version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 612
start: 8 2 117 18 26 25
data:
$ID,574
$MISSION,23
$DIVE,612
$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,38
$R_STBD_OVSHOOT,52
$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
$GPS1,020817,182438,-3343.1575,2720.7622,4,0.8,5,-27.7,0.0,321.9,10,208.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-76.5
$GPS2,020817,182538,-3343.1519,2720.7617,4,0.8,5,-27.7,0.0,0.0,10,17.8
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3353.787,2723.021
$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,-175.2,125,2081,1427,1290,0.0,0.0,0,80,0.00,0.00,-62.10,0.000,16386,0.000,0.000,125,2081,3108,3113,3104,0,0,0,0,0,0,26.56,28.83,26.57
$GC,84,-0.45,-175.2,125,2081,3113,3104,4.0,-6.0,8,102,9.82,2.05,-1.42,0.000,18692,0.214,0.038,2645,3468,3183,3195,3172,0,0,0,0,0,0,25.29,25.49,25.46
$GC,111,-0.45,-175.2,2644,3468,3202,3167,13.6,-27.5,11,120,0.00,2.17,0.00,0.000,1030,0.000,0.028,2644,2050,3184,3206,3162,0,0,0,0,0,0,26.14,26.10,26.16
$GC,171,-0.45,-175.2,2644,2049,3208,3160,21.1,-11.9,20,179,0.00,2.15,0.00,0.000,516,0.000,0.031,2645,642,3185,3209,3161,0,0,0,0,0,0,26.54,26.09,26.55
$GC,234,-0.45,-175.2,2644,641,3209,3160,29.6,-13.0,30,244,0.00,2.17,0.00,0.000,1030,0.000,0.032,2635,2030,3184,3210,3159,0,0,0,0,0,0,26.14,26.10,26.17
$GC,293,-0.45,-175.2,2634,2030,3211,3159,37.1,-12.5,39,303,0.08,2.20,0.00,0.000,2308,0.170,0.033,2654,3466,3184,3210,3158,0,0,0,0,0,0,26.06,26.12,26.09
$GC,357,-0.45,-175.2,2653,3466,3210,3158,44.1,-10.7,49,363,0.00,2.10,0.00,0.000,1030,0.000,0.023,2654,2042,3184,3210,3158,0,0,0,0,0,0,26.24,26.16,26.27
$GC,408,-0.45,-175.2,2653,2038,3212,3157,49.6,-9.9,58,415,0.00,2.08,0.00,0.000,516,0.000,0.027,2654,641,3184,3213,3156,0,0,0,0,0,0,26.57,26.13,26.58
$GC,462,-0.45,-175.2,2653,640,3213,3156,55.2,-10.3,67,468,0.00,2.15,0.00,0.000,1030,0.000,0.028,2644,2062,3184,3213,3156,0,0,0,0,0,0,26.24,26.15,26.26
$GC,512,-0.45,-175.2,2643,2062,3213,3156,60.5,-10.1,76,519,0.00,2.10,0.00,0.000,260,0.000,0.033,2633,3454,3184,3212,3156,0,0,0,0,0,0,26.57,26.12,26.58
$GC,544,-0.45,-175.2,2632,3454,3213,3156,63.9,-10.7,81,551,0.10,2.10,0.00,0.000,3078,0.126,0.026,2667,2045,3184,3212,3156,0,0,0,0,0,0,25.96,26.16,26.08
$GC,595,-0.45,-175.2,2666,2040,3214,3156,68.7,-8.8,90,604,0.00,2.12,0.00,0.000,516,0.000,0.028,2667,642,3185,3214,3156,0,0,0,0,0,0,26.58,26.15,26.60
$GC,650,-0.45,-175.2,2666,642,3214,3156,73.7,-9.3,99,657,0.00,2.15,0.00,0.000,1030,0.000,0.028,2658,2056,3185,3214,3156,0,0,0,0,0,0,26.24,26.15,26.27
$GC,701,-0.45,-175.2,2658,2055,3213,3155,78.5,-9.0,108,710,0.00,2.12,0.00,0.000,260,0.000,0.034,2648,3456,3184,3213,3155,0,0,0,0,0,0,26.60,26.12,26.60
$GC,755,-0.45,-175.2,2647,3456,3213,3156,83.4,-9.2,117,762,0.00,2.08,0.00,0.000,1030,0.000,0.024,2647,2047,3184,3213,3155,0,0,0,0,0,0,26.27,26.18,26.29
