version: 66.12
revision: CLOWNFISH
glider: 542
mission: 17
dive: 41
start: 10 24 117 17 5 7
data:
$ID,542
$MISSION,17
$DIVE,41
$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,16
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3955
$C_VBD,2400
$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
$GPS1,241017,165556,-5244.7778,-4007.2917,40,1.2,40,-6.7,0.7,198.1,8,14.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-70.2
$GPS2,241017,170423,-5244.8403,-4007.2776,17,1.7,17,-6.7,0.0,0.0,5,21.3
$SPEED_LIMITS,0.269,0.279
$TGT_NAME,GOCART2
$TGT_LATLONG,-5242.059,-4004.501
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,36.5,6020,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.56,-87.6,137,1965,1407,1255,0.0,0.0,0,74,0.00,0.00,-56.62,0.000,16386,0.000,0.000,137,1965,2757,2821,2694,0,0,0,0,0,0,26.00,28.83,26.01
$GC,76,-0.56,-87.6,136,1964,2821,2696,3.9,-5.5,7,93,8.98,2.35,0.00,0.000,2564,0.248,0.072,2382,561,2759,2822,2696,0,0,0,0,0,0,25.53,25.69,25.67
$GC,160,-0.56,-87.6,2381,561,2826,2696,25.4,-17.4,20,169,0.00,2.40,0.00,0.000,1030,0.000,0.072,2373,1975,2761,2826,2696,0,0,0,0,0,0,25.79,25.72,25.83
$GC,218,-0.56,-87.6,2372,1975,2826,2696,35.6,-17.7,29,227,0.00,2.42,0.00,0.000,260,0.000,0.083,2362,3394,2761,2826,2696,0,0,0,0,0,0,26.08,25.75,26.10
$GC,241,-0.56,-87.6,2362,3394,2827,2696,40.2,-19.6,32,249,0.00,2.40,0.00,0.000,1030,0.000,0.068,2363,1971,2761,2827,2696,0,0,0,0,0,0,25.84,25.79,25.88
$GC,298,-0.56,-87.6,2362,1970,2827,2695,51.2,-19.2,41,307,0.00,2.38,0.00,0.000,516,0.000,0.080,2363,568,2761,2826,2696,0,0,0,0,0,0,26.12,25.79,26.13
$GC,315,-0.56,-87.6,2362,568,2827,2696,55.0,-20.5,43,324,0.10,2.38,0.00,0.000,3078,0.197,0.070,2380,1978,2761,2827,2695,0,0,0,0,0,0,25.72,25.81,25.82
$GC,373,-0.56,-87.6,2379,1978,2827,2696,66.3,-17.7,52,381,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1978,2761,2827,2695,0,0,0,0,0,0,26.15,26.16,26.16
$GC,430,-0.56,-87.6,2379,1978,2827,2695,76.7,-18.3,61,438,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1978,2761,2827,2696,0,0,0,0,0,0,26.17,26.19,26.18
$GC,487,-0.56,-87.6,2379,1978,2826,2695,87.0,-17.7,70,495,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1978,2761,2827,2696,0,0,0,0,0,0,26.20,26.21,26.20
$GC,543,-0.56,-87.6,2379,1978,2827,2696,97.7,-18.5,79,552,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1978,2761,2827,2696,0,0,0,0,0,0,26.22,26.22,26.22
$GC,601,-0.56,-87.6,2379,1978,2827,2696,108.5,-18.3,88,610,0.00,2.40,0.00,0.000,260,0.000,0.081,2371,3385,2761,2827,2696,0,0,0,0,0,0,26.24,25.89,26.25
$GC,671,-0.56,-87.6,2370,3385,2827,2696,121.1,-18.1,99,679,0.00,2.35,0.00,0.000,1030,0.000,0.067,2371,1977,2761,2827,2696,0,0,0,0,0,0,26.03,25.93,26.03
