version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 610
start: 8 2 117 16 17 32
data:
$ID,574
$MISSION,23
$DIVE,610
$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,170
$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,46
$R_STBD_OVSHOOT,41
$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
$GPS1,020817,161546,-3343.2996,2720.3823,4,0.8,5,-27.7,0.0,0.0,10,45.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-79.6
$GPS2,020817,161645,-3343.2898,2720.3765,4,0.9,6,-27.7,0.0,0.0,9,50.5
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3353.925,2722.636
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,197.7,20000,-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,-175.2,125,2038,1374,1215,0.0,0.0,0,80,0.00,0.00,-61.90,0.000,16386,0.000,0.000,125,2038,3022,3026,3018,0,0,0,0,0,0,26.41,28.83,26.43
$GC,84,-0.45,-175.2,125,2038,3027,3018,3.6,-5.3,8,102,10.05,2.17,-3.12,0.000,19204,0.223,0.037,2644,3474,3183,3195,3171,0,0,0,0,0,0,25.29,24.20,25.50
$GC,181,-0.45,-175.2,2643,3474,3205,3162,21.7,-10.8,23,190,0.00,2.17,0.00,0.000,1030,0.000,0.027,2644,2053,3184,3208,3160,0,0,0,0,0,0,26.08,26.05,26.11
$GC,240,-0.45,-175.2,2643,2048,3209,3158,28.5,-11.0,32,249,0.00,2.15,0.00,0.000,516,0.000,0.027,2644,642,3183,3209,3157,0,0,0,0,0,0,26.46,26.04,26.47
$GC,300,-0.45,-175.2,2643,642,3211,3157,35.5,-12.1,41,309,0.08,2.20,0.00,0.000,3078,0.142,0.030,2659,2052,3183,3210,3157,0,0,0,0,0,0,25.84,26.06,25.90
$GC,357,-0.45,-175.2,2658,2052,3212,3156,42.2,-10.6,50,364,0.00,2.10,0.00,0.000,260,0.000,0.032,2649,3467,3183,3211,3156,0,0,0,0,0,0,26.49,26.05,26.51
$GC,413,-0.45,-175.2,2649,3467,3211,3156,48.2,-10.7,60,422,0.00,2.15,0.00,0.000,1030,0.000,0.024,2649,2050,3183,3211,3156,0,0,0,0,0,0,26.15,26.12,26.18
$GC,468,-0.45,-175.2,2648,2045,3213,3155,54.0,-10.4,69,474,0.00,2.10,0.00,0.000,516,0.000,0.027,2649,638,3184,3213,3155,0,0,0,0,0,0,26.52,26.09,26.53
$GC,518,-0.45,-175.2,2648,637,3212,3155,59.4,-11.1,78,527,0.00,2.20,0.00,0.000,1030,0.000,0.028,2640,2058,3184,3213,3155,0,0,0,0,0,0,26.15,26.11,26.17
$GC,572,-0.45,-175.2,2639,2058,3213,3155,65.2,-10.8,87,578,0.00,2.10,0.00,0.000,260,0.000,0.032,2629,3469,3184,3213,3155,0,0,0,0,0,0,26.54,26.09,26.55
$GC,601,-0.45,-175.2,2629,3468,3212,3155,68.5,-11.0,92,610,0.10,2.17,0.00,0.000,3078,0.120,0.025,2663,2037,3184,3213,3155,0,0,0,0,0,0,25.90,26.13,25.96
$GC,655,-0.45,-175.2,2662,2031,3213,3155,73.5,-9.5,101,661,0.00,2.08,0.00,0.000,516,0.000,0.028,2663,637,3184,3214,3155,0,0,0,0,0,0,26.55,26.11,26.56
$GC,712,-0.45,-175.2,2663,636,3214,3155,79.0,-9.4,111,718,0.00,2.15,0.00,0.000,1030,0.000,0.027,2655,2056,3183,3213,3154,0,0,0,0,0,0,26.22,26.15,26.25
$GC,763,-0.45,-175.2,2654,2055,3214,3154,83.9,-9.2,120,772,0.00,2.12,0.00,0.000,260,0.000,0.033,2645,3449,3183,3213,3154,0,0,0,0,0,0,26.56,26.11,26.57
