version: 66.12
revision: CLOWNFISH
glider: 542
mission: 17
dive: 34
start: 10 23 117 16 54 11
data:
$ID,542
$MISSION,17
$DIVE,34
$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,340
$T_MISSION,355
$T_ABORT,720
$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,2
$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,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,14
$R_STBD_OVSHOOT,14
$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
$GPS1,231017,164551,-5246.5000,-4009.4714,40,0.9,40,-6.7,0.5,212.8,9,26.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-66.6
$GPS2,231017,165327,-5246.5166,-4009.4436,18,1.4,18,-6.7,0.0,0.0,6,14.5
$SPEED_LIMITS,0.269,0.279
$TGT_NAME,GOCART1
$TGT_LATLONG,-5247.670,-4009.864
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,195.4,2187,-17.1,-9.804,-20.00,2497
$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,-0.56,-87.6,136,1978,1014,849,0.0,0.0,0,89,0.00,0.00,-71.62,0.000,16386,0.000,0.000,136,1978,2673,2733,2614,0,0,0,0,0,0,26.02,28.83,26.03
$GC,92,-0.56,-87.6,136,1978,2734,2616,3.7,-4.8,9,118,9.00,2.42,-8.05,0.000,18692,0.250,0.097,2373,3394,3065,3162,2969,0,0,0,0,0,0,25.56,25.33,25.71
$GC,314,-0.56,-87.6,2372,3394,3166,2969,49.8,-18.4,45,323,0.00,2.40,0.00,0.000,1030,0.000,0.070,2373,1974,3067,3166,2969,0,0,0,0,0,0,25.91,25.84,25.96
$GC,372,-0.56,-87.6,2372,1974,3166,2969,61.4,-21.2,54,379,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1974,3067,3166,2969,0,0,0,0,0,0,26.17,26.19,26.18
$GC,428,-0.56,-87.6,2373,1974,3166,2969,73.2,-21.0,63,437,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1974,3067,3166,2969,0,0,0,0,0,0,26.20,26.21,26.20
$GC,485,-0.56,-87.6,2372,1974,3166,2969,85.1,-21.0,72,493,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1974,3067,3166,2969,0,0,0,0,0,0,26.21,26.23,26.22
$GC,542,-0.56,-87.6,2372,1974,3166,2969,97.2,-21.2,81,549,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1974,3067,3166,2969,0,0,0,0,0,0,26.23,26.25,26.25
$GC,598,-0.56,-87.6,2372,1974,3166,2969,108.4,-19.9,90,607,0.00,2.40,0.00,0.000,260,0.000,0.085,2363,3385,3067,3166,2969,0,0,0,0,0,0,26.25,25.91,26.26
$GC,639,-0.56,-87.6,2362,3385,3166,2969,116.2,-19.2,96,647,0.00,2.38,0.00,0.000,1030,0.000,0.069,2363,1972,3067,3166,2969,0,0,0,0,0,0,26.01,25.95,26.03
$GC,790,-0.56,-87.6,2362,1971,3166,2970,146.8,-20.8,121,798,0.00,2.38,0.00,0.000,516,0.000,0.085,2363,570,3067,3166,2969,0,0,0,0,0,0,26.30,25.97,26.31
$GC,829,-0.56,-87.6,2362,570,3166,2969,154.8,-19.7,127,839,0.10,2.38,0.00,0.000,3078,0.188,0.073,2380,1982,3067,3166,2969,0,0,0,0,0,0,25.91,25.98,26.01
$GC,981,-0.56,-87.6,2380,1982,3167,2969,181.3,-17.4,152,989,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1982,3067,3166,2969,0,0,0,0,0,0,26.34,26.35,26.35
$GC,1130,-0.56,-87.6,2380,1982,3165,2969,206.8,-16.3,177,1139,0.00,2.38,0.00,0.000,260,0.000,0.085,2371,3388,3067,3166,2969,0,0,0,0,0,0,26.37,26.03,26.38
$GC,1177,-0.56,-87.6,2371,3388,3166,2969,214.4,-15.5,184,1186,0.00,2.35,0.00,0.000,1030,0.000,0.068,2372,1974,3067,3166,2969,0,0,0,0,0,0,26.13,26.06,26.17
$GC,1330,-0.56,-87.6,2371,1974,3166,2969,240.1,-16.8,209,1338,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1974,3067,3166,2969,0,0,0,0,0,0,26.40,26.41,26.41
$GC,1479,-0.56,-87.6,2371,1974,3165,2969,265.9,-17.8,234,1488,0.00,2.38,0.00,0.000,260,0.000,0.083,2361,3384,3067,3166,2969,0,0,0,0,0,0,26.42,26.08,26.44
$GC,1508,-0.56,-87.6,2361,3385,3166,2969,270.8,-16.8,238,1517,0.00,2.33,0.00,0.000,1030,0.000,0.067,2361,1982,3067,3166,2969,0,0,0,0,0,0,26.17,26.11,26.20
