version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 616
start: 8 2 117 23 11 56
data:
$ID,574
$MISSION,23
$DIVE,616
$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,35
$R_STBD_OVSHOOT,62
$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
$GPS1,020817,231007,-3343.1406,2722.1438,4,1.0,6,-27.7,0.0,0.0,9,21.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-80.0
$GPS2,020817,231109,-3343.1455,2722.1455,4,1.0,5,-27.7,0.0,0.0,9,22.1
$SPEED_LIMITS,0.327,0.337
$TGT_NAME,HEADING
$TGT_LATLONG,-3348.545,2733.401
$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,14,begin dive
$GC,16,-0.45,-175.2,124,2086,1413,1298,0.0,0.0,0,80,0.00,0.00,-61.88,0.000,16386,0.000,0.000,124,2086,3072,3073,3072,0,0,0,0,0,0,26.52,28.83,26.53
$GC,84,-0.45,-175.2,124,2087,3075,3071,3.7,-5.2,8,102,10.02,2.25,-2.10,0.000,19204,0.222,0.037,2658,617,3183,3198,3169,0,0,0,0,0,0,25.33,24.25,25.56
$GC,205,-0.45,-175.2,2657,617,3207,3162,24.9,-11.3,27,214,0.00,2.20,0.00,0.000,1030,0.000,0.030,2649,2027,3183,3209,3158,0,0,0,0,0,0,26.14,26.08,26.15
$GC,266,-0.45,-175.2,2649,2027,3211,3155,32.4,-11.9,36,275,0.00,2.17,0.00,0.000,260,0.000,0.034,2638,3457,3183,3211,3155,0,0,0,0,0,0,26.53,26.06,26.54
$GC,302,-0.45,-175.2,2638,3457,3211,3155,36.8,-11.9,41,311,0.00,2.15,0.00,0.000,1030,0.000,0.027,2638,2050,3183,3211,3155,0,0,0,0,0,0,26.15,26.11,26.17
$GC,357,-0.45,-175.2,2638,2045,3213,3154,44.0,-12.5,50,364,0.00,2.12,0.00,0.000,516,0.000,0.032,2638,635,3183,3213,3154,0,0,0,0,0,0,26.55,26.07,26.55
$GC,429,-0.45,-175.2,2638,634,3213,3154,53.6,-12.6,63,437,0.10,2.17,0.00,0.000,3078,0.149,0.030,2659,2054,3183,3212,3154,0,0,0,0,0,0,25.86,26.11,25.98
$GC,481,-0.45,-175.2,2658,2054,3213,3153,59.1,-10.0,72,490,0.00,2.12,0.00,0.000,260,0.000,0.033,2650,3457,3183,3213,3153,0,0,0,0,0,0,26.56,26.09,26.57
$GC,498,-0.45,-175.2,2649,3457,3213,3153,60.7,-9.6,74,505,0.00,2.10,0.00,0.000,1030,0.000,0.024,2649,2038,3183,3213,3153,0,0,0,0,0,0,26.22,26.15,26.25
$GC,549,-0.45,-175.2,2649,2033,3214,3151,65.6,-8.6,83,556,0.00,2.08,0.00,0.000,516,0.000,0.026,2650,636,3182,3214,3151,0,0,0,0,0,0,26.57,26.13,26.58
$GC,589,-0.45,-175.2,2649,635,3214,3152,69.2,-8.9,90,598,0.00,2.17,0.00,0.000,1030,0.000,0.028,2640,2043,3182,3214,3151,0,0,0,0,0,0,26.17,26.13,26.20
$GC,642,-0.45,-175.2,2639,2043,3214,3151,74.0,-9.2,99,649,0.00,2.12,0.00,0.000,260,0.000,0.034,2629,3461,3182,3214,3151,0,0,0,0,0,0,26.58,26.09,26.58
$GC,688,-0.45,-175.2,2628,3461,3214,3152,78.4,-9.8,107,696,0.10,2.10,0.00,0.000,3078,0.134,0.024,2661,2043,3182,3213,3151,0,0,0,0,0,0,25.93,26.15,26.04
