version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 606
start: 8 2 117 11 58 20
data:
$ID,574
$MISSION,23
$DIVE,606
$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,36
$R_STBD_OVSHOOT,43
$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
$GPS1,020817,115634,-3343.7778,2719.3796,4,0.8,5,-27.7,0.0,92.0,11,42.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-78.6
$GPS2,020817,115733,-3343.7673,2719.3887,5,1.8,5,-27.7,0.0,0.0,6,43.0
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3349.167,2730.646
$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,-175.2,127,2069,1312,1145,0.0,0.0,0,80,0.00,0.00,-62.22,0.000,16386,0.000,0.000,127,2069,2947,2949,2946,0,0,0,0,0,0,26.39,28.83,26.41
$GC,84,-0.45,-175.2,127,2069,2952,2945,3.3,-4.6,8,109,9.88,2.22,-4.72,0.000,18948,0.217,0.043,2653,637,3183,3204,3163,0,0,0,0,0,0,25.29,24.20,25.49
$GC,208,-0.45,-175.2,2653,636,3208,3161,24.8,-12.5,27,216,0.00,2.20,0.00,0.000,1030,0.000,0.030,2644,2045,3184,3212,3156,0,0,0,0,0,0,26.08,26.05,26.11
$GC,269,-0.45,-175.2,2643,2045,3213,3155,32.5,-12.8,36,277,0.00,2.15,0.00,0.000,260,0.000,0.032,2633,3463,3183,3213,3154,0,0,0,0,0,0,26.46,26.05,26.48
$GC,292,-0.45,-175.2,2633,3462,3213,3154,35.3,-12.0,39,302,0.08,2.17,0.00,0.000,3078,0.117,0.026,2660,2036,3183,3213,3153,0,0,0,0,0,0,25.90,26.10,25.96
$GC,350,-0.45,-175.2,2660,2031,3215,3151,41.6,-10.1,48,359,0.00,2.12,0.00,0.000,516,0.000,0.028,2661,638,3183,3215,3151,0,0,0,0,0,0,26.48,26.08,26.49
$GC,413,-0.45,-175.2,2660,638,3215,3151,47.9,-10.4,59,420,0.00,2.15,0.00,0.000,1030,0.000,0.028,2651,2055,3183,3215,3151,0,0,0,0,0,0,26.18,26.10,26.21
$GC,464,-0.45,-175.2,2651,2055,3216,3151,53.0,-9.8,68,471,0.00,2.12,0.00,0.000,260,0.000,0.034,2642,3454,3183,3215,3151,0,0,0,0,0,0,26.51,26.08,26.52
$GC,496,-0.45,-175.2,2641,3454,3214,3151,56.2,-10.5,73,503,0.00,2.10,0.00,0.000,1030,0.000,0.024,2642,2036,3183,3215,3151,0,0,0,0,0,0,26.21,26.13,26.24
$GC,549,-0.45,-175.2,2641,2030,3217,3151,62.0,-10.6,82,555,0.00,2.08,0.00,0.000,516,0.000,0.028,2642,635,3184,3217,3151,0,0,0,0,0,0,26.53,26.11,26.54
$GC,585,-0.45,-175.2,2641,635,3216,3151,66.0,-11.9,88,593,0.08,2.20,0.00,0.000,3078,0.139,0.028,2656,2056,3184,3218,3151,0,0,0,0,0,0,25.89,26.13,25.96
$GC,639,-0.45,-175.2,2656,2055,3218,3151,71.6,-10.3,97,645,0.00,2.10,0.00,0.000,260,0.000,0.034,2647,3455,3184,3218,3151,0,0,0,0,0,0,26.54,26.10,26.55
$GC,685,-0.45,-175.2,2647,3455,3217,3151,76.5,-10.3,105,692,0.00,2.10,0.00,0.000,1030,0.000,0.024,2647,2042,3184,3217,3151,0,0,0,0,0,0,26.24,26.16,26.26
$GC,736,-0.45,-175.2,2647,2038,3218,3150,81.8,-10.1,114,745,0.00,2.12,0.00,0.000,516,0.000,0.028,2647,639,3184,3219,3150,0,0,0,0,0,0,26.55,26.14,26.56
$GC,794,-0.45,-175.2,2647,639,3219,3150,87.9,-10.6,124,802,0.00,2.17,0.00,0.000,1030,0.000,0.028,2637,2047,3184,3219,3150,0,0,0,0,0,0,26.19,26.15,26.22
