version: 66.12
revision: CLOWNFISH
glider: 542
mission: 17
dive: 27
start: 10 22 117 18 10 20
data:
$ID,542
$MISSION,17
$DIVE,27
$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,90
$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,180
$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,1978
$C_ROLL_CLIMB,1905
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3955
$C_VBD,2705
$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
$GPS1,221017,175603,-5248.3271,-4010.6963,40,0.9,40,-6.6,0.0,0.0,8,11.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-66.7
$GPS2,221017,180939,-5248.4419,-4010.5767,18,1.1,18,-6.6,0.0,0.0,8,13.2
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,GOCART1
$TGT_LATLONG,-5247.670,-4009.864
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,35.8,1637,-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,14,begin dive
$GC,15,-0.56,-87.6,136,1983,976,813,0.0,0.0,0,86,0.00,0.00,-69.03,0.000,16386,0.000,0.000,136,1984,2534,2607,2461,0,0,0,0,0,0,25.84,28.83,25.86
$GC,89,-0.56,-87.6,136,1984,2608,2463,3.2,-4.3,9,122,9.07,2.42,-12.02,0.000,18948,0.250,0.096,2380,577,3066,3169,2963,0,0,0,0,0,0,25.41,24.82,25.56
$GC,244,-0.56,-87.6,2379,577,3172,2964,35.2,-18.1,34,252,0.00,2.40,0.00,0.000,1030,0.000,0.076,2372,1976,3068,3172,2964,0,0,0,0,0,0,25.75,25.68,25.77
$GC,300,-0.56,-87.6,2371,1976,3172,2964,46.0,-20.5,43,309,0.00,2.42,0.00,0.000,260,0.000,0.085,2361,3391,3067,3172,2963,0,0,0,0,0,0,26.03,25.70,26.04
$GC,340,-0.56,-87.6,2360,3390,3172,2964,54.0,-20.1,49,348,0.00,2.40,0.00,0.000,1030,0.000,0.071,2361,1976,3068,3173,2964,0,0,0,0,0,0,25.80,25.75,25.83
$GC,396,-0.56,-87.6,2360,1975,3172,2964,65.7,-21.1,58,403,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1975,3068,3172,2964,0,0,0,0,0,0,26.08,26.09,26.08
$GC,451,-0.56,-87.6,2361,1975,3172,2963,77.4,-20.3,67,458,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1975,3067,3172,2963,0,0,0,0,0,0,26.10,26.12,26.11
$GC,506,-0.56,-87.6,2361,1975,3172,2963,89.4,-21.8,76,514,0.00,2.40,0.00,0.000,516,0.000,0.086,2361,571,3068,3173,2963,0,0,0,0,0,0,26.13,25.80,26.14
$GC,522,-0.56,-87.6,2360,571,3172,2964,92.9,-21.4,78,532,0.12,2.40,0.00,0.000,3078,0.200,0.074,2385,1984,3068,3172,2964,0,0,0,0,0,0,25.72,25.82,25.83
$GC,579,-0.56,-87.6,2384,1985,3172,2963,104.1,-18.9,87,588,0.00,2.40,0.00,0.000,260,0.000,0.083,2376,3392,3067,3172,2963,0,0,0,0,0,0,26.15,25.82,26.16
$GC,619,-0.56,-87.6,2375,3392,3172,2963,111.7,-19.1,93,628,0.00,2.38,0.00,0.000,1030,0.000,0.069,2376,1981,3067,3172,2963,0,0,0,0,0,0,25.91,25.85,25.94
$GC,766,-0.56,-87.6,2375,1981,3172,2963,140.0,-19.3,118,774,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1981,3067,3172,2963,0,0,0,0,0,0,26.22,26.23,26.23