$GC,740,-0.45,-175.2,2661,2039,3216,3151,83.1,-8.7,116,747,0.00,2.12,0.00,0.000,516,0.000,0.028,2661,641,3183,3216,3151,0,0,0,0,0,0,26.58,26.13,26.60
$GC,787,-0.45,-175.2,2661,641,3216,3151,87.8,-10.6,124,794,0.00,2.17,0.00,0.000,1030,0.000,0.028,2653,2050,3183,3216,3151,0,0,0,0,0,0,26.17,26.15,26.21
$GC,840,-0.45,-175.2,2653,2050,3217,3151,93.1,-10.0,133,847,0.00,2.10,0.00,0.000,260,0.000,0.032,2643,3459,3183,3216,3151,0,0,0,0,0,0,26.60,26.11,26.60
$GC,891,-0.45,-175.2,2642,3458,3215,3152,98.3,-10.0,142,897,0.00,2.08,0.00,0.000,1030,0.000,0.024,2643,2049,3183,3215,3151,0,0,0,0,0,0,26.25,26.17,26.28
$GC,940,-0.45,-175.2,2643,2045,3217,3151,103.3,-10.2,148,949,0.00,2.08,0.00,0.000,516,0.000,0.027,2643,643,3184,3218,3151,0,0,0,0,0,0,26.60,26.14,26.61
$GC,985,-0.45,-175.2,2642,642,3218,3151,107.7,-10.6,152,992,0.10,2.12,0.00,0.000,3078,0.148,0.028,2664,2053,3184,3218,3151,0,0,0,0,0,0,25.90,26.15,26.02
$GC,1174,-0.45,-175.2,2663,2053,3219,3151,124.4,-8.9,171,1182,0.00,2.10,0.00,0.000,516,0.000,0.028,2664,641,3185,3219,3151,0,0,0,0,0,0,26.62,26.13,26.63
$GC,1205,-0.45,-175.2,2663,641,3219,3151,127.5,-9.3,174,1214,0.00,2.12,0.00,0.000,1030,0.000,0.026,2655,2057,3185,3219,3151,0,0,0,0,0,0,26.26,26.18,26.29
$GC,1398,-0.45,-175.2,2654,2057,3219,3151,146.3,-9.7,193,1407,0.00,2.08,0.00,0.000,516,0.000,0.028,2655,650,3185,3219,3152,0,0,0,0,0,0,26.63,26.16,26.64
$GC,1482,-0.45,-175.2,2655,650,3219,3151,155.2,-11.0,201,1489,0.00,2.10,0.00,0.000,1030,0.000,0.028,2646,2045,3185,3219,3151,0,0,0,0,0,0,26.25,26.17,26.28
$GC,1670,-0.45,-175.2,2646,2045,3219,3151,174.5,-10.6,220,1678,0.00,2.10,0.00,0.000,516,0.000,0.027,2646,635,3185,3219,3151,0,0,0,0,0,0,26.64,26.17,26.65
$GC,1714,-0.45,-175.2,2645,635,3219,3151,178.9,-10.7,224,1721,0.00,2.15,0.00,0.000,1030,0.000,0.028,2636,2056,3185,3219,3151,0,0,0,0,0,0,26.25,26.17,26.28
$GC,1903,-0.45,-175.2,2635,2056,3219,3152,200.7,-12.0,243,1909,0.00,2.08,0.00,0.000,516,0.000,0.028,2636,651,3185,3219,3151,0,0,0,0,0,0,26.63,26.17,26.64
$GC,1924,-0.45,-175.2,2635,650,3219,3151,203.3,-12.2,244,1929,0.12,2.12,0.00,0.000,3078,0.131,0.028,2666,2056,3185,3219,3151,0,0,0,0,0,0,25.90,26.17,26.03
$GC,2121,-0.45,-175.2,2666,2056,3220,3151,221.5,-9.3,254,2127,0.00,2.10,0.00,0.000,516,0.000,0.029,2666,640,3185,3219,3151,0,0,0,0,0,0,26.63,26.15,26.64
$STATE,2157,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2157,begin apogee
$GC,2165,0.00,0.0,2660,1804,3219,3151,225.5,-9.4,256,2301,0.45,0.00,133.07,0.758,10246,0.104,0.000,2805,1806,2465,2527,2403,0,0,0,0,0,0,25.80,24.91,24.23
$STATE,2302,end apogee,CONTROL_FINISHED_OK
