version: 66.12
revision: CLOWNFISH
glider: 542
mission: 17
dive: 224
start: 12 2 117 9 19 53
data:
$ID,542
$MISSION,17
$DIVE,224
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,200
$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,67
$T_MISSION,77
$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,1
$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,1964
$C_ROLL_CLIMB,1877
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3955
$C_VBD,2130
$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
$GPS1,021217,091302,-5242.0991,-4015.8777,42,0.9,42,-6.7,0.0,0.0,9,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-70.1
$GPS2,021217,091909,-5242.1133,-4015.8767,15,1.1,15,-6.7,0.0,0.0,7,14.3
$SPEED_LIMITS,0.273,0.283
$TGT_NAME,GOCART3
$TGT_LATLONG,-5242.059,-4015.221
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,91.6,743,-17.1,-9.950,-20.00,2515
$D_GRID,200
$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,16,-0.56,-87.6,198,1984,1123,1018,0.0,0.0,0,79,0.00,0.00,-60.40,0.000,16390,0.000,0.000,198,1983,2489,2570,2408,0,0,0,0,0,0,26.05,24.03,26.06
$GC,81,-0.56,-87.6,198,1984,2570,2410,2.9,-2.3,9,97,9.00,2.35,0.00,0.000,2308,0.248,0.067,2370,3374,2492,2573,2411,0,0,0,0,0,0,25.07,25.56,25.49
$GC,348,-0.56,-87.6,2369,3374,2575,2410,47.5,-14.9,56,357,0.00,2.35,0.00,0.000,1030,0.000,0.063,2370,1972,2492,2575,2410,0,0,0,0,0,0,25.79,25.72,25.86
$GC,404,-0.56,-87.6,2369,1972,2575,2410,56.0,-16.6,65,411,0.00,2.30,0.00,0.000,260,0.000,0.075,2360,3366,2492,2575,2410,0,0,0,0,0,0,26.25,25.67,26.26
$GC,464,-0.56,-87.6,2359,3366,2575,2410,65.7,-15.8,75,472,0.10,2.30,0.00,0.000,3078,0.203,0.063,2385,1958,2492,2575,2410,0,0,0,0,0,0,25.51,25.73,25.72
$GC,519,-0.56,-87.6,2385,1958,2575,2411,74.0,-15.0,84,527,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1958,2492,2575,2410,0,0,0,0,0,0,26.29,26.30,26.29
$GC,575,-0.56,-87.6,2385,1958,2575,2410,81.9,-13.9,93,580,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1957,2492,2575,2410,0,0,0,0,0,0,26.31,26.32,26.32
$GC,626,-0.56,-87.6,2385,1958,2575,2410,89.3,-14.2,102,634,0.00,2.38,0.00,0.000,260,0.000,0.074,2377,3371,2492,2575,2410,0,0,0,0,0,0,26.32,25.73,26.33
$GC,648,-0.56,-87.6,2376,3371,2576,2410,92.3,-14.4,105,654,0.00,2.30,0.00,0.000,1030,0.000,0.061,2377,1960,2493,2575,2411,0,0,0,0,0,0,25.94,25.78,25.98
$GC,700,-0.56,-87.6,2376,1960,2576,2411,100.3,-14.8,114,708,0.00,2.35,0.00,0.000,516,0.000,0.075,2377,561,2492,2575,2410,0,0,0,0,0,0,26.33,25.73,26.34
$GC,746,-0.56,-87.6,2377,561,2576,2410,106.8,-15.0,121,753,0.00,2.28,0.00,0.000,1030,0.000,0.065,2368,1953,2493,2576,2410,0,0,0,0,0,0,25.96,25.81,26.01
$GC,888,-0.56,-87.6,2367,1954,2576,2411,128.9,-15.0,146,897,0.00,2.33,0.00,0.000,516,0.000,0.073,2368,556,2493,2576,2410,0,0,0,0,0,0,26.38,25.77,26.39
$GC,922,-0.56,-87.6,2367,556,2576,2411,133.9,-15.3,151,930,0.10,2.30,0.00,0.000,3078,0.204,0.065,2383,1966,2493,2576,2410,0,0,0,0,0,0,25.60,25.84,25.82
$GC,1071,-0.56,-87.6,2382,1966,2576,2411,154.7,-13.8,176,1079,0.00,2.35,0.00,0.000,260,0.000,0.075,2374,3374,2493,2576,2410,0,0,0,0,0,0,26.41,25.80,26.42
