version: 66.12
revision: CLOWNFISH
glider: 542
mission: 17
dive: 8
start: 10 20 117 3 46 51
data:
$ID,542
$MISSION,17
$DIVE,8
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$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,333
$T_MISSION,343
$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,110
$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,0
$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,1978
$C_ROLL_CLIMB,1905
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,10
$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
$GPS1,201017,033832,-5251.7017,-4017.1924,27,0.9,27,-6.5,0.0,0.0,9,17.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-64.3
$GPS2,201017,034611,-5251.7090,-4017.2000,15,0.7,16,-6.5,0.0,0.0,12,15.0
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,GOCART1
$TGT_LATLONG,-5251.486,-4016.176
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,76.7,1217,-17.1,-10.010,-20.00,2523
$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,15,-0.58,-107.1,201,1983,602,620,0.0,0.0,0,109,0.00,0.00,-91.28,0.000,16386,0.000,0.000,201,1984,2697,2762,2632,0,0,0,0,0,0,25.95,28.83,25.96
$GC,111,-0.58,-107.1,201,1984,2762,2633,3.0,-3.0,12,136,8.73,2.42,-9.02,0.000,19204,0.250,0.105,2364,3393,3124,3221,3028,0,0,0,0,0,0,25.51,25.28,25.65
$GC,439,-0.58,-107.1,2363,3393,3222,3029,68.1,-18.0,68,448,0.00,2.42,0.00,0.000,1030,0.000,0.082,2364,1983,3125,3222,3029,0,0,0,0,0,0,25.92,25.84,25.94
$GC,495,-0.58,-107.1,2363,1982,3222,3029,79.2,-21.1,77,503,0.00,2.45,0.00,0.000,516,0.000,0.095,2364,569,3125,3222,3029,0,0,0,0,0,0,26.20,25.84,26.21
$GC,511,-0.58,-107.1,2363,569,3222,3029,82.8,-21.2,79,520,0.00,2.45,0.00,0.000,1030,0.000,0.086,2354,1984,3125,3222,3029,0,0,0,0,0,0,25.93,25.85,25.96
$GC,568,-0.58,-107.1,2354,1984,3222,3029,94.9,-22.4,88,577,0.08,2.45,0.00,0.000,2308,0.225,0.095,2369,3386,3125,3222,3029,0,0,0,0,0,0,25.81,25.85,25.91
$GC,602,-0.58,-107.1,2368,3386,3222,3029,102.2,-20.5,93,611,0.00,2.42,0.00,0.000,1030,0.000,0.083,2369,1975,3125,3222,3029,0,0,0,0,0,0,25.95,25.88,25.99
$GC,749,-0.58,-107.1,2368,1974,3222,3029,130.7,-18.9,118,757,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1974,3125,3222,3029,0,0,0,0,0,0,26.27,26.29,26.28
$GC,895,-0.58,-107.1,2368,1975,3222,3029,159.1,-18.9,143,904,0.00,2.47,0.00,0.000,260,0.000,0.096,2359,3388,3125,3222,3029,0,0,0,0,0,0,26.32,25.96,26.32
$GC,941,-0.58,-107.1,2358,3388,3223,3029,167.5,-17.8,150,949,0.00,2.40,0.00,0.000,1030,0.000,0.080,2359,1979,3125,3222,3029,0,0,0,0,0,0,26.06,25.99,26.09
$GC,1087,-0.58,-107.1,2358,1979,3222,3029,195.6,-19.4,175,1095,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1979,3125,3222,3029,0,0,0,0,0,0,26.35,26.36,26.36
$GC,1233,-0.58,-107.1,2358,1979,3222,3029,223.9,-18.7,200,1242,0.00,2.45,0.00,0.000,260,0.000,0.095,2349,3386,3125,3222,3029,0,0,0,0,0,0,26.39,26.05,26.39
$GC,1256,-0.58,-107.1,2348,3386,3222,3029,228.1,-19.2,203,1265,0.10,2.42,0.00,0.000,3078,0.177,0.081,2377,1964,3125,3222,3029,0,0,0,0,0,0,25.98,26.04,26.08
$GC,1403,-0.58,-107.1,2376,1964,3221,3029,253.4,-16.5,228,1411,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1964,3125,3222,3029,0,0,0,0,0,0,26.41,26.42,26.42
