version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 602
start: 8 2 117 7 53 51
data:
$ID,574
$MISSION,23
$DIVE,602
$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,270
$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,40
$R_STBD_OVSHOOT,50
$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
$GPS1,020817,075207,-3344.3059,2718.2639,4,0.9,5,-27.7,0.0,0.0,9,318.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-81.7
$GPS2,020817,075304,-3344.2820,2718.2605,5,1.6,5,-27.7,0.0,0.0,5,157.7
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3349.682,2729.519
$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,16,-0.45,-175.2,124,2072,1416,1294,0.0,0.0,0,81,0.00,0.00,-62.33,0.000,16386,0.000,0.000,125,2072,3107,3113,3102,0,0,0,0,0,0,26.51,28.83,26.53
$GC,84,-0.45,-175.2,124,2072,3113,3102,4.1,-6.2,8,105,9.85,2.17,-1.40,0.000,18948,0.220,0.039,2667,637,3182,3196,3168,0,0,0,0,0,0,25.39,24.30,25.78
$GC,179,-0.45,-175.2,2666,637,3205,3161,24.3,-12.7,22,188,0.00,2.17,0.00,0.000,1030,0.000,0.030,2658,2034,3182,3207,3158,0,0,0,0,0,0,26.13,26.10,26.17
$GC,241,-0.45,-175.2,2657,2034,3209,3156,31.7,-10.6,31,249,0.00,2.17,0.00,0.000,260,0.000,0.034,2647,3461,3181,3208,3155,0,0,0,0,0,0,26.52,26.08,26.53
$GC,301,-0.45,-175.2,2646,3460,3209,3155,37.4,-9.7,40,310,0.00,2.15,0.00,0.000,1030,0.000,0.024,2647,2041,3181,3209,3154,0,0,0,0,0,0,26.20,26.15,26.21
$GC,359,-0.45,-175.2,2646,2036,3211,3154,43.7,-10.2,49,366,0.00,2.10,0.00,0.000,516,0.000,0.031,2647,636,3182,3211,3153,0,0,0,0,0,0,26.55,26.11,26.55
$GC,410,-0.45,-175.2,2647,635,3211,3153,50.0,-11.2,58,417,0.00,2.15,0.00,0.000,1030,0.000,0.028,2637,2052,3182,3211,3153,0,0,0,0,0,0,26.22,26.15,26.25
$GC,463,-0.45,-175.2,2635,2052,3212,3153,56.3,-12.0,67,470,0.00,2.08,0.00,0.000,260,0.000,0.033,2626,3458,3182,3211,3153,0,0,0,0,0,0,26.56,26.12,26.57
$GC,488,-0.45,-175.2,2625,3458,3211,3153,59.5,-11.6,71,498,0.12,2.10,0.00,0.000,3078,0.129,0.024,2666,2042,3182,3211,3153,0,0,0,0,0,0,25.91,26.16,26.03
$GC,542,-0.45,-175.2,2666,2037,3212,3152,65.3,-10.9,80,549,0.00,2.12,0.00,0.000,516,0.000,0.028,2666,640,3182,3213,3152,0,0,0,0,0,0,26.56,26.15,26.58
$GC,578,-0.45,-175.2,2666,639,3213,3152,69.1,-11.0,86,585,0.00,2.12,0.00,0.000,1030,0.000,0.026,2658,2053,3182,3213,3152,0,0,0,0,0,0,26.25,26.17,26.27
$GC,629,-0.45,-175.2,2657,2053,3213,3152,74.6,-10.5,95,636,0.00,2.08,0.00,0.000,260,0.000,0.034,2647,3454,3181,3212,3151,0,0,0,0,0,0,26.58,26.12,26.59
$GC,668,-0.45,-175.2,2646,3453,3212,3151,78.8,-10.4,102,677,0.00,2.12,0.00,0.000,1030,0.000,0.024,2647,2047,3182,3213,3151,0,0,0,0,0,0,26.23,26.22,26.25
$GC,721,-0.45,-175.2,2646,2042,3213,3151,84.3,-10.5,111,728,0.00,2.10,0.00,0.000,516,0.000,0.028,2647,641,3182,3214,3151,0,0,0,0,0,0,26.59,26.15,26.59