$GC,913,-0.56,-87.6,2375,1981,3172,2964,167.9,-19.0,143,921,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1981,3068,3173,2963,0,0,0,0,0,0,26.27,26.28,26.27
$GC,1058,-0.56,-87.6,2375,1981,3172,2963,195.3,-18.5,168,1067,0.00,2.40,0.00,0.000,260,0.000,0.084,2365,3394,3067,3172,2963,0,0,0,0,0,0,26.30,25.99,26.32
$GC,1081,-0.56,-87.6,2365,3394,3172,2964,199.5,-18.8,171,1090,0.00,2.38,0.00,0.000,1030,0.000,0.072,2365,1981,3068,3172,2964,0,0,0,0,0,0,26.05,25.98,26.08
$GC,1229,-0.56,-87.6,2365,1980,3172,2964,227.0,-19.0,196,1237,0.00,2.40,0.00,0.000,516,0.000,0.085,2365,564,3068,3173,2964,0,0,0,0,0,0,26.34,26.00,26.34
$GC,1251,-0.56,-87.6,2365,564,3172,2963,231.3,-19.8,199,1260,0.10,2.38,0.00,0.000,3078,0.193,0.073,2382,1979,3068,3172,2964,0,0,0,0,0,0,25.93,26.01,26.03
$GC,1400,-0.56,-87.6,2382,1980,3172,2964,256.2,-16.7,224,1408,0.00,2.38,0.00,0.000,260,0.000,0.085,2373,3387,3068,3172,2964,0,0,0,0,0,0,26.36,26.02,26.37
$GC,1445,-0.56,-87.6,2373,3387,3172,2964,264.0,-16.3,231,1453,0.00,2.35,0.00,0.000,1030,0.000,0.070,2374,1978,3068,3172,2964,0,0,0,0,0,0,26.12,26.05,26.15
$GC,1593,-0.56,-87.6,2373,1977,3172,2963,287.8,-16.3,256,1601,0.00,2.38,0.00,0.000,516,0.000,0.084,2373,569,3068,3172,2964,0,0,0,0,0,0,26.39,26.06,26.40
$GC,1615,-0.56,-87.6,2373,569,3172,2964,291.5,-16.5,259,1624,0.00,2.38,0.00,0.000,1030,0.000,0.073,2364,1984,3067,3172,2963,0,0,0,0,0,0,26.14,26.07,26.17
$GC,1763,-0.56,-87.6,2363,1984,3172,2963,316.8,-17.2,284,1771,0.00,2.38,0.00,0.000,260,0.000,0.085,2353,3391,3067,3172,2963,0,0,0,0,0,0,26.41,26.08,26.43
$GC,1802,-0.56,-87.6,2352,3391,3172,2963,323.6,-17.3,290,1811,0.10,2.35,0.00,0.000,3078,0.177,0.069,2383,1979,3068,3173,2963,0,0,0,0,0,0,26.03,26.10,26.13
$GC,1950,-0.56,-87.6,2382,1979,3172,2963,346.8,-15.6,315,1958,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1978,3067,3172,2963,0,0,0,0,0,0,26.44,26.45,26.44
$GC,2097,-0.56,-87.6,2381,1979,3172,2964,370.2,-15.8,340,2105,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1978,3068,3173,2963,0,0,0,0,0,0,26.45,26.46,26.46
$GC,2243,-0.56,-87.6,2381,1979,3172,2963,393.2,-15.4,365,2251,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1979,3068,3173,2963,0,0,0,0,0,0,26.47,26.48,26.48
$GC,2389,-0.56,-87.6,2381,1979,3172,2963,415.6,-15.5,390,2397,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1978,3067,3172,2963,0,0,0,0,0,0,26.49,26.51,26.50
$GC,2535,-0.56,-87.6,2381,1979,3173,2963,437.3,-14.7,415,2543,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1979,3067,3172,2963,0,0,0,0,0,0,26.51,26.52,26.51