$GC,795,-0.45,-175.2,2644,3449,3213,3155,87.0,-9.9,125,802,0.00,2.08,0.00,0.000,1030,0.000,0.024,2644,2048,3183,3213,3154,0,0,0,0,0,0,26.24,26.16,26.26
$GC,849,-0.45,-175.2,2644,2043,3214,3154,92.2,-10.0,134,855,0.00,2.08,0.00,0.000,516,0.000,0.028,2644,642,3184,3214,3154,0,0,0,0,0,0,26.57,26.13,26.58
$GC,904,-0.45,-175.2,2644,642,3214,3154,98.6,-12.0,144,913,0.00,2.17,0.00,0.000,1030,0.000,0.027,2634,2050,3184,3214,3154,0,0,0,0,0,0,26.19,26.15,26.22
$GC,961,-0.45,-175.2,2634,2050,3214,3154,105.0,-12.0,150,970,0.08,2.12,0.00,0.000,2308,0.168,0.031,2654,3470,3184,3214,3154,0,0,0,0,0,0,26.08,26.11,26.12
$GC,1005,-0.45,-175.2,2654,3469,3214,3154,109.6,-10.5,154,1016,0.00,2.10,0.00,0.000,1030,0.000,0.024,2654,2045,3184,3214,3154,0,0,0,0,0,0,26.26,26.17,26.28
$GC,1193,-0.45,-175.2,2654,2043,3215,3154,129.7,-10.5,173,1203,0.00,2.12,0.00,0.000,260,0.000,0.033,2645,3461,3184,3214,3154,0,0,0,0,0,0,26.60,26.13,26.62
$GC,1279,-0.45,-175.2,2644,3461,3214,3154,138.6,-10.8,181,1285,0.00,2.10,0.00,0.000,1030,0.000,0.024,2645,2041,3184,3214,3154,0,0,0,0,0,0,26.27,26.20,26.30
$GC,1467,-0.45,-175.2,2644,2037,3216,3154,159.3,-10.6,200,1479,0.00,2.10,0.00,0.000,260,0.000,0.034,2634,3456,3184,3214,3154,0,0,0,0,0,0,26.63,26.14,26.64
$STATE,1529,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1530,begin apogee
$GC,1538,0.00,0.0,2634,1803,3214,3154,166.5,-11.1,206,1674,0.52,0.00,131.02,0.724,10246,0.114,0.000,2804,1800,2464,2526,2403,0,0,0,0,0,0,25.75,24.94,24.31
$STATE,1674,end apogee,CONTROL_FINISHED_OK
$STATE,1675,begin climb
$GC,1677,0.45,175.2,2804,1800,2526,2403,175.6,0.0,220,1822,0.38,2.25,135.40,0.724,10500,0.046,0.031,2964,3211,1749,1842,1656,0,0,0,0,0,0,25.18,24.80,24.17
$GC,1876,0.45,175.2,2963,3211,1838,1656,164.1,10.5,240,1885,0.00,2.20,0.00,0.000,1030,0.000,0.028,2974,1795,1747,1838,1656,0,0,0,0,0,0,25.44,25.37,25.47
$GC,2067,0.45,175.2,2973,1795,1835,1656,142.4,11.9,259,2075,0.00,2.17,0.00,0.000,516,0.000,0.034,2985,386,1743,1831,1655,0,0,0,0,0,0,26.15,25.74,26.16
$GC,2081,0.45,175.2,2984,386,1828,1655,141.5,11.9,260,2087,0.00,2.20,0.00,0.000,1030,0.000,0.026,2985,1809,1742,1829,1655,0,0,0,0,0,0,25.90,25.82,25.93
$GC,2268,0.45,175.2,2984,1809,1830,1655,117.1,12.7,279,2277,0.00,2.12,0.00,0.000,260,0.000,0.032,2985,3219,1742,1830,1655,0,0,0,0,0,0,26.33,25.93,26.34
$GC,2389,0.45,175.2,2984,3218,1830,1655,103.0,10.8,291,2399,0.12,2.15,0.00,0.000,5126,0.164,0.028,2960,1793,1742,1830,1655,0,0,0,0,0,0,25.67,26.01,25.87
$GC,2588,0.51,224.5,2960,1793,1831,1654,84.5,8.7,325,2638,0.00,2.22,39.70,0.654,8708,0.000,0.036,2969,393,1546,1645,1447,0,0,0,0,0,0,26.47,25.54,24.86
$GC,2663,0.51,224.5,2968,393,1638,1446,76.8,11.1,337,2669,0.00,2.17,0.00,0.000,1030,0.000,0.023,2969,1813,1542,1639,1446,0,0,0,0,0,0,25.81,25.75,25.84