$STATE,2302,begin climb
$GC,2305,0.45,175.2,2805,1806,2527,2403,234.5,0.0,263,2452,0.38,2.28,136.73,0.750,10500,0.045,0.031,2967,3210,1748,1837,1659,0,0,0,0,0,0,25.13,24.75,24.09
$GC,2508,0.46,184.4,2966,3210,1831,1658,224.1,9.8,273,2522,0.00,2.17,8.40,0.626,9222,0.000,0.028,2976,1802,1714,1800,1628,0,0,0,0,0,0,25.41,25.34,24.30
$GC,2720,0.46,184.4,2976,1802,1794,1623,200.7,11.2,284,2726,0.00,2.10,0.00,0.000,260,0.000,0.028,2976,3207,1709,1795,1623,0,0,0,0,0,0,26.15,25.77,26.15
$GC,2750,0.46,184.4,2976,3207,1793,1623,197.3,11.4,286,2759,0.00,2.15,0.00,0.000,1030,0.000,0.028,2986,1795,1709,1794,1624,0,0,0,0,0,0,25.89,25.80,25.91
$GC,2940,0.46,184.4,2986,1795,1792,1623,174.0,13.2,305,2949,0.00,2.15,0.00,0.000,516,0.000,0.035,2996,391,1706,1790,1622,0,0,0,0,0,0,26.33,25.86,26.34
$GC,2992,0.46,184.4,2997,390,1786,1622,167.5,12.5,310,3002,0.12,2.15,0.00,0.000,5126,0.150,0.028,2961,1796,1705,1788,1622,0,0,0,0,0,0,25.65,25.96,25.84
$GC,3183,0.46,184.4,2961,1796,1789,1622,146.4,11.5,329,3192,0.00,2.12,0.00,0.000,516,0.000,0.032,2970,398,1705,1788,1622,0,0,0,0,0,0,26.44,25.97,26.46
$GC,3268,0.47,192.3,2969,397,1786,1621,137.9,9.8,337,3285,0.00,2.12,6.85,0.576,9222,0.000,0.026,2969,1803,1681,1769,1593,0,0,0,0,0,0,26.15,26.06,24.88
$GC,3466,0.47,192.3,2969,1803,1767,1593,115.7,10.6,357,3475,0.00,2.08,0.00,0.000,772,0.000,0.033,2970,3205,1680,1767,1593,0,0,0,0,0,0,26.46,26.04,26.48
$GC,3480,0.47,192.3,2969,3205,1767,1593,114.7,10.6,358,3487,0.00,2.12,0.00,0.000,1030,0.000,0.027,2980,1786,1679,1767,1592,0,0,0,0,0,0,26.14,26.06,26.17
$GC,3672,0.47,192.3,2979,1786,1767,1593,92.4,11.8,383,3679,0.00,2.12,0.00,0.000,260,0.000,0.028,2979,3218,1679,1766,1593,0,0,0,0,0,0,26.52,26.08,26.53
$GC,3771,0.47,192.3,2979,3218,1766,1593,80.7,11.7,401,3778,0.00,2.12,0.00,0.000,1030,0.000,0.028,2990,1802,1679,1766,1592,0,0,0,0,0,0,26.18,26.10,26.22
$GC,3822,0.47,192.3,2989,1802,1766,1593,74.6,12.6,410,3829,0.00,2.15,0.00,0.000,516,0.000,0.034,3001,386,1678,1764,1593,0,0,0,0,0,0,26.54,26.02,26.55
$GC,3836,0.47,192.3,3000,386,1760,1593,73.1,11.6,412,3844,0.10,2.20,0.00,0.000,5126,0.147,0.028,2970,1804,1677,1761,1593,0,0,0,0,0,0,25.78,26.10,25.86
$GC,3890,0.47,192.3,2970,1804,1762,1593,67.3,10.6,421,3897,0.00,2.10,0.00,0.000,260,0.000,0.031,2970,3217,1677,1762,1593,0,0,0,0,0,0,26.55,26.08,26.55
$GC,3940,0.47,192.3,2970,3217,1762,1593,61.9,10.1,430,3947,0.00,2.15,0.00,0.000,1030,0.000,0.030,2979,1793,1677,1762,1593,0,0,0,0,0,0,26.19,26.10,26.22
$GC,3993,0.47,192.3,2979,1793,1763,1593,56.5,11.5,439,4000,0.00,2.12,0.00,0.000,516,0.000,0.035,2990,393,1677,1762,1593,0,0,0,0,0,0,26.56,26.02,26.57