$GC,2683,-0.56,-87.6,2381,1979,3173,2963,459.4,-14.8,440,2691,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1979,3067,3172,2963,0,0,0,0,0,0,26.52,26.53,26.53
$GC,2829,-0.56,-87.6,2381,1979,3172,2963,481.2,-14.8,465,2837,0.00,2.38,0.00,0.000,516,0.000,0.086,2382,568,3067,3172,2963,0,0,0,0,0,0,26.53,26.20,26.54
$GC,2845,-0.56,-87.6,2382,567,3172,2964,483.6,-14.9,467,2854,0.00,2.35,0.00,0.000,1030,0.000,0.073,2374,1980,3067,3172,2963,0,0,0,0,0,0,26.27,26.20,26.30
$GC,2993,-0.56,-87.6,2373,1980,3172,2964,506.4,-15.6,492,3002,0.00,2.38,0.00,0.000,260,0.000,0.086,2363,3393,3068,3172,2964,0,0,0,0,0,0,26.53,26.21,26.54
$GC,3038,-0.56,-87.6,2363,3393,3172,2964,513.3,-14.9,499,3046,0.00,2.35,0.00,0.000,1030,0.000,0.070,2363,1977,3067,3172,2963,0,0,0,0,0,0,26.27,26.21,26.32
$GC,3389,-0.56,-87.6,2362,1977,3172,2963,570.2,-15.8,560,3398,0.00,2.35,0.00,0.000,516,0.000,0.084,2363,572,3067,3172,2963,0,0,0,0,0,0,26.56,26.22,26.57
$GC,3417,-0.56,-87.6,2362,572,3172,2964,574.9,-16.7,564,3426,0.10,2.33,0.00,0.000,3078,0.191,0.070,2381,1978,3068,3172,2964,0,0,0,0,0,0,26.15,26.24,26.26
$GC,3769,-0.56,-87.6,2381,1978,3172,2963,623.8,-13.8,625,3777,0.00,2.38,0.00,0.000,260,0.000,0.086,2373,3383,3068,3172,2964,0,0,0,0,0,0,26.58,26.24,26.59
$GC,3865,-0.56,-87.6,2372,3383,3172,2964,636.5,-12.5,641,3874,0.00,2.33,0.00,0.000,1030,0.000,0.070,2372,1979,3067,3172,2963,0,0,0,0,0,0,26.33,26.27,26.36
$GC,4216,-0.56,-87.6,2372,1980,3173,2964,687.4,-14.3,702,4224,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,1980,3068,3172,2964,0,0,0,0,0,0,26.60,26.62,26.61
$GC,4567,-0.56,-87.6,2372,1979,3172,2963,738.5,-14.8,763,4574,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1979,3068,3173,2964,0,0,0,0,0,0,26.62,26.63,26.63
$GC,4919,-0.56,-87.6,2372,1980,3173,2963,788.7,-13.9,824,4927,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,1979,3068,3172,2964,0,0,0,0,0,0,26.63,26.65,26.65
$GC,5269,-0.56,-87.6,2372,1979,3172,2964,837.7,-14.1,885,5278,0.00,2.35,0.00,0.000,516,0.000,0.085,2373,570,3068,3173,2964,0,0,0,0,0,0,26.65,26.32,26.66
$GC,5292,-0.56,-87.6,2372,569,3172,2964,841.0,-14.4,888,5300,0.00,2.33,0.00,0.000,1030,0.000,0.071,2363,1978,3067,3172,2963,0,0,0,0,0,0,26.39,26.32,26.41
$GC,5643,-0.56,-87.6,2362,1978,3172,2964,891.5,-14.0,949,5651,0.00,2.38,0.00,0.000,260,0.000,0.086,2352,3386,3068,3172,2964,0,0,0,0,0,0,26.66,26.32,26.67
$GC,5716,-0.56,-87.6,2351,3386,3172,2963,901.4,-13.1,961,5726,0.10,2.33,0.00,0.000,3078,0.177,0.069,2382,1973,3068,3172,2964,0,0,0,0,0,0,26.26,26.35,26.36
$GC,6070,-0.56,-87.6,2381,1973,3172,2963,943.8,-12.0,1022,6079,0.00,2.35,0.00,0.000,516,0.000,0.086,2382,567,3067,3172,2963,0,0,0,0,0,0,26.66,26.33,26.67