$GC,2713,0.51,224.5,2968,1817,1639,1446,71.2,10.9,346,2720,0.00,2.10,0.00,0.000,260,0.000,0.029,2969,3213,1542,1639,1446,0,0,0,0,0,0,26.14,25.77,26.15
$GC,2749,0.51,224.5,2968,3213,1639,1446,67.0,11.5,352,2756,0.00,2.20,0.00,0.000,1030,0.000,0.028,2979,1797,1542,1638,1446,0,0,0,0,0,0,25.86,25.82,25.89
$GC,2802,0.51,224.5,2978,1797,1638,1446,61.1,11.9,361,2809,0.00,2.17,0.00,0.000,516,0.000,0.034,2990,383,1541,1637,1446,0,0,0,0,0,0,26.25,25.81,26.25
$GC,2833,0.51,224.5,2989,383,1632,1446,57.1,12.1,366,2841,0.00,2.20,0.00,0.000,1030,0.000,0.027,2990,1786,1540,1634,1446,0,0,0,0,0,0,25.94,25.90,25.97
$GC,2886,0.51,224.5,2989,1787,1634,1446,50.2,13.6,375,2892,0.00,2.17,0.00,0.000,260,0.000,0.032,2990,3220,1540,1634,1446,0,0,0,0,0,0,26.32,25.90,26.33
$GC,2964,0.51,224.5,2989,3220,1633,1446,40.8,11.0,389,2970,0.00,2.15,0.00,0.000,1030,0.000,0.029,3000,1799,1539,1634,1445,0,0,0,0,0,0,26.06,25.96,26.09
$GC,3021,0.51,224.5,2999,1799,1634,1446,34.2,12.6,398,3030,0.00,2.17,0.00,0.000,260,0.000,0.030,3000,3214,1540,1634,1446,0,0,0,0,0,0,26.39,25.99,26.40
$GC,3045,0.51,224.5,2999,3214,1633,1446,31.2,11.6,401,3054,0.10,2.17,0.00,0.000,5126,0.156,0.027,2981,1798,1539,1633,1446,0,0,0,0,0,0,25.67,26.01,25.77
$GC,3104,0.60,300.4,2980,1798,1633,1446,25.8,8.1,410,3152,0.00,2.22,38.08,0.610,8708,0.000,0.037,2990,398,1236,1356,1117,0,0,0,0,0,0,26.43,25.55,24.90
$GC,3227,0.64,332.2,2989,398,1346,1113,14.7,9.2,428,3252,0.00,2.17,15.15,0.546,9222,0.000,0.020,2990,1811,1109,1241,978,0,0,0,0,0,0,25.86,25.83,24.84
$GC,3303,0.64,332.2,2989,1811,1237,976,6.8,10.8,439,3311,0.00,2.12,0.00,0.000,260,0.000,0.030,2990,3191,1105,1236,975,0,0,0,0,0,0,26.11,25.75,26.12
$STATE,3336,end climb,SURFACE_DEPTH_REACHED
$STATE,3336,begin surface coast
$FINISH,0.6,1.026365
$STATE,3367,end surface coast,CONTROL_FINISHED_OK
$STATE,3367,begin surface
$SM_CCo,3446,0.00,0.000,0,0,1101,334.58
$SM_GC,1.63,7.55,1.75,0.00,0.028,0.018,0.000,124,2021,1101,-8.35,0.93,334.58,0,0,0,0,0,0,25.86,25.86,25.92
$IRIDIUM_FIX,-3330.55,2716.79,020817,125736
$TT8_MAMPS,0.025466,0.290612
$HUMID,61.22
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,16.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,160.3,20.7
$24V_AH,24.17,56.242
$10V_AH,10.10,29.269
$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,18.975,90.400,359.350,0.000,0.000,0.000,0.000,0.000,3.750,0.000,12.547,1049.913,824.280,474.204,1078.859,103.577,0.000,1027.143,0.000,1059.240,0.000,24.906,0.000
$DEVICE_MAMPS,223.380,36.720,723.690,0.000,0.000,0.000,0.000,0.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,312.514,111.571,502.734,712.718,0.000,0.000,0.000,0.000,0.000,0.000
$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,30398,449
$CAP_FILE_SIZE,70199,0
$CFSIZE,2097086464,2029256704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,020817,171602,-3343.240,2720.575,29,0.8,29,-27.7,0.0,0.0,10,7.8