$GC,849,-0.45,-175.2,2636,2047,3218,3150,93.9,-11.9,133,855,0.00,2.10,0.00,0.000,260,0.000,0.033,2626,3462,3184,3218,3151,0,0,0,0,0,0,26.57,26.12,26.58
$GC,887,-0.45,-175.2,2626,3462,3218,3151,97.8,-10.8,139,894,0.12,2.10,0.00,0.000,3078,0.120,0.026,2668,2050,3184,3218,3151,0,0,0,0,0,0,25.94,26.16,26.06
$GC,937,-0.45,-175.2,2668,2045,3219,3150,103.2,-9.8,145,946,0.00,2.10,0.00,0.000,516,0.000,0.028,2669,631,3184,3219,3150,0,0,0,0,0,0,26.58,26.15,26.59
$GC,989,-0.45,-175.2,2668,631,3219,3150,108.2,-9.7,150,998,0.00,2.15,0.00,0.000,1030,0.000,0.027,2660,2056,3185,3219,3151,0,0,0,0,0,0,26.25,26.17,26.28
$GC,1182,-0.45,-175.2,2659,2055,3220,3150,124.4,-7.7,169,1191,0.00,2.08,0.00,0.000,516,0.000,0.028,2660,647,3184,3219,3150,0,0,0,0,0,0,26.60,26.17,26.62
$GC,1254,-0.45,-175.2,2659,647,3220,3150,130.7,-8.5,176,1263,0.00,2.10,0.00,0.000,1030,0.000,0.028,2650,2050,3185,3220,3150,0,0,0,0,0,0,26.22,26.18,26.25
$GC,1445,-0.45,-175.2,2650,2050,3220,3150,148.5,-9.3,195,1454,0.00,2.10,0.00,0.000,260,0.000,0.034,2640,3458,3184,3219,3150,0,0,0,0,0,0,26.63,26.16,26.63
$GC,1500,-0.45,-175.2,2639,3458,3219,3150,153.7,-9.9,200,1507,0.00,2.10,0.00,0.000,1030,0.000,0.024,2640,2040,3184,3219,3150,0,0,0,0,0,0,26.29,26.21,26.32
$STATE,1585,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1585,begin apogee
$GC,1591,0.00,0.0,2639,1745,3220,3150,162.4,-10.3,209,1728,0.50,0.08,131.25,0.722,10246,0.116,0.089,2802,1850,2464,2527,2402,0,0,0,0,0,0,25.78,24.97,24.33
$STATE,1729,end apogee,CONTROL_FINISHED_OK
$STATE,1729,begin climb
$GC,1731,0.45,175.2,2802,1850,2527,2401,168.0,0.0,223,1879,0.43,2.08,134.27,0.710,10500,0.051,0.028,2975,3160,1748,1841,1655,0,0,0,0,0,0,25.18,24.84,24.22
$GC,1914,0.45,175.2,2975,3160,1838,1655,154.8,11.9,241,1921,0.00,2.10,0.00,0.000,1030,0.000,0.028,2985,1804,1746,1838,1655,0,0,0,0,0,0,25.40,25.32,25.42
$GC,2103,0.45,175.2,2984,1805,1833,1654,130.8,13.3,260,2109,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,1804,1743,1833,1654,0,0,0,0,0,0,26.14,26.15,26.15
$GC,2292,0.45,175.2,2984,1805,1832,1653,107.2,12.0,279,2300,0.00,2.05,0.00,0.000,260,0.000,0.028,2985,3172,1742,1832,1653,0,0,0,0,0,0,26.32,25.95,26.34
$GC,2333,0.45,175.2,2984,3172,1832,1653,102.3,11.5,283,2342,0.12,2.08,0.00,0.000,5126,0.163,0.028,2960,1796,1742,1831,1653,0,0,0,0,0,0,25.65,25.97,25.86
$GC,2531,0.49,210.1,2959,1796,1832,1651,84.4,9.1,318,2564,0.00,2.25,28.08,0.640,8708,0.000,0.035,2969,384,1606,1705,1508,0,0,0,0,0,0,26.44,25.64,24.96
$GC,2611,0.52,236.1,2968,383,1694,1507,76.7,9.3,331,2641,0.00,2.10,21.70,0.623,9222,0.000,0.025,2969,1758,1500,1603,1397,0,0,0,0,0,0,25.92,25.84,24.79
$GC,2685,0.52,236.1,2968,1758,1601,1396,68.2,11.1,344,2692,0.00,2.25,0.00,0.000,260,0.000,0.032,2969,3208,1498,1601,1396,0,0,0,0,0,0,26.06,25.71,26.06
