version: 66.12
revision: CLOWNFISH
glider: 542
mission: 17
dive: 225
start: 12 2 117 10 23 42
data:
$ID,542
$MISSION,17
$DIVE,225
$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,16
$R_STBD_OVSHOOT,18
$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
$GPS1,021217,101741,-5242.0928,-4015.1206,21,1.2,21,-6.7,0.0,0.0,7,23.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-68.6
$GPS2,021217,102257,-5242.0972,-4015.0964,21,0.9,21,-6.7,0.9,190.1,9,9.3
$SPEED_LIMITS,0.273,0.283
$TGT_NAME,GOCART3
$TGT_LATLONG,-5242.059,-4015.221
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,301.5,156,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.56,-87.6,190,1960,1161,1043,0.0,0.0,0,78,0.00,0.00,-58.22,0.000,16390,0.000,0.000,191,1960,2489,2569,2410,0,0,0,0,0,0,26.14,24.07,26.15
$GC,80,-0.56,-87.6,190,1960,2569,2411,3.4,-4.1,9,96,8.98,2.33,0.00,0.000,2564,0.246,0.066,2380,547,2491,2572,2411,0,0,0,0,0,0,25.08,25.46,25.29
$GC,176,-0.56,-87.6,2380,547,2573,2411,22.4,-15.7,25,182,0.00,2.35,0.00,0.000,1030,0.000,0.067,2372,1972,2492,2573,2411,0,0,0,0,0,0,25.82,25.65,25.86
$GC,229,-0.56,-87.6,2372,1972,2573,2411,30.8,-15.6,34,237,0.00,2.38,0.00,0.000,260,0.000,0.076,2361,3378,2492,2574,2411,0,0,0,0,0,0,26.21,25.64,26.22
$GC,274,-0.56,-87.6,2361,3378,2574,2411,37.6,-15.7,41,281,0.00,2.33,0.00,0.000,1030,0.000,0.060,2361,1958,2492,2574,2411,0,0,0,0,0,0,25.87,25.72,25.91
$GC,327,-0.56,-87.6,2361,1958,2574,2411,46.6,-17.3,50,334,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1958,2492,2574,2411,0,0,0,0,0,0,26.25,26.27,26.26
$GC,382,-0.56,-87.6,2361,1958,2574,2411,56.3,-18.2,59,389,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1958,2492,2574,2411,0,0,0,0,0,0,26.27,26.29,26.28
$GC,435,-0.56,-87.6,2361,1958,2574,2411,66.0,-17.5,68,443,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1958,2492,2574,2411,0,0,0,0,0,0,26.29,26.30,26.30
$GC,491,-0.56,-87.6,2361,1958,2574,2411,75.3,-17.1,77,498,0.00,2.33,0.00,0.000,516,0.000,0.076,2361,545,2492,2574,2411,0,0,0,0,0,0,26.31,25.71,26.32
$GC,506,-0.56,-87.6,2361,545,2574,2411,78.1,-17.6,79,514,0.12,2.33,0.00,0.000,3078,0.203,0.066,2384,1966,2492,2574,2411,0,0,0,0,0,0,25.48,25.77,25.72
$GC,562,-0.56,-87.6,2383,1966,2574,2411,87.2,-15.9,88,570,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1966,2492,2574,2411,0,0,0,0,0,0,26.32,26.34,26.33
$GC,617,-0.56,-87.6,2383,1966,2574,2411,95.4,-15.0,97,623,0.00,2.33,0.00,0.000,260,0.000,0.074,2375,3379,2492,2574,2411,0,0,0,0,0,0,26.34,25.73,26.34
$GC,636,-0.56,-87.6,2374,3379,2574,2411,98.5,-15.5,100,645,0.00,2.35,0.00,0.000,1030,0.000,0.060,2375,1963,2492,2574,2411,0,0,0,0,0,0,25.88,25.82,25.93