$GC,1549,-0.58,-107.1,2377,1964,3222,3029,277.9,-16.4,253,1557,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1964,3125,3222,3029,0,0,0,0,0,0,26.44,26.45,26.44
$GC,1695,-0.58,-107.1,2377,1964,3222,3029,301.9,-16.2,278,1704,0.00,2.45,0.00,0.000,260,0.000,0.096,2369,3388,3125,3222,3029,0,0,0,0,0,0,26.46,26.10,26.47
$GC,1734,-0.58,-107.1,2368,3387,3222,3029,308.2,-15.6,284,1743,0.00,2.40,0.00,0.000,1030,0.000,0.083,2369,1977,3125,3222,3029,0,0,0,0,0,0,26.18,26.11,26.22
$GC,1881,-0.58,-107.1,2368,1977,3222,3029,332.5,-17.2,309,1889,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1977,3126,3223,3029,0,0,0,0,0,0,26.48,26.48,26.48
$GC,2027,-0.58,-107.1,2368,1977,3222,3029,356.8,-17.2,334,2036,0.00,2.42,0.00,0.000,260,0.000,0.096,2359,3388,3125,3222,3029,0,0,0,0,0,0,26.49,26.13,26.51
$GC,2073,-0.58,-107.1,2358,3387,3222,3029,364.3,-16.1,341,2081,0.00,2.40,0.00,0.000,1030,0.000,0.082,2359,1974,3125,3222,3029,0,0,0,0,0,0,26.23,26.16,26.26
$GC,2220,-0.58,-107.1,2358,1974,3222,3029,389.9,-17.2,366,2228,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,1974,3125,3222,3029,0,0,0,0,0,0,26.51,26.52,26.51
$GC,2366,-0.58,-107.1,2358,1974,3222,3029,415.3,-16.9,391,2375,0.00,2.45,0.00,0.000,260,0.000,0.096,2349,3389,3125,3222,3029,0,0,0,0,0,0,26.53,26.17,26.53
$GC,2400,-0.58,-107.1,2348,3388,3222,3029,421.0,-17.0,396,2409,0.10,2.38,0.00,0.000,3078,0.174,0.081,2378,1984,3125,3222,3029,0,0,0,0,0,0,26.11,26.22,26.21
$GC,2547,-0.58,-107.1,2377,1984,3222,3029,443.5,-15.0,421,2555,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1984,3125,3222,3029,0,0,0,0,0,0,26.53,26.55,26.54
$GC,2694,-0.58,-107.1,2377,1983,3222,3029,464.8,-14.1,446,2702,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1984,3125,3222,3029,0,0,0,0,0,0,26.55,26.56,26.55
$GC,2839,-0.58,-107.1,2377,1984,3222,3029,485.8,-14.1,471,2848,0.00,2.40,0.00,0.000,260,0.000,0.096,2370,3386,3125,3222,3029,0,0,0,0,0,0,26.56,26.20,26.57
$GC,2861,-0.58,-107.1,2369,3386,3222,3029,489.0,-14.4,474,2870,0.00,2.38,0.00,0.000,1030,0.000,0.081,2369,1982,3125,3222,3029,0,0,0,0,0,0,26.28,26.22,26.32
$GC,3010,-0.58,-107.1,2369,1982,3222,3029,510.9,-15.0,499,3018,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1982,3125,3222,3029,0,0,0,0,0,0,26.56,26.58,26.58
$GC,3361,-0.58,-107.1,2369,1982,3222,3029,563.9,-14.5,560,3370,0.00,2.42,0.00,0.000,260,0.000,0.094,2359,3389,3125,3222,3029,0,0,0,0,0,0,26.60,26.24,26.60
$GC,3394,-0.58,-107.1,2359,3389,3222,3029,568.8,-14.5,565,3403,0.00,2.38,0.00,0.000,1030,0.000,0.081,2359,1978,3125,3222,3029,0,0,0,0,0,0,26.32,26.25,26.36
$GC,3746,-0.58,-107.1,2359,1978,3222,3029,621.7,-15.0,626,3754,0.00,2.42,0.00,0.000,260,0.000,0.095,2349,3387,3125,3222,3029,0,0,0,0,0,0,26.61,26.26,26.62
$GC,3779,-0.58,-107.1,2349,3387,3222,3029,626.8,-15.2,631,3788,0.10,2.38,0.00,0.000,3078,0.175,0.080,2379,1974,3125,3222,3029,0,0,0,0,0,0,26.20,26.27,26.30
$GC,4132,-0.58,-107.1,2378,1974,3222,3029,675.5,-13.6,692,4140,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1974,3125,3222,3029,0,0,0,0,0,0,26.63,26.64,26.64
$GC,4484,-0.58,-107.1,2378,1974,3222,3029,723.4,-14.1,753,4492,0.00,2.42,0.00,0.000,260,0.000,0.093,2370,3388,3125,3222,3029,0,0,0,0,0,0,26.65,26.29,26.65
$GC,4517,-0.58,-107.1,2370,3389,3222,3029,728.2,-13.8,758,4526,0.00,2.38,0.00,0.000,1030,0.000,0.079,2370,1972,3125,3222,3029,0,0,0,0,0,0,26.38,26.31,26.41