$GC,1176,-0.56,-87.6,2374,3374,2576,2410,170.4,-13.6,194,1185,0.00,2.33,0.00,0.000,1030,0.000,0.062,2374,1971,2493,2576,2411,0,0,0,0,0,0,25.96,25.88,26.01
$GC,1324,-0.56,-87.6,2374,1971,2577,2411,190.3,-14.9,219,1331,0.00,2.33,0.00,0.000,516,0.000,0.076,2374,549,2493,2576,2411,0,0,0,0,0,0,26.45,25.82,26.46
$GC,1343,-0.56,-87.6,2374,550,2576,2410,193.9,-15.2,222,1352,0.00,2.35,0.00,0.000,1030,0.000,0.064,2364,1967,2494,2577,2411,0,0,0,0,0,0,25.96,25.89,26.02
$STATE,1387,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1387,begin apogee
$GC,1393,-0.14,0.0,2364,1861,2576,2411,200.3,-14.4,229,1476,0.52,0.00,78.28,1.310,10246,0.183,0.000,2519,1859,2129,2215,2043,0,0,0,0,0,0,25.49,24.45,23.53
$STATE,1477,end apogee,CONTROL_FINISHED_OK
$STATE,1477,begin climb
$GC,1479,0.56,87.6,2519,1859,2215,2043,206.7,0.0,241,1568,0.75,2.55,80.00,1.263,10756,0.129,0.078,2767,477,1770,1854,1687,0,0,0,0,0,0,24.54,23.28,22.65
$GC,1578,0.70,220.6,2767,477,1852,1687,204.2,4.5,255,1714,0.00,2.50,124.93,1.247,9222,0.000,0.063,2767,1872,1229,1304,1154,0,0,0,0,0,0,23.91,23.80,22.35
$GC,1853,0.72,248.4,2767,1872,1300,1143,181.8,8.8,299,1890,0.10,2.58,27.02,1.220,10500,0.086,0.076,2827,3292,1115,1189,1042,0,0,0,0,0,0,24.56,23.63,22.96
$GC,1923,0.72,248.4,2826,3292,1188,1041,172.8,15.4,309,1930,0.10,2.50,0.00,0.000,5126,0.171,0.066,2811,1884,1114,1188,1041,0,0,0,0,0,0,24.08,24.18,24.25
$GC,2067,0.72,248.4,2810,1884,1188,1034,154.3,11.7,334,2075,0.00,2.53,0.00,0.000,516,0.000,0.080,2820,462,1110,1187,1034,0,0,0,0,0,0,25.15,24.70,25.16
$GC,2100,0.72,248.4,2820,462,1186,1033,150.3,12.7,339,2108,0.00,2.42,0.00,0.000,1030,0.000,0.064,2820,1881,1109,1186,1033,0,0,0,0,0,0,24.98,24.84,25.03
$GC,2245,0.72,248.4,2820,1882,1185,1033,132.2,12.1,364,2253,0.00,2.45,0.00,0.000,260,0.000,0.077,2820,3289,1109,1186,1033,0,0,0,0,0,0,25.63,25.15,25.65
$GC,2313,0.72,248.4,2819,3290,1186,1032,123.8,12.8,375,2320,0.00,2.40,0.00,0.000,1030,0.000,0.068,2831,1872,1109,1186,1033,0,0,0,0,0,0,25.45,25.29,25.49
$GC,2458,0.72,248.4,2830,1872,1186,1033,105.6,11.8,400,2467,0.00,2.42,0.00,0.000,516,0.000,0.083,2842,472,1109,1186,1032,0,0,0,0,0,0,25.94,25.42,25.96
$GC,2528,0.72,248.4,2841,472,1184,1032,96.8,12.7,411,2537,0.12,2.35,0.00,0.000,5126,0.167,0.067,2805,1883,1108,1185,1032,0,0,0,0,0,0,25.37,25.53,25.59
$GC,2583,0.72,248.4,2804,1883,1184,1032,90.3,10.7,420,2592,0.00,2.40,0.00,0.000,260,0.000,0.078,2805,3285,1107,1184,1031,0,0,0,0,0,0,26.05,25.52,26.06
$GC,2606,0.72,248.4,2804,3285,1184,1031,88.0,11.0,423,2614,0.00,2.35,0.00,0.000,1030,0.000,0.069,2814,1877,1107,1183,1031,0,0,0,0,0,0,25.73,25.57,25.78
$GC,2661,0.72,248.4,2813,1877,1184,1031,81.6,11.4,432,2670,0.00,2.42,0.00,0.000,516,0.000,0.083,2825,471,1107,1183,1031,0,0,0,0,0,0,26.10,25.56,26.10
$GC,2690,0.72,248.4,2824,471,1183,1031,78.3,11.8,436,2698,0.00,2.38,0.00,0.000,1030,0.000,0.067,2825,1878,1107,1183,1031,0,0,0,0,0,0,25.71,25.63,25.75
$GC,2745,0.72,248.4,2825,1878,1184,1031,71.6,12.4,445,2752,0.00,2.38,0.00,0.000,260,0.000,0.078,2825,3296,1107,1183,1031,0,0,0,0,0,0,26.14,25.60,26.15