$GC,6104,-0.56,-87.6,2381,567,3172,2963,948.2,-12.6,1027,6113,0.00,2.33,0.00,0.000,1030,0.000,0.073,2374,1972,3067,3172,2963,0,0,0,0,0,0,26.40,26.34,26.44
$GC,6456,-0.56,-87.6,2373,1973,3172,2963,993.1,-13.0,1088,6464,0.00,2.38,0.00,0.000,260,0.000,0.085,2363,3394,3068,3172,2964,0,0,0,0,0,0,26.67,26.34,26.67
$STATE,6511,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6511,begin apogee
$GC,6517,-0.14,0.0,2362,1897,3172,2963,1000.3,-12.1,1097,6608,0.47,0.00,81.85,1.824,10246,0.158,0.000,2517,1896,2703,2803,2603,0,0,0,0,0,0,26.28,23.99,23.27
$STATE,6609,end apogee,CONTROL_FINISHED_OK
$STATE,6609,begin climb
$GC,6611,0.56,87.6,2517,1897,2802,2603,1005.1,0.0,1109,6704,0.75,2.58,85.07,1.771,10756,0.113,0.083,2768,497,2346,2420,2272,0,0,0,0,0,0,24.44,23.75,22.82
$GC,6752,0.89,418.7,2768,497,2411,2271,1009.8,-3.5,1129,7101,0.28,2.55,337.48,1.746,11270,0.063,0.072,2872,1908,998,1088,908,0,0,0,0,0,0,24.44,24.39,21.43
$GC,7445,0.89,418.7,2871,1907,1085,894,869.0,25.9,1235,7453,0.00,2.55,0.00,0.000,260,0.000,0.083,2872,3317,989,1085,894,0,0,0,0,0,0,25.01,24.68,25.01
$GC,7529,0.89,418.7,2871,3317,1084,894,847.9,24.3,1249,7537,0.00,2.50,0.00,0.000,1030,0.000,0.073,2882,1912,989,1085,894,0,0,0,0,0,0,24.91,24.85,24.94
$GC,7880,0.89,418.7,2882,1912,1084,891,754.9,25.8,1310,7888,0.00,2.53,0.00,0.000,516,0.000,0.091,2893,492,987,1084,891,0,0,0,0,0,0,25.62,25.30,25.63
$GC,7977,0.89,418.7,2893,492,1081,890,729.6,25.4,1326,7986,0.10,2.45,0.00,0.000,5126,0.195,0.075,2868,1904,985,1081,890,0,0,0,0,0,0,25.29,25.39,25.41
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$STATE,11205,end climb,SURFACE_DEPTH_REACHED
$STATE,11205,begin surface coast
$FINISH,0.3,1.011325
$STATE,11218,end surface coast,CONTROL_FINISHED_OK
$STATE,11218,begin surface
$SM_CCo,11292,0.00,0.000,0,0,982,422.40
$SM_GC,1.22,7.30,0.12,0.00,0.063,0.111,0.000,173,1988,982,-7.44,-0.54,422.40,0,0,0,0,0,0,26.22,26.20,26.28
$IRIDIUM_FIX,-5227.86,-4012.51,221017,175800
$TT8_MAMPS,0.021721,0.240429
$HUMID,60.35
$INTERNAL_PRESSURE,9.24807
$TCM_TEMP,8.70
$XPDR_PINGS,0
$24V_AH,21.43,8.210
$10V_AH,10.13,9.990
$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
$DEVICE_SECS,18.725,134.375,504.400,0.000,0.000,45.973,80.043,474.899,0.000,0.000,19.458,4131.370,119.702,624.811,6945.772,269.397,0.000,2363.442,0.000,6386.568,0.000,1.005,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1326.596,94.976,6386.634,5959.859,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,48.680,100.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343388
$DATA_FILE_SIZE,123538,1869
$CAP_FILE_SIZE,193338,0
$CFSIZE,259248128,254451712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,221017,211932,-5246.951,-4009.438,30,0.9,30,-6.7,0.8,11.5,9,11.3