version: 66.12
revision: CLOWNFISH
glider: 542
mission: 17
dive: 2
start: 10 19 117 14 35 1
data:
$ID,542
$MISSION,17
$DIVE,2
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,100
$D_ABORT,1050
$D_NO_BLEED,500
$D_BOOST,120
$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,33
$T_MISSION,43
$T_ABORT,1440
$T_TURN,500
$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,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53288
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$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,500.95157
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,3
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$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,190
$PITCH_MAX,3947
$C_PITCH,2573
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,-6.8056469e+38
$PITCH_GAIN,36
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,182
$ROLL_MAX,3808
$ROLL_DEG,40
$C_ROLL_DIVE,1995
$C_ROLL_CLIMB,1995
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,11
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3955
$C_VBD,2683
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$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,95
$MINV_24V,19
$MINV_10V,8.1999998
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-176.5815
$PRESSURE_SLOPE,0.00013904
$AD7714Ch0Gain,32
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,1050
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.49
$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,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042912085
$SEABIRD_T_H,0.00061951543
$SEABIRD_T_I,2.2019161e-05
$SEABIRD_T_J,2.2998063e-06
$SEABIRD_C_G,-9.7531137
$SEABIRD_C_H,1.1333146
$SEABIRD_C_I,-0.00071571622
$SEABIRD_C_J,0.00011341914
$GPS1,191017,143032,-5247.3120,-4009.5679,25,0.8,25,-6.7,1.8,158.2,11,51.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-59.0
$GPS2,191017,143421,-5247.2905,-4009.5920,21,1.1,21,-6.7,0.7,265.1,8,53.4
$SPEED_LIMITS,0.278,0.288
$TGT_NAME,GOCART1
$TGT_LATLONG,-5251.486,-4016.176
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,230.2,10704,-16.4,-10.101,-19.36,2743
$D_GRID,100
$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,15,-0.60,-146.0,182,1993,641,611,0.0,0.0,0,117,0.00,0.00,-99.43,0.000,16386,0.000,0.000,181,1994,2896,2951,2842,0,0,0,0,0,0,26.00,28.83,26.01
$GC,119,-0.60,-146.0,181,1995,2951,2843,3.2,-4.0,13,143,8.68,0.00,-8.12,0.000,18694,0.244,0.000,2366,1992,3281,3364,3199,0,0,0,0,0,0,25.48,25.30,25.63
$GC,191,-0.60,-146.0,2366,1993,3365,3199,23.4,-21.5,24,199,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,1993,3282,3365,3199,0,0,0,0,0,0,26.06,26.08,26.07
$GC,246,-0.60,-146.0,2366,1993,3365,3199,33.3,-19.5,33,254,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,1993,3282,3365,3199,0,0,0,0,0,0,26.10,26.11,26.10
$GC,301,-0.60,-146.0,2365,1993,3365,3200,44.3,-19.4,42,310,0.00,2.50,0.00,0.000,260,0.000,0.105,2357,3404,3282,3365,3199,0,0,0,0,0,0,26.13,25.72,26.13
$GC,335,-0.60,-146.0,2357,3403,3365,3200,51.0,-20.3,47,343,0.00,2.42,0.00,0.000,1030,0.000,0.085,2357,1999,3282,3365,3200,0,0,0,0,0,0,25.84,25.78,25.89
$GC,391,-0.60,-146.0,2357,1999,3365,3200,62.5,-21.4,56,399,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,1999,3282,3365,3200,0,0,0,0,0,0,26.15,26.17,26.17