$GC,780,-0.45,-175.2,2646,641,3221,3147,90.6,-11.0,121,786,0.00,2.12,0.00,0.000,1030,0.000,0.028,2638,2046,3184,3224,3144,0,0,0,0,0,0,26.25,26.17,26.29
$GC,830,-0.45,-175.2,2637,2046,3226,3142,96.5,-10.9,130,837,0.00,2.10,0.00,0.000,260,0.000,0.032,2627,3468,3183,3226,3141,0,0,0,0,0,0,26.60,26.14,26.60
$GC,867,-0.45,-175.2,2627,3468,3226,3141,100.4,-10.4,136,876,0.10,2.08,0.00,0.000,3078,0.115,0.024,2662,2053,3183,3227,3140,0,0,0,0,0,0,25.95,26.20,26.01
$GC,1058,-0.45,-175.2,2662,2048,3228,3138,118.4,-9.3,155,1066,0.00,2.08,0.00,0.000,516,0.000,0.029,2662,646,3183,3228,3138,0,0,0,0,0,0,26.62,26.17,26.63
$GC,1162,-0.45,-175.2,2662,646,3229,3138,128.6,-10.1,165,1169,0.00,2.15,0.00,0.000,1030,0.000,0.028,2654,2060,3183,3229,3138,0,0,0,0,0,0,26.28,26.20,26.31
$STATE,1317,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1318,begin apogee
$GC,1325,0.00,0.0,2654,1758,3230,3138,144.9,-10.0,181,1460,0.47,0.00,131.35,0.724,10246,0.115,0.000,2808,1754,2464,2531,2398,0,0,0,0,0,0,25.80,24.96,24.31
$STATE,1461,end apogee,CONTROL_FINISHED_OK
$STATE,1461,begin climb
$GC,1464,0.45,175.2,2807,1753,2530,2398,153.7,0.0,195,1610,0.43,2.33,135.07,0.716,11012,0.046,0.033,2984,3198,1749,1841,1657,0,0,0,0,0,0,25.18,24.84,24.22
$GC,1644,0.45,175.2,2983,3198,1838,1657,142.4,11.8,213,1654,0.12,2.10,0.00,0.000,5126,0.159,0.028,2960,1842,1747,1838,1656,0,0,0,0,0,0,25.06,25.30,25.23
$GC,1837,0.45,175.2,2959,1842,1838,1651,122.6,10.4,232,1846,0.00,2.22,0.00,0.000,516,0.000,0.035,2969,389,1742,1834,1651,0,0,0,0,0,0,26.14,25.73,26.15
$GC,1919,0.47,194.1,2968,389,1828,1651,114.1,9.5,240,1941,0.00,2.15,15.62,0.630,9222,0.000,0.025,2969,1801,1673,1768,1578,0,0,0,0,0,0,25.97,25.89,24.86
$GC,2125,0.47,194.1,2969,1802,1765,1576,91.0,11.4,268,2133,0.00,2.20,0.00,0.000,516,0.000,0.033,2979,399,1669,1762,1576,0,0,0,0,0,0,26.29,25.86,26.30
$GC,2183,0.47,194.1,2978,398,1757,1576,84.6,10.4,278,2190,0.00,2.15,0.00,0.000,1030,0.000,0.026,2979,1806,1666,1757,1576,0,0,0,0,0,0,26.06,25.98,26.08
$GC,2234,0.47,194.1,2978,1806,1759,1576,78.6,11.9,287,2241,0.00,2.10,0.00,0.000,260,0.000,0.030,2979,3215,1667,1759,1576,0,0,0,0,0,0,26.36,25.97,26.37
$GC,2254,0.47,194.1,2978,3214,1759,1576,76.2,11.8,290,2260,0.00,2.15,0.00,0.000,1030,0.000,0.028,2989,1791,1667,1759,1576,0,0,0,0,0,0,26.08,25.99,26.10
$GC,2305,0.47,194.1,2988,1791,1759,1576,70.0,12.2,299,2312,0.00,2.15,0.00,0.000,516,0.000,0.035,3000,387,1667,1759,1576,0,0,0,0,0,0,26.39,25.95,26.41
$GC,2341,0.47,194.1,2999,386,1755,1576,65.6,12.6,305,2348,0.12,2.17,0.00,0.000,5126,0.150,0.028,2964,1803,1665,1755,1576,0,0,0,0,0,0,25.72,26.02,25.91
$GC,2393,0.47,194.1,2963,1804,1757,1576,59.6,11.1,314,2399,0.00,2.10,0.00,0.000,260,0.000,0.031,2964,3212,1666,1757,1576,0,0,0,0,0,0,26.43,26.02,26.44