$GC,1659,-0.56,-87.6,2361,1982,3166,2969,297.5,-17.3,263,1668,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1982,3067,3166,2969,0,0,0,0,0,0,26.44,26.46,26.46
$GC,1809,-0.56,-87.6,2361,1982,3166,2969,324.1,-17.7,288,1818,0.00,2.38,0.00,0.000,260,0.000,0.083,2351,3393,3067,3166,2969,0,0,0,0,0,0,26.46,26.13,26.47
$GC,1832,-0.56,-87.6,2351,3394,3166,2969,328.3,-18.5,291,1842,0.10,2.38,0.00,0.000,3078,0.175,0.070,2381,1969,3067,3165,2969,0,0,0,0,0,0,26.08,26.16,26.17
$GC,1985,-0.56,-87.6,2380,1968,3166,2969,352.5,-15.1,316,1993,0.00,2.40,0.00,0.000,260,0.000,0.083,2373,3392,3067,3166,2969,0,0,0,0,0,0,26.48,26.14,26.49
$GC,2013,-0.56,-87.6,2372,3392,3166,2969,356.9,-15.3,320,2021,0.00,2.35,0.00,0.000,1030,0.000,0.069,2372,1976,3067,3166,2969,0,0,0,0,0,0,26.21,26.16,26.25
$GC,2163,-0.56,-87.6,2372,1976,3166,2969,381.2,-16.4,345,2171,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,1975,3067,3166,2969,0,0,0,0,0,0,26.49,26.51,26.50
$GC,2313,-0.56,-87.6,2372,1975,3166,2969,405.3,-15.9,370,2321,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1976,3067,3166,2969,0,0,0,0,0,0,26.51,26.51,26.51
$GC,2464,-0.56,-87.6,2372,1976,3166,2969,429.2,-16.1,395,2473,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1976,3067,3166,2969,0,0,0,0,0,0,26.52,26.53,26.53
$GC,2614,-0.56,-87.6,2372,1976,3165,2969,453.3,-15.8,420,2622,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,1976,3067,3166,2969,0,0,0,0,0,0,26.53,26.55,26.54
$GC,2764,-0.56,-87.6,2372,1975,3165,2969,477.4,-16.3,445,2772,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,1976,3067,3165,2969,0,0,0,0,0,0,26.55,26.56,26.55
$GC,2913,-0.56,-87.6,2372,1975,3165,2969,501.6,-16.4,470,2920,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1975,3067,3165,2969,0,0,0,0,0,0,26.55,26.57,26.56
$GC,3271,-0.56,-87.6,2372,1975,3166,2969,557.7,-15.7,531,3280,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,1975,3067,3166,2969,0,0,0,0,0,0,26.58,26.60,26.59
$GC,3631,-0.56,-87.6,2372,1976,3166,2969,615.1,-16.6,592,3639,0.00,2.38,0.00,0.000,260,0.000,0.083,2362,3394,3067,3166,2969,0,0,0,0,0,0,26.60,26.27,26.61
$GC,3665,-0.56,-87.6,2362,3394,3166,2969,621.0,-16.7,597,3674,0.00,2.35,0.00,0.000,1030,0.000,0.070,2362,1972,3067,3166,2969,0,0,0,0,0,0,26.35,26.29,26.37
$GC,4026,-0.56,-87.6,2362,1972,3166,2969,682.3,-16.7,658,4033,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1972,3067,3165,2969,0,0,0,0,0,0,26.62,26.63,26.63
$GC,4385,-0.56,-87.6,2361,1972,3166,2969,742.4,-16.3,719,4394,0.00,2.38,0.00,0.000,260,0.000,0.083,2352,3392,3067,3166,2969,0,0,0,0,0,0,26.63,26.29,26.65
$GC,4419,-0.56,-87.6,2352,3392,3165,2969,748.2,-17.1,724,4429,0.10,2.33,0.00,0.000,3078,0.171,0.069,2382,1981,3067,3166,2969,0,0,0,0,0,0,26.25,26.32,26.34
$GC,4780,-0.56,-87.6,2381,1981,3165,2969,801.4,-14.4,785,4788,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1981,3067,3166,2969,0,0,0,0,0,0,26.64,26.65,26.65
$GC,5138,-0.56,-87.6,2381,1981,3166,2969,851.1,-13.3,846,5146,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1981,3067,3166,2969,0,0,0,0,0,0,26.66,26.67,26.67
$GC,5497,-0.56,-87.6,2381,1981,3166,2969,899.6,-13.7,907,5506,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1981,3067,3166,2969,0,0,0,0,0,0,26.67,26.68,26.68
$GC,5857,-0.56,-87.6,2381,1981,3166,2969,947.9,-13.5,968,5865,0.00,2.35,0.00,0.000,516,0.000,0.085,2382,570,3067,3166,2969,0,0,0,0,0,0,26.68,26.34,26.69
$GC,5891,-0.56,-87.6,2381,570,3166,2969,952.7,-13.6,973,5900,0.00,2.33,0.00,0.000,1030,0.000,0.072,2374,1980,3067,3166,2969,0,0,0,0,0,0,26.41,26.35,26.46
$STATE,6244,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6244,begin apogee