$GC,821,-0.56,-87.6,2370,1977,2826,2695,148.6,-17.7,124,830,0.00,2.38,0.00,0.000,516,0.000,0.082,2371,569,2761,2827,2695,0,0,0,0,0,0,26.29,25.96,26.31
$GC,879,-0.56,-87.6,2370,568,2827,2695,159.0,-18.3,133,888,0.00,2.35,0.00,0.000,1030,0.000,0.071,2361,1970,2761,2827,2695,0,0,0,0,0,0,26.06,25.98,26.08
$GC,1030,-0.56,-87.6,2360,1971,2827,2696,186.9,-18.3,158,1038,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1971,2761,2827,2695,0,0,0,0,0,0,26.34,26.35,26.35
$GC,1179,-0.56,-87.6,2360,1971,2827,2695,213.1,-17.9,183,1187,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1971,2761,2827,2695,0,0,0,0,0,0,26.37,26.39,26.39
$GC,1329,-0.56,-87.6,2360,1971,2827,2695,238.8,-16.4,208,1338,0.00,2.38,0.00,0.000,260,0.000,0.082,2350,3385,2761,2827,2695,0,0,0,0,0,0,26.40,26.06,26.41
$GC,1369,-0.56,-87.6,2349,3384,2827,2695,245.6,-17.0,214,1379,0.12,2.35,0.00,0.000,3078,0.177,0.067,2386,1968,2761,2827,2695,0,0,0,0,0,0,26.01,26.09,26.10
$GC,1521,-0.56,-87.6,2385,1968,2827,2695,268.4,-15.0,239,1529,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1968,2761,2827,2695,0,0,0,0,0,0,26.42,26.44,26.44
$GC,1670,-0.56,-87.6,2385,1968,2827,2695,289.9,-14.3,264,1678,0.00,2.33,0.00,0.000,516,0.000,0.082,2386,578,2761,2827,2695,0,0,0,0,0,0,26.44,26.11,26.46
$GC,1692,-0.56,-87.6,2386,578,2827,2695,293.2,-14.8,267,1701,0.00,2.33,0.00,0.000,1030,0.000,0.071,2378,1973,2761,2827,2695,0,0,0,0,0,0,26.19,26.13,26.22
$GC,1842,-0.56,-87.6,2377,1973,2827,2695,315.7,-15.4,292,1851,0.00,2.38,0.00,0.000,260,0.000,0.083,2368,3387,2761,2827,2695,0,0,0,0,0,0,26.46,26.13,26.47
$GC,1865,-0.56,-87.6,2366,3387,2827,2695,319.2,-15.3,295,1874,0.00,2.33,0.00,0.000,1030,0.000,0.067,2368,1983,2761,2827,2695,0,0,0,0,0,0,26.20,26.14,26.23
$GC,2015,-0.56,-87.6,2367,1983,2827,2695,342.9,-15.9,320,2023,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1983,2761,2827,2695,0,0,0,0,0,0,26.48,26.49,26.48
$GC,2164,-0.56,-87.6,2367,1983,2827,2695,366.4,-15.5,345,2173,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1983,2761,2827,2695,0,0,0,0,0,0,26.49,26.51,26.51
$GC,2314,-0.56,-87.6,2366,1983,2827,2695,389.8,-15.8,370,2322,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1983,2761,2827,2695,0,0,0,0,0,0,26.51,26.52,26.52
$GC,2463,-0.56,-87.6,2367,1983,2827,2695,413.3,-16.0,395,2471,0.00,2.38,0.00,0.000,516,0.000,0.083,2367,565,2761,2827,2695,0,0,0,0,0,0,26.53,26.19,26.53
$GC,2497,-0.56,-87.6,2367,565,2827,2695,419.0,-17.1,400,2506,0.10,2.35,0.00,0.000,3078,0.185,0.070,2385,1980,2761,2827,2695,0,0,0,0,0,0,26.11,26.20,26.22