$GC,4039,0.47,192.3,2989,393,1758,1593,51.4,11.0,447,4046,0.00,2.15,0.00,0.000,1030,0.000,0.029,2990,1796,1676,1759,1593,0,0,0,0,0,0,26.20,26.10,26.23
$GC,4090,0.47,192.3,2989,1796,1760,1593,45.4,12.6,456,4099,0.00,2.15,0.00,0.000,260,0.000,0.034,2990,3208,1676,1760,1593,0,0,0,0,0,0,26.57,26.09,26.58
$GC,4156,0.47,192.3,2989,3208,1760,1593,38.8,10.1,467,4165,0.10,2.15,0.00,0.000,5126,0.158,0.029,2970,1804,1677,1761,1593,0,0,0,0,0,0,25.76,26.12,25.84
$GC,4216,0.55,259.1,2970,1804,1761,1593,33.9,8.3,476,4272,0.00,2.22,48.78,0.636,8708,0.000,0.035,2980,386,1405,1508,1302,0,0,0,0,0,0,26.58,25.29,24.86
$GC,4304,0.55,259.4,2979,386,1501,1300,25.9,10.0,488,4313,0.00,2.20,0.00,0.000,1030,0.000,0.021,2979,1810,1401,1502,1300,0,0,0,0,0,0,25.78,25.75,25.79
$GC,4364,0.55,259.4,2979,1812,1501,1300,19.8,10.8,497,4373,0.00,2.15,0.00,0.000,260,0.000,0.032,2979,3205,1400,1501,1299,0,0,0,0,0,0,26.16,25.74,26.17
$GC,4401,0.57,275.9,2979,3205,1500,1299,16.2,9.6,502,4418,0.00,2.17,7.62,0.504,9222,0.000,0.029,2990,1805,1338,1443,1233,0,0,0,0,0,0,25.84,25.81,24.81
$GC,4469,0.57,275.9,2989,1805,1440,1232,8.9,10.8,512,4478,0.00,2.22,0.00,0.000,516,0.000,0.035,3000,391,1334,1437,1232,0,0,0,0,0,0,26.21,25.76,26.22
$GC,4511,0.57,275.9,3000,392,1433,1231,4.1,11.2,518,4519,0.00,2.17,0.00,0.000,1030,0.000,0.024,3001,1790,1332,1433,1231,0,0,0,0,0,0,25.92,25.90,25.94
$STATE,4526,end climb,SURFACE_DEPTH_REACHED
$STATE,4526,begin surface coast
$FINISH,0.6,1.026608
$STATE,4563,end surface coast,CONTROL_FINISHED_OK
$STATE,4563,begin surface
$SM_CCo,4641,0.00,0.000,0,0,1328,278.66
$SM_GC,1.65,7.55,0.38,0.00,0.028,0.024,0.000,125,2138,1328,-8.34,-1.19,278.66,0,0,0,0,0,0,25.89,26.10,25.96
$IRIDIUM_FIX,-3327.96,2721.39,020817,192722
$TT8_MAMPS,0.025466,0.274883
$HUMID,60.43
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,221.5,18.5
$24V_AH,24.09,56.731
$10V_AH,10.11,29.589
$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,19.150,115.575,341.450,0.000,0.000,0.000,0.000,0.000,5.250,0.000,12.542,1296.617,1536.004,495.493,1258.240,139.451,0.000,1141.833,0.000,1233.891,0.000,33.934,0.000
$DEVICE_MAMPS,221.850,36.720,758.115,0.000,0.000,0.000,0.000,0.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,371.285,112.629,505.282,823.021,0.000,0.000,0.000,0.000,0.000,0.000
$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,37201,526
$CAP_FILE_SIZE,89051,0
$CFSIZE,2097086464,2028634112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,030817,002956,-3343.148,2722.687,4,0.8,5,-27.7,0.7,318.4,10,29.8