$GC,2749,0.52,236.1,2968,3208,1600,1396,60.8,12.4,355,2755,0.00,2.15,0.00,0.000,1030,0.000,0.029,2978,1795,1498,1600,1396,0,0,0,0,0,0,25.89,25.82,25.92
$GC,2800,0.52,236.1,2978,1795,1598,1395,54.6,12.1,364,2807,0.00,2.20,0.00,0.000,516,0.000,0.035,2989,393,1496,1596,1396,0,0,0,0,0,0,26.22,25.81,26.24
$GC,2826,0.52,236.1,2989,393,1591,1396,51.3,11.9,368,2833,0.00,2.20,0.00,0.000,1030,0.000,0.025,2989,1802,1494,1592,1396,0,0,0,0,0,0,25.94,25.91,25.97
$GC,2878,0.52,236.1,2989,1803,1592,1396,44.3,12.7,377,2885,0.00,2.12,0.00,0.000,260,0.000,0.031,2990,3214,1494,1592,1396,0,0,0,0,0,0,26.29,25.91,26.31
$GC,2908,0.52,236.1,2989,3214,1592,1396,40.4,13.1,382,2914,0.00,2.15,0.00,0.000,1030,0.000,0.028,2999,1791,1494,1592,1396,0,0,0,0,0,0,26.03,25.94,26.06
$GC,2965,0.52,236.1,2999,1791,1592,1396,33.6,12.9,391,2973,0.00,2.20,0.00,0.000,516,0.000,0.035,3010,391,1493,1590,1396,0,0,0,0,0,0,26.35,25.94,26.36
$GC,2983,0.52,236.1,3010,390,1589,1396,31.5,11.7,393,2992,0.10,2.20,0.00,0.000,5126,0.140,0.028,2980,1801,1493,1590,1396,0,0,0,0,0,0,25.72,25.96,25.81
$GC,3043,0.55,258.6,2979,1804,1590,1396,25.6,9.4,402,3060,0.00,2.20,10.90,0.552,8708,0.000,0.034,2989,386,1409,1515,1303,0,0,0,0,0,0,26.39,25.47,25.02
$GC,3070,0.62,313.0,2988,385,1511,1303,23.2,8.6,405,3103,0.00,2.22,27.55,0.577,9222,0.000,0.028,2989,1801,1187,1314,1061,0,0,0,0,0,0,25.98,25.94,24.89
$GC,3155,0.63,319.6,2988,1801,1310,1058,15.4,9.8,417,3164,0.00,2.17,2.70,0.259,8452,0.000,0.030,2989,3219,1161,1288,1034,0,0,0,0,0,0,26.10,25.11,24.63
$GC,3239,0.63,319.6,2988,3219,1286,1034,6.7,10.8,430,3247,0.00,2.20,0.00,0.000,1030,0.000,0.027,2998,1793,1160,1286,1034,0,0,0,0,0,0,25.90,25.86,25.93
$STATE,3278,end climb,SURFACE_DEPTH_REACHED
$STATE,3278,begin surface coast
$FINISH,0.6,1.002573
$STATE,3315,end surface coast,CONTROL_FINISHED_OK
$STATE,3316,begin surface
$SM_CCo,3393,0.00,0.000,0,0,1154,321.58
$SM_GC,1.65,7.40,0.40,0.00,0.021,0.029,0.000,126,2095,1154,-8.30,-0.93,321.58,0,0,0,0,0,0,25.96,26.05,26.01
$IRIDIUM_FIX,-3327.96,2719.09,020817,104739
$TT8_MAMPS,0.025466,0.28462
$HUMID,60.82
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,16.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,160.3,16.4
$24V_AH,24.20,55.921
$10V_AH,10.10,29.066
$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,18.700,86.575,356.450,0.000,0.000,0.000,0.000,0.000,4.000,0.000,11.578,1040.112,809.371,458.998,1055.777,112.552,0.000,1002.474,0.000,1039.484,0.000,24.933,0.000
$DEVICE_MAMPS,217.260,88.740,722.160,0.000,0.000,0.000,0.000,0.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,307.200,111.569,499.491,702.685,0.000,0.000,0.000,0.000,0.000,0.000
$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,30471,442
$CAP_FILE_SIZE,70866,0
$CFSIZE,2097086464,2029649920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,020817,125532,-3343.679,2719.700,4,0.8,5,-27.7,0.0,347.8,10,91.3