$GC,2648,-0.56,-87.6,2384,1980,2826,2695,440.9,-14.4,425,2657,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1980,2761,2827,2695,0,0,0,0,0,0,26.53,26.54,26.54
$GC,2798,-0.56,-87.6,2385,1981,2827,2695,461.5,-14.0,450,2807,0.00,2.35,0.00,0.000,516,0.000,0.079,2386,565,2761,2827,2695,0,0,0,0,0,0,26.55,26.21,26.55
$GC,2815,-0.56,-87.6,2385,565,2827,2695,463.8,-13.9,452,2823,0.00,2.35,0.00,0.000,1030,0.000,0.071,2377,1980,2760,2827,2694,0,0,0,0,0,0,26.27,26.22,26.32
$GC,2965,-0.56,-87.6,2376,1980,2826,2695,485.0,-13.9,477,2974,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1980,2761,2827,2695,0,0,0,0,0,0,26.55,26.56,26.56
$GC,3115,-0.56,-87.6,2376,1980,2827,2695,506.2,-14.5,502,3123,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1980,2760,2827,2694,0,0,0,0,0,0,26.56,26.58,26.57
$GC,3477,-0.56,-87.6,2376,1980,2827,2694,557.0,-13.8,563,3485,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1980,2760,2827,2694,0,0,0,0,0,0,26.59,26.60,26.60
$GC,3835,-0.56,-87.6,2377,1980,2827,2695,606.1,-13.4,624,3843,0.00,2.35,0.00,0.000,260,0.000,0.083,2366,3389,2760,2827,2694,0,0,0,0,0,0,26.60,26.27,26.62
$GC,3903,-0.56,-87.6,2365,3389,2827,2695,615.5,-13.2,635,3912,0.00,2.33,0.00,0.000,1030,0.000,0.066,2366,1970,2760,2827,2694,0,0,0,0,0,0,26.35,26.29,26.39
$GC,4265,-0.56,-87.6,2365,1970,2827,2695,665.1,-13.9,696,4272,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,1970,2761,2827,2695,0,0,0,0,0,0,26.63,26.64,26.63
$GC,4622,-0.56,-87.6,2366,1970,2827,2694,713.1,-13.6,757,4631,0.00,2.33,0.00,0.000,516,0.000,0.081,2366,568,2761,2827,2695,0,0,0,0,0,0,26.64,26.29,26.65
$GC,4650,-0.56,-87.6,2366,567,2827,2694,717.1,-13.7,761,4660,0.10,2.33,0.00,0.000,3078,0.183,0.070,2385,1978,2760,2826,2695,0,0,0,0,0,0,26.25,26.32,26.33
$GC,5011,-0.56,-87.6,2384,1979,2827,2695,761.1,-12.2,822,5018,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1979,2761,2827,2695,0,0,0,0,0,0,26.65,26.66,26.65
$GC,5368,-0.56,-87.6,2384,1979,2827,2695,805.2,-12.1,883,5376,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1978,2760,2827,2694,0,0,0,0,0,0,26.65,26.67,26.67
$GC,5725,-0.56,-87.6,2384,1979,2827,2694,849.1,-12.2,944,5733,0.00,2.35,0.00,0.000,260,0.000,0.081,2376,3393,2761,2827,2695,0,0,0,0,0,0,26.67,26.34,26.68
$GC,5748,-0.56,-87.6,2375,3394,2827,2695,851.8,-11.7,947,5756,0.00,2.30,0.00,0.000,1030,0.000,0.065,2376,1986,2760,2827,2694,0,0,0,0,0,0,26.42,26.35,26.44
$GC,6108,-0.56,-87.6,2375,1987,2827,2694,896.7,-12.9,1008,6116,0.00,2.35,0.00,0.000,516,0.000,0.083,2375,569,2760,2827,2694,0,0,0,0,0,0,26.67,26.34,26.69
$GC,6160,-0.56,-87.6,2375,569,2827,2695,903.9,-13.1,1016,6168,0.00,2.33,0.00,0.000,1030,0.000,0.071,2366,1977,2760,2827,2694,0,0,0,0,0,0,26.41,26.35,26.44