$GC,6248,-0.14,0.0,2373,1889,3166,2969,1000.3,-13.2,1033,6335,0.45,0.00,81.72,1.825,10246,0.163,0.000,2519,1890,2704,2804,2604,0,0,0,0,0,0,26.29,24.20,23.27
$STATE,6336,end apogee,CONTROL_FINISHED_OK
$STATE,6337,begin climb
$GC,6338,0.56,87.6,2518,1890,2802,2603,1004.8,0.0,1044,6433,0.75,2.58,85.05,1.760,10756,0.110,0.083,2771,496,2347,2424,2271,0,0,0,0,0,0,24.39,23.49,22.77
$GC,6465,0.89,415.8,2771,495,2417,2270,1008.9,-3.7,1061,6809,0.28,2.55,335.73,1.737,11270,0.060,0.070,2870,1903,1009,1101,918,0,0,0,0,0,0,24.27,24.23,21.44
$GC,7160,0.89,415.8,2870,1902,1097,904,869.7,24.4,1165,7169,0.00,2.55,0.00,0.000,260,0.000,0.081,2870,3322,1001,1098,904,0,0,0,0,0,0,25.03,24.71,25.03
$GC,7247,0.89,415.8,2870,3322,1097,904,848.4,24.1,1179,7257,0.00,2.50,0.00,0.000,1030,0.000,0.072,2881,1911,1000,1097,903,0,0,0,0,0,0,24.94,24.89,24.98
$GC,7608,0.89,415.8,2880,1911,1097,901,756.7,24.7,1240,7617,0.00,2.50,0.00,0.000,516,0.000,0.090,2892,495,998,1097,900,0,0,0,0,0,0,25.66,25.34,25.67
$GC,7701,0.89,415.8,2892,495,1095,899,733.2,23.9,1255,7711,0.10,2.42,0.00,0.000,5126,0.195,0.071,2866,1907,997,1095,899,0,0,0,0,0,0,25.34,25.44,25.45
$GC,8062,0.89,415.8,2866,1907,1095,899,649.6,23.4,1316,8070,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1907,997,1095,899,0,0,0,0,0,0,25.97,25.98,25.98
$GC,8420,0.89,415.8,2866,1907,1095,898,567.7,22.6,1377,8428,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1907,996,1095,898,0,0,0,0,0,0,26.13,26.15,26.15
$GC,8778,0.89,415.8,2866,1908,1095,898,487.2,22.3,1438,8787,0.00,2.42,0.00,0.000,516,0.000,0.087,2875,496,996,1095,898,0,0,0,0,0,0,26.25,25.92,26.26
$GC,8812,0.89,415.8,2874,496,1095,898,479.3,23.0,1443,8822,0.00,2.38,0.00,0.000,1030,0.000,0.072,2874,1905,996,1095,897,0,0,0,0,0,0,25.99,25.94,26.03
$GC,8964,0.89,415.8,2874,1905,1095,897,444.3,23.4,1468,8971,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1905,996,1095,897,0,0,0,0,0,0,26.28,26.29,26.29
$GC,9113,0.89,415.8,2874,1906,1095,897,409.4,23.3,1493,9121,0.00,2.42,0.00,0.000,516,0.000,0.088,2884,491,996,1095,897,0,0,0,0,0,0,26.32,25.98,26.32
$GC,9141,0.89,415.8,2884,491,1095,897,402.8,22.9,1497,9150,0.00,2.38,0.00,0.000,1030,0.000,0.070,2884,1909,996,1096,897,0,0,0,0,0,0,26.06,26.00,26.12
$GC,9291,0.89,415.8,2884,1909,1095,897,367.1,23.9,1522,9299,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1909,996,1095,897,0,0,0,0,0,0,26.34,26.36,26.35
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$STATE,10989,end climb,SURFACE_DEPTH_REACHED
$STATE,10989,begin surface coast
$FINISH,0.2,1.022671
$STATE,11002,end surface coast,CONTROL_FINISHED_OK
$STATE,11002,begin surface
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$IRIDIUM_FIX,-5227.86,-3957.45,231017,133439
$TT8_MAMPS,0.021721,0.240429
$HUMID,60.55
$INTERNAL_PRESSURE,9.24807
$TCM_TEMP,9.10
$XPDR_PINGS,0
$24V_AH,21.44,10.157
$10V_AH,10.12,12.693
$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
$DEVICE_SECS,18.250,96.125,502.500,0.000,0.000,24.562,43.980,265.768,0.000,0.000,19.393,4192.556,60.454,600.540,6430.639,252.133,0.000,2234.944,0.000,6151.232,0.000,1.004,0.000
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$SENSOR_SECS,1277.824,95.171,6150.694,5738.174,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,48.680,100.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343420
$DATA_FILE_SIZE,117083,1799
$CAP_FILE_SIZE,177309,0
$CFSIZE,259248128,253763584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.005,125.90,1
$GPS,231017,200002,-5248.455,-4009.840,44,0.8,44,-6.6,0.0,0.0,10,16.9