$GC,446,-0.60,-146.0,2357,1999,3365,3200,74.3,-21.1,65,454,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,1999,3282,3365,3199,0,0,0,0,0,0,26.18,26.20,26.20
$GC,502,-0.60,-146.0,2357,1999,3365,3200,86.2,-21.6,74,510,0.00,2.47,0.00,0.000,260,0.000,0.101,2347,3409,3282,3365,3199,0,0,0,0,0,0,26.20,25.80,26.22
$GC,535,-0.60,-146.0,2346,3408,3364,3200,93.6,-21.7,79,544,0.10,2.45,0.00,0.000,3078,0.189,0.086,2374,1989,3282,3364,3200,0,0,0,0,0,0,25.78,25.84,25.86
$STATE,568,end dive,TARGET_DEPTH_EXCEEDED
$STATE,568,begin apogee
$GC,571,-0.14,0.0,2374,1989,3365,3200,100.7,-20.9,84,648,0.47,0.00,70.68,0.491,10246,0.173,0.000,2522,1988,2682,2778,2587,0,0,0,0,0,0,25.77,25.26,24.93
$STATE,649,end apogee,CONTROL_FINISHED_OK
$STATE,649,begin climb
$GC,650,0.60,146.0,2522,1988,2775,2587,108.8,0.0,94,735,0.77,2.55,72.62,0.409,10756,0.138,0.099,2781,590,2082,2182,1983,0,0,0,0,0,0,25.18,24.88,24.60
$GC,1305,0.91,453.0,2780,590,2162,1975,119.5,-1.4,205,1465,0.25,2.47,150.43,0.420,11270,0.090,0.093,2877,1995,833,913,754,0,0,0,0,0,0,25.75,25.70,24.53
$GC,1603,0.91,453.0,2876,1995,901,750,73.6,21.7,250,1612,0.00,2.55,0.00,0.000,516,0.000,0.104,2888,591,825,900,750,0,0,0,0,0,0,25.62,25.25,25.63
$GC,1704,0.91,453.0,2887,591,893,750,52.8,19.5,267,1713,0.00,2.50,0.00,0.000,1030,0.000,0.093,2888,1992,821,893,750,0,0,0,0,0,0,25.48,25.39,25.52
$GC,1761,0.91,453.0,2887,1992,893,749,40.8,22.4,276,1769,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,1992,820,893,748,0,0,0,0,0,0,25.84,25.85,25.85
$GC,1816,0.91,453.0,2888,1992,893,748,28.5,22.8,285,1825,0.00,2.53,0.00,0.000,516,0.000,0.103,2898,586,820,893,748,0,0,0,0,0,0,25.89,25.52,25.91
$GC,1839,0.91,453.0,2898,586,892,748,22.5,26.1,288,1848,0.10,2.50,0.00,0.000,5126,0.207,0.090,2873,1998,819,892,747,0,0,0,0,0,0,25.44,25.52,25.56
$GC,1896,0.91,453.0,2873,1998,892,746,10.6,20.4,297,1903,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1998,819,892,746,0,0,0,0,0,0,25.95,25.97,25.96
$STATE,1933,end climb,SURFACE_DEPTH_REACHED
$STATE,1933,begin surface coast
$FINISH,0.1,1.021510
$STATE,1946,end surface coast,CONTROL_FINISHED_OK
$STATE,1946,begin surface
$SM_CCo,1959,20.40,0.183,0,0,637,501.14
$SM_GC,0.46,7.30,0.00,20.40,0.055,0.000,0.183,177,1998,637,-7.41,0.08,501.14,0,0,0,0,0,0,25.70,26.01,25.48
$IRIDIUM_FIX,-5224.32,-4010.21,191017,142542
$TT8_MAMPS,0.021721,0.230692
$HUMID,60.55
$INTERNAL_PRESSURE,9.22854
$TCM_TEMP,9.10
$XPDR_PINGS,0
$24V_AH,24.53,1.720
$10V_AH,10.23,0.636
$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,17.675,24.950,293.725,20.400,0.000,0.000,0.000,0.000,0.000,0.000,22.227,662.712,0.000,316.429,1051.148,43.391,0.000,753.344,0.000,1053.296,0.000,1.007,0.000
$DEVICE_MAMPS,244.035,104.805,491.130,182.835,0.000,0.000,0.000,0.000,420.000,0.000,32.210,13.130,0.000,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,218.425,88.753,1040.849,970.044,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,48.680,100.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343296
$DATA_FILE_SIZE,20355,305
$CAP_FILE_SIZE,48174,0
$CFSIZE,259248128,257126400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,191017,150847,-5247.448,-4009.915,16,2.0,16,-6.7,0.0,0.0,5,25.2