$GC,6520,-0.56,-87.6,2364,1978,2827,2694,952.4,-13.7,1077,6529,0.00,2.38,0.00,0.000,260,0.000,0.083,2355,3390,2761,2828,2694,0,0,0,0,0,0,26.68,26.34,26.69
$GC,6589,-0.56,-87.6,2355,3390,2827,2694,961.9,-13.9,1088,6598,0.10,2.33,0.00,0.000,3078,0.171,0.067,2384,1973,2760,2827,2693,0,0,0,0,0,0,26.28,26.36,26.38
$STATE,6901,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6901,begin apogee
$GC,6905,-0.14,0.0,2384,1891,2827,2694,1000.5,-12.2,1141,6994,0.40,0.00,83.07,1.836,10246,0.159,0.000,2517,1891,2400,2480,2321,0,0,0,0,0,0,26.29,24.20,23.24
$STATE,6995,end apogee,CONTROL_FINISHED_OK
$STATE,6995,begin climb
$GC,6996,0.56,87.6,2517,1891,2480,2320,1005.7,0.0,1152,7093,0.75,2.67,86.75,1.776,10500,0.116,0.081,2758,3313,2040,2129,1952,0,0,0,0,0,0,24.37,23.35,22.63
$GC,7108,0.68,207.0,2757,3313,2126,1950,1003.0,4.9,1166,7242,0.00,2.55,121.50,1.756,9222,0.000,0.066,2768,1922,1555,1647,1463,0,0,0,0,0,0,24.01,23.96,21.52
$GC,7593,0.68,207.0,2767,1922,1640,1448,947.9,12.2,1243,7601,0.00,2.58,0.00,0.000,516,0.000,0.089,2778,499,1543,1639,1448,0,0,0,0,0,0,25.07,24.75,25.08
$GC,7609,0.68,207.0,2778,499,1638,1448,945.8,12.6,1245,7619,0.00,2.47,0.00,0.000,1030,0.000,0.070,2779,1898,1542,1638,1447,0,0,0,0,0,0,24.85,24.79,24.89
$GC,7970,0.68,207.0,2778,1898,1637,1445,898.6,13.1,1306,7978,0.00,2.50,0.00,0.000,260,0.000,0.083,2779,3321,1540,1636,1445,0,0,0,0,0,0,25.62,25.29,25.63
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$STATE,14863,end climb,SURFACE_DEPTH_REACHED
$STATE,14863,begin surface coast
$FINISH,0.4,1.022626
$STATE,14882,end surface coast,CONTROL_FINISHED_OK
$STATE,14882,begin surface
$SM_CCo,14956,0.00,0.000,0,0,1073,325.26
$SM_GC,1.15,7.32,0.12,0.00,0.063,0.110,0.000,176,1981,1073,-7.41,-0.57,325.26,0,0,0,0,0,0,25.69,25.65,25.75
$IRIDIUM_FIX,-5227.86,-4007.49,241017,130023
$TT8_MAMPS,0.021721,0.225449
$HUMID,60.15
$INTERNAL_PRESSURE,9.25784
$TCM_TEMP,8.50
$XPDR_PINGS,0
$24V_AH,21.52,11.821
$10V_AH,10.11,15.694
$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
$DEVICE_SECS,18.675,200.275,346.125,0.000,0.000,24.295,41.548,303.663,0.000,0.000,17.885,5761.187,60.038,654.352,8624.382,353.905,0.000,2790.320,0.000,8335.146,0.000,1.004,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1746.918,121.927,8340.014,7781.917,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,48.680,100.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343412
$DATA_FILE_SIZE,160145,2437
$CAP_FILE_SIZE,253918,0
$CFSIZE,259248128,252882944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.078,267.53,1
$GPS,241017,211534,-5243.050,-4006.767,41,1.0,41,-6.7,0.7,15.4,7,-1.0