$GC,2435,0.47,194.3,2963,3212,1757,1576,55.2,10.0,321,2442,0.00,2.12,0.00,0.000,1030,0.000,0.028,2972,1799,1666,1757,1576,0,0,0,0,0,0,26.14,26.06,26.17
$GC,2485,0.47,194.3,2971,1800,1757,1576,50.0,10.3,330,2494,0.00,2.22,0.00,0.000,516,0.000,0.037,2982,390,1666,1756,1576,0,0,0,0,0,0,26.46,26.00,26.47
$GC,2522,0.47,194.3,2982,390,1754,1576,46.2,10.9,336,2530,0.00,2.20,0.00,0.000,1030,0.000,0.028,2982,1801,1666,1756,1576,0,0,0,0,0,0,26.14,26.08,26.15
$GC,2576,0.47,194.3,2982,1801,1756,1576,40.3,11.1,345,2582,0.00,2.12,0.00,0.000,260,0.000,0.032,2983,3223,1666,1756,1576,0,0,0,0,0,0,26.48,26.06,26.49
$GC,2615,0.47,194.3,2982,3222,1755,1576,35.9,10.8,351,2624,0.00,2.17,0.00,0.000,1030,0.000,0.029,2993,1804,1666,1756,1576,0,0,0,0,0,0,26.13,26.08,26.15
$GC,2675,0.47,194.3,2992,1804,1756,1576,29.2,12.3,360,2683,0.00,2.20,0.00,0.000,516,0.000,0.036,3004,392,1666,1756,1576,0,0,0,0,0,0,26.51,26.03,26.52
$GC,2712,0.52,229.9,3003,392,1752,1576,25.7,9.1,365,2736,0.00,2.20,17.38,0.576,9222,0.000,0.029,3004,1800,1525,1628,1423,0,0,0,0,0,0,26.13,26.10,25.10
$GC,2787,0.52,229.9,3003,1801,1624,1420,18.0,10.3,376,2796,0.00,2.15,0.00,0.000,260,0.000,0.031,3004,3210,1522,1624,1421,0,0,0,0,0,0,26.35,25.96,26.36
$GC,2864,0.52,229.9,3003,3210,1623,1421,10.0,10.0,388,2873,0.10,2.17,0.00,0.000,5126,0.148,0.030,2983,1797,1522,1623,1421,0,0,0,0,0,0,25.72,26.01,25.81
$GC,2925,0.52,237.0,2982,1797,1621,1421,4.3,9.8,397,2934,0.00,2.20,2.67,0.058,8708,0.000,0.034,2992,382,1496,1598,1394,0,0,0,0,0,0,26.42,25.96,25.91
$STATE,2941,end climb,SURFACE_DEPTH_REACHED
$STATE,2941,begin surface coast
$FINISH,1.8,1.026200
$STATE,2950,end surface coast,CONTROL_FINISHED_OK
$STATE,2950,begin surface
$SM_CCo,2970,13.85,0.049,0,0,1364,270.07
$SM_GC,2.04,7.47,2.60,13.85,0.028,0.021,0.049,124,2081,1364,-8.34,-0.99,270.07,0,0,0,0,0,0,26.06,26.10,25.96
$IRIDIUM_FIX,-3333.14,2716.79,020817,050750
$TT8_MAMPS,0.025466,0.272636
$HUMID,60.59
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,140.9,18.7
$24V_AH,24.22,55.579
$10V_AH,10.14,28.867
$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,18.800,86.750,302.100,13.850,0.000,0.000,0.000,0.000,3.250,0.000,11.547,962.096,595.366,444.211,960.496,108.475,0.000,927.472,0.000,945.480,0.000,21.922,0.000
$DEVICE_MAMPS,219.555,39.015,723.690,48.960,0.000,0.000,0.000,0.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,279.848,106.931,469.816,635.257,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343580
$DATA_FILE_SIZE,27147,400
$CAP_FILE_SIZE,66265,0
$CFSIZE,2097086464,2030043136
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,78.93,0x212b6e,0,24
$WARN,PPS timeout
$GPS,020817,084425,-3344.285,2718.643,13,0.9,13,-27.7,0.0,0.0,10,272.0