$GC,2794,0.72,248.4,2824,3296,1183,1031,65.2,12.8,453,2801,0.00,2.38,0.00,0.000,1030,0.000,0.068,2836,1867,1107,1183,1031,0,0,0,0,0,0,25.82,25.66,25.88
$GC,2848,0.72,248.4,2835,1867,1183,1031,58.2,13.2,462,2857,0.00,2.40,0.00,0.000,516,0.000,0.083,2846,471,1106,1183,1030,0,0,0,0,0,0,26.19,25.63,26.20
$GC,2871,0.72,248.4,2846,471,1184,1030,55.5,12.9,465,2878,0.12,2.33,0.00,0.000,5126,0.171,0.067,2810,1880,1106,1183,1030,0,0,0,0,0,0,25.52,25.70,25.75
$GC,2923,0.72,248.4,2810,1881,1183,1029,49.2,10.9,474,2932,0.00,2.40,0.00,0.000,260,0.000,0.077,2809,3293,1106,1183,1029,0,0,0,0,0,0,26.22,25.65,26.22
$GC,2958,0.72,248.4,2809,3293,1183,1029,45.4,11.6,479,2965,0.00,2.35,0.00,0.000,1030,0.000,0.069,2819,1880,1106,1183,1029,0,0,0,0,0,0,25.86,25.70,25.93
$GC,3013,0.72,248.4,2818,1880,1183,1029,38.9,11.7,488,3021,0.00,2.42,0.00,0.000,516,0.000,0.083,2830,466,1105,1183,1028,0,0,0,0,0,0,26.25,25.67,26.26
$GC,3050,0.72,248.4,2830,466,1183,1028,34.1,12.4,494,3059,0.00,2.38,0.00,0.000,1030,0.000,0.066,2830,1882,1106,1184,1028,0,0,0,0,0,0,25.82,25.76,25.86
$GC,3108,0.72,248.4,2829,1882,1183,1028,26.9,13.4,503,3115,0.00,2.35,0.00,0.000,260,0.000,0.078,2830,3293,1105,1183,1028,0,0,0,0,0,0,26.27,25.71,26.28
$GC,3146,0.72,248.4,2829,3293,1183,1028,21.4,13.9,509,3154,0.10,2.35,0.00,0.000,5126,0.175,0.066,2811,1871,1105,1183,1028,0,0,0,0,0,0,25.62,25.76,25.83
$GC,3201,0.72,248.4,2811,1871,1183,1028,14.7,10.6,518,3210,0.00,2.40,0.00,0.000,516,0.000,0.082,2821,467,1105,1183,1028,0,0,0,0,0,0,26.29,25.72,26.30
$GC,3246,0.72,248.4,2821,467,1183,1027,9.8,11.0,525,3253,0.00,2.33,0.00,0.000,1030,0.000,0.067,2821,1883,1105,1183,1027,0,0,0,0,0,0,25.94,25.78,26.00
$GC,3300,0.72,248.4,2821,1883,1183,1027,3.2,12.3,534,3309,0.00,2.38,0.00,0.000,260,0.000,0.076,2821,3287,1105,1183,1027,0,0,0,0,0,0,26.32,25.75,26.32
$STATE,3314,end climb,SURFACE_DEPTH_REACHED
$STATE,3314,begin surface coast
$FINISH,0.2,1.022464
$STATE,3338,end surface coast,CONTROL_FINISHED_OK
$STATE,3338,begin surface
$SM_CCo,3415,0.00,0.000,0,0,1104,251.67
$SM_GC,1.35,6.95,2.22,0.00,0.041,0.064,0.000,190,1964,1104,-7.44,0.57,251.67,0,0,0,0,0,0,25.37,25.79,25.63
$IRIDIUM_FIX,-5220.79,-4016.06,021217,073836
$TT8_MAMPS,0.021721,0.223951
$HUMID,61.73
$INTERNAL_PRESSURE,9.27737
$TCM_TEMP,16.40
$XPDR_PINGS,0
$24V_AH,22.35,43.361
$10V_AH,9.86,73.832
$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,17.975,100.050,310.225,0.000,0.000,25.861,40.669,193.445,0.000,0.000,16.284,1291.260,370.815,422.254,1577.018,141.078,0.000,1024.274,0.000,1318.387,0.000,1.003,0.000
$DEVICE_MAMPS,247.860,91.035,1310.445,0.000,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,422.924,141.078,922.223,863.860,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,48.680,100.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343744
$DATA_FILE_SIZE,40477,540
$CAP_FILE_SIZE,79444,0
$CFSIZE,259248128,226000896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.026,95.09,1
$GPS,021217,101741,-5242.093,-4015.121,21,1.2,21,-6.7,0.0,0.0,7,23.4