$GC,806,-0.45,-175.2,2647,2042,3214,3155,88.5,-9.7,126,815,0.00,2.12,0.00,0.000,516,0.000,0.029,2648,647,3184,3214,3155,0,0,0,0,0,0,26.60,26.15,26.61
$GC,870,-0.45,-175.2,2647,646,3214,3156,95.4,-11.0,137,876,0.00,2.12,0.00,0.000,1030,0.000,0.027,2638,2054,3184,3214,3155,0,0,0,0,0,0,26.26,26.17,26.29
$GC,925,-0.45,-175.2,2637,2054,3214,3155,101.5,-10.6,146,934,0.00,2.08,0.00,0.000,260,0.000,0.033,2627,3456,3184,3214,3155,0,0,0,0,0,0,26.60,26.13,26.62
$GC,979,-0.45,-175.2,2626,3456,3213,3156,107.1,-11.0,151,986,0.10,2.10,0.00,0.000,3078,0.129,0.024,2661,2042,3184,3213,3156,0,0,0,0,0,0,25.97,26.18,26.08
$GC,1168,-0.45,-175.2,2661,2038,3215,3155,125.2,-9.2,170,1177,0.00,2.08,0.00,0.000,260,0.000,0.031,2652,3454,3184,3214,3155,0,0,0,0,0,0,26.63,26.15,26.63
$GC,1240,-0.45,-175.2,2652,3454,3214,3156,132.1,-9.3,177,1249,0.00,2.08,0.00,0.000,1030,0.000,0.024,2653,2047,3184,3214,3155,0,0,0,0,0,0,26.29,26.21,26.32
$GC,1433,-0.45,-175.2,2652,2042,3216,3155,150.1,-9.4,196,1441,0.00,2.08,0.00,0.000,260,0.000,0.031,2643,3457,3185,3215,3155,0,0,0,0,0,0,26.62,26.15,26.63
$GC,1474,-0.45,-175.2,2642,3457,3215,3156,154.5,-10.2,200,1483,0.00,2.08,0.00,0.000,1030,0.000,0.024,2643,2051,3185,3214,3156,0,0,0,0,0,0,26.29,26.21,26.32
$STATE,1594,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1594,begin apogee
$GC,1600,0.00,0.0,2643,1744,3216,3155,167.3,-10.5,212,1736,0.50,0.08,131.40,0.721,10246,0.111,0.090,2806,1844,2465,2526,2404,0,0,0,0,0,0,25.77,24.96,24.32
$STATE,1737,end apogee,CONTROL_FINISHED_OK
$STATE,1737,begin climb
$GC,1739,0.45,175.2,2806,1844,2525,2404,175.4,0.0,226,1886,0.40,2.10,134.65,0.706,10500,0.051,0.031,2963,3162,1749,1841,1658,0,0,0,0,0,0,25.16,24.82,24.19
$GC,1921,0.45,175.2,2962,3162,1838,1657,166.2,10.5,244,1929,0.00,2.10,0.00,0.000,1030,0.000,0.028,2972,1808,1748,1838,1658,0,0,0,0,0,0,25.37,25.29,25.39
$GC,2111,0.45,175.2,2971,1808,1833,1656,145.6,11.3,263,2112,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,1808,1744,1833,1656,0,0,0,0,0,0,26.13,26.14,26.14
$GC,2289,0.45,175.2,2972,1808,1832,1656,125.7,10.9,281,2298,0.00,2.17,0.00,0.000,516,0.000,0.035,2983,389,1741,1829,1654,0,0,0,0,0,0,26.31,25.86,26.32
$GC,2314,0.45,175.2,2982,389,1825,1655,123.4,10.7,283,2321,0.00,2.10,0.00,0.000,1030,0.000,0.027,2983,1763,1740,1826,1655,0,0,0,0,0,0,26.03,25.95,26.06
$GC,2501,0.45,175.2,2982,1764,1827,1655,101.5,11.1,302,2510,0.00,2.17,0.00,0.000,260,0.000,0.032,2983,3211,1741,1827,1655,0,0,0,0,0,0,26.42,25.99,26.43
$GC,2613,0.45,175.2,2982,3211,1826,1655,89.0,10.8,321,2621,0.12,2.12,0.00,0.000,5126,0.168,0.028,2959,1797,1740,1826,1655,0,0,0,0,0,0,25.70,26.06,25.90
$GC,2664,0.46,187.5,2958,1798,1826,1655,83.6,9.7,330,2679,0.00,2.22,10.15,0.592,8708,0.000,0.034,2968,386,1699,1789,1610,0,0,0,0,0,0,26.47,25.80,25.01
$GC,2697,0.46,187.5,2967,386,1783,1609,80.1,10.5,335,2704,0.00,2.17,0.00,0.000,1030,0.000,0.025,2968,1813,1697,1785,1609,0,0,0,0,0,0,26.09,26.01,26.11
