.3,309,2143,0.00,0.00,12.85,0.553,8198,0.000,0.000,2974,1801,1478,1589,1368,0,0,0,0,0,0,26.38,25.70,25.06
$GC,2195,0.61,302.8,2973,1801,1587,1365,19.1,8.5,319,2235,0.00,2.25,29.92,0.568,8708,0.000,0.036,2983,390,1227,1357,1097,0,0,0,0,0,0,26.29,25.55,24.91
$GC,2279,0.68,359.9,2982,390,1345,1097,11.7,8.5,331,2313,0.12,2.20,27.55,0.549,11270,0.042,0.019,3080,1822,996,1132,860,0,0,0,0,0,0,25.79,25.82,24.79
$STATE,2338,end climb,SURFACE_DEPTH_REACHED
$STATE,2339,begin surface coast
$FINISH,0.4,1.015120
$STATE,2359,end surface coast,CONTROL_FINISHED_OK
$STATE,2360,begin surface
$SM_CCo,2438,0.00,0.000,0,0,988,362.06
$SM_GC,1.45,7.80,0.32,0.00,0.027,0.039,0.000,124,2084,988,-8.34,-1.53,362.06,0,0,0,0,0,0,25.75,25.77,25.79
$IRIDIUM_FIX,-3330.55,2716.79,010817,223707
$TT8_MAMPS,0.025466,0.263648
$HUMID,59.64
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,16.70
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,110.5,17.7
$24V_AH,24.15,54.907
$10V_AH,10.17,28.465
$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,19.425,69.525,367.350,0.000,0.000,23.413,46.251,338.884,3.000,0.000,15.103,799.817,335.943,439.526,1289.503,152.574,0.000,908.322,0.000,853.634,0.000,17.421,0.000
$DEVICE_MAMPS,225.675,97.155,677.025,0.000,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,233.506,104.627,468.800,554.127,0.000,0.000,0.000,0.000,0.000,0.000
$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,23671,342
$CAP_FILE_SIZE,66381,0
$CFSIZE,2097086464,2030927872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,020817,005723,-3344.188,2717.255,9,0.8,9,-27.7,0.0,0.0,10,358.2