$GC,4869,-0.58,-107.1,2369,1972,3222,3030,778.9,-14.9,819,4876,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1972,3125,3222,3029,0,0,0,0,0,0,26.65,26.67,26.67
$GC,5219,-0.58,-107.1,2370,1972,3222,3029,832.8,-15.8,880,5228,0.00,2.40,0.00,0.000,260,0.000,0.091,2360,3390,3125,3222,3029,0,0,0,0,0,0,26.67,26.32,26.68
$GC,5241,-0.58,-107.1,2360,3390,3222,3030,836.3,-15.4,883,5250,0.00,2.38,0.00,0.000,1030,0.000,0.080,2360,1975,3125,3222,3029,0,0,0,0,0,0,26.39,26.34,26.44
$GC,5592,-0.58,-107.1,2359,1975,3222,3029,894.6,-16.7,944,5600,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1975,3125,3222,3029,0,0,0,0,0,0,26.68,26.70,26.69
$GC,5943,-0.58,-107.1,2359,1975,3222,3029,952.4,-16.3,1005,5951,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1975,3125,3222,3029,0,0,0,0,0,0,26.69,26.71,26.70
$STATE,6241,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6241,begin apogee
$GC,6245,-0.14,0.0,2359,1901,3222,3029,1000.0,-15.9,1057,6351,0.50,0.00,99.57,1.825,10246,0.166,0.000,2519,1901,2682,2777,2588,0,0,0,0,0,0,26.29,24.04,23.13
$STATE,6352,end apogee,CONTROL_FINISHED_OK
$STATE,6352,begin climb
$GC,6354,0.58,107.1,2519,1902,2776,2588,1007.1,0.0,1071,6469,0.77,2.70,104.38,1.778,10756,0.116,0.093,2778,495,2244,2325,2163,0,0,0,0,0,0,24.25,23.51,22.80
$GC,6534,0.88,404.6,2777,495,2315,2160,1014.5,-2.1,1097,6845,0.22,2.58,299.05,1.754,11270,0.074,0.080,2861,1909,1032,1142,923,0,0,0,0,0,0,24.58,24.56,21.55
$GC,7188,0.88,404.6,2860,1909,1139,906,895.3,22.4,1198,7196,0.00,2.58,0.00,0.000,260,0.000,0.093,2861,3313,1023,1140,906,0,0,0,0,0,0,25.03,24.70,25.05
$GC,7317,0.88,404.6,2860,3313,1139,905,866.8,21.6,1220,7326,0.00,2.53,0.00,0.000,1030,0.000,0.085,2871,1917,1022,1139,905,0,0,0,0,0,0,24.99,24.93,25.05
$GC,7668,0.88,404.6,2871,1916,1139,902,786.4,23.0,1281,7677,0.00,2.58,0.00,0.000,516,0.000,0.100,2883,490,1020,1139,902,0,0,0,0,0,0,25.65,25.32,25.67
$GC,7764,0.88,404.6,2882,490,1135,902,764.1,22.6,1297,7773,0.00,2.47,0.00,0.000,1030,0.000,0.082,2882,1902,1018,1135,902,0,0,0,0,0,0,25.47,25.41,25.51
$GC,8115,0.88,404.6,2882,1902,1135,901,680.8,23.6,1358,8122,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1902,1018,1135,902,0,0,0,0,0,0,25.96,25.97,25.96
$GC,8465,0.88,404.6,2882,1902,1135,901,598.9,22.7,1419,8473,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1902,1018,1135,901,0,0,0,0,0,0,26.11,26.13,26.12
$GC,8815,0.88,404.6,2882,1902,1135,900,518.3,22.9,1480,8823,0.00,2.47,0.00,0.000,516,0.000,0.100,2893,496,1017,1135,900,0,0,0,0,0,0,26.22,25.89,26.24
$GC,8837,0.88,404.6,2893,496,1135,900,513.1,23.7,1483,8846,0.10,2.42,0.00,0.000,5126,0.202,0.083,2866,1905,1017,1135,900,0,0,0,0,0,0,25.80,25.89,25.91
$GC,9190,0.88,404.6,2866,1906,1135,899,438.7,20.9,1544,9198,0.00,2.47,0.00,0.000,516,0.000,0.099,2874,492,1017,1135,899,0,0,0,0,0,0,26.31,25.98,26.32
$GC,9212,0.88,404.6,2874,492,1135,899,433.6,21.2,1547,9220,0.00,2.42,0.00,0.000,1030,0.000,0.082,2875,1908,1017,1135,899,0,0,0,0,0,0,26.04,25.97,26.08
$GC,9359,0.88,404.6,2875,1908,1135,899,401.7,21.7,1572,9367,0.00,2.45,0.00,0.000,260,0.000,0.094,2875,3320,1017,1135,899,0,0,0,0,0,0,26.34,26.00,26.35
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