$GC,2748,0.46,187.5,2967,1814,1785,1610,74.5,11.0,344,2755,0.00,2.12,0.00,0.000,260,0.000,0.031,2968,3210,1697,1785,1610,0,0,0,0,0,0,26.39,25.99,26.40
$GC,2795,0.46,187.5,2967,3209,1785,1610,69.2,10.8,352,2802,0.00,2.17,0.00,0.000,1030,0.000,0.028,2977,1795,1697,1785,1609,0,0,0,0,0,0,26.06,26.03,26.08
$GC,2850,0.46,187.5,2977,1795,1785,1610,63.1,11.5,361,2857,0.00,2.15,0.00,0.000,516,0.000,0.035,2988,389,1696,1784,1609,0,0,0,0,0,0,26.44,25.97,26.44
$GC,2897,0.46,187.5,2988,388,1779,1610,57.5,11.1,369,2904,0.00,2.17,0.00,0.000,1030,0.000,0.028,2988,1804,1695,1780,1610,0,0,0,0,0,0,26.13,26.05,26.16
$GC,2948,0.46,187.5,2988,1803,1781,1610,51.6,12.0,378,2956,0.00,2.15,0.00,0.000,260,0.000,0.033,2988,3212,1695,1781,1610,0,0,0,0,0,0,26.46,26.03,26.48
$GC,3023,0.46,187.5,2988,3212,1781,1609,43.2,10.6,391,3030,0.12,2.12,0.00,0.000,5126,0.161,0.028,2963,1798,1695,1781,1609,0,0,0,0,0,0,25.73,26.07,25.90
$GC,3078,0.47,195.9,2962,1798,1781,1610,37.7,9.8,400,3095,0.00,2.17,7.97,0.549,8452,0.000,0.028,2963,3215,1666,1755,1577,0,0,0,0,0,0,26.50,25.52,25.03
$GC,3123,0.49,212.1,2962,3215,1755,1577,33.5,9.6,406,3148,0.00,2.17,14.30,0.585,9222,0.000,0.027,2971,1798,1601,1694,1508,0,0,0,0,0,0,26.08,26.05,25.02
$GC,3200,0.61,302.8,2970,1798,1692,1508,26.9,7.7,417,3256,0.08,2.25,46.10,0.601,10756,0.090,0.034,3041,397,1228,1345,1111,0,0,0,0,0,0,26.09,25.20,24.77
$GC,3288,0.61,302.8,3041,396,1335,1111,15.5,15.0,429,3297,0.10,2.22,0.00,0.000,5126,0.140,0.028,3011,1799,1222,1335,1109,0,0,0,0,0,0,25.39,25.63,25.48
$GC,3348,0.61,302.8,3011,1799,1335,1107,7.3,12.7,438,3357,0.00,2.20,0.00,0.000,260,0.000,0.031,3011,3215,1221,1335,1107,0,0,0,0,0,0,26.09,25.73,26.10
$STATE,3387,end climb,SURFACE_DEPTH_REACHED
$STATE,3387,begin surface coast
$FINISH,0.5,1.024960
$STATE,3419,end surface coast,CONTROL_FINISHED_OK
$STATE,3419,begin surface
$SM_CCo,3497,0.00,0.000,0,0,1216,306.13
$SM_GC,1.68,7.50,1.77,0.00,0.024,0.018,0.000,126,2044,1216,-8.29,1.22,306.13,0,0,0,0,0,0,25.86,25.89,25.91
$IRIDIUM_FIX,-3333.14,2716.79,020817,150714
$TT8_MAMPS,0.025466,0.272636
$HUMID,60.43
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,161.1,21.1
$24V_AH,24.19,56.405
$10V_AH,10.12,29.369
$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,18.925,89.775,344.575,0.000,0.000,0.000,0.000,0.000,3.750,0.000,12.559,1063.681,913.641,448.297,1049.459,106.890,0.000,1003.571,0.000,1030.389,0.000,24.928,0.000
$DEVICE_MAMPS,214.200,89.505,721.395,0.000,0.000,0.000,0.000,0.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,309.287,106.682,465.590,692.652,0.000,0.000,0.000,0.000,0.000,0.000
$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,30466,449
$CAP_FILE_SIZE,72598,0
$CFSIZE,2097086464,2029060096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,020817,192521,-3343.179,2720.980,4,0.9,5,-27.7,0.0,0.0,9,44.8