$GC,692,-0.56,-87.6,2374,1962,2574,2411,106.8,-15.1,109,698,0.00,2.33,0.00,0.000,516,0.000,0.075,2375,547,2492,2574,2411,0,0,0,0,0,0,26.35,25.74,26.36
$GC,707,-0.56,-87.6,2374,547,2574,2411,109.1,-15.2,111,714,0.00,2.30,0.00,0.000,1030,0.000,0.063,2365,1964,2492,2574,2411,0,0,0,0,0,0,25.97,25.82,26.01
$GC,850,-0.56,-87.6,2364,1964,2574,2411,130.1,-14.9,136,859,0.00,2.38,0.00,0.000,260,0.000,0.074,2354,3369,2492,2574,2411,0,0,0,0,0,0,26.39,25.78,26.39
$GC,929,-0.56,-87.6,2353,3369,2574,2411,142.4,-14.6,149,936,0.12,2.30,0.00,0.000,3078,0.197,0.062,2387,1956,2492,2574,2411,0,0,0,0,0,0,25.56,25.85,25.79
$GC,1078,-0.56,-87.6,2386,1955,2575,2411,162.7,-13.3,174,1086,0.00,2.35,0.00,0.000,516,0.000,0.076,2386,552,2493,2575,2411,0,0,0,0,0,0,26.42,25.79,26.44
$GC,1100,-0.56,-87.6,2386,552,2574,2411,165.7,-14.1,177,1107,0.00,2.30,0.00,0.000,1030,0.000,0.064,2379,1967,2493,2575,2412,0,0,0,0,0,0,26.03,25.87,26.08
$GC,1245,-0.56,-87.6,2378,1967,2574,2411,186.2,-14.6,202,1253,0.00,2.35,0.00,0.000,260,0.000,0.075,2368,3373,2492,2574,2411,0,0,0,0,0,0,26.45,25.82,26.45
$GC,1279,-0.56,-87.6,2367,3373,2574,2411,190.9,-14.3,207,1286,0.00,2.30,0.00,0.000,1030,0.000,0.062,2368,1958,2492,2574,2411,0,0,0,0,0,0,26.06,25.90,26.10
$STATE,1343,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1343,begin apogee
$GC,1347,-0.14,0.0,2368,1862,2574,2411,200.9,-14.5,218,1430,0.50,0.00,78.07,1.316,10246,0.177,0.000,2518,1860,2130,2214,2046,0,0,0,0,0,0,25.49,24.45,23.53
$STATE,1431,end apogee,CONTROL_FINISHED_OK
$STATE,1431,begin climb
$GC,1434,0.56,87.6,2518,1860,2214,2045,206.7,0.0,230,1523,0.75,0.00,79.68,1.265,10758,0.130,0.000,2756,1860,1772,1856,1688,0,0,0,0,0,0,24.53,23.27,22.64
$GC,1661,0.65,178.5,2755,1860,1852,1680,195.8,6.2,267,1752,0.00,2.72,84.40,1.258,8452,0.000,0.075,2756,3292,1401,1481,1321,0,0,0,0,0,0,24.94,23.28,22.39
$GC,1772,0.69,212.7,2755,3292,1478,1320,187.6,8.6,283,1815,0.00,2.55,34.12,1.226,9222,0.000,0.064,2766,1882,1260,1338,1183,0,0,0,0,0,0,23.86,23.73,22.46
$GC,1953,0.71,235.9,2765,1882,1333,1174,171.2,9.0,313,1983,0.10,2.58,22.08,1.223,10756,0.084,0.080,2834,465,1168,1245,1091,0,0,0,0,0,0,24.57,23.69,23.00
$GC,2021,0.71,235.9,2834,465,1240,1089,162.7,14.2,323,2029,0.10,2.47,0.00,0.000,5126,0.164,0.067,2807,1872,1164,1240,1088,0,0,0,0,0,0,24.18,24.28,24.34
$GC,2165,0.71,235.9,2807,1872,1239,1085,145.0,11.4,348,2174,0.00,2.50,0.00,0.000,260,0.000,0.076,2807,3290,1162,1240,1085,0,0,0,0,0,0,25.22,24.77,25.24
$GC,2188,0.71,235.9,2806,3290,1238,1085,142.4,12.0,351,2195,0.00,2.42,0.00,0.000,1030,0.000,0.066,2816,1874,1161,1238,1085,0,0,0,0,0,0,25.01,24.87,25.04
$GC,2332,0.71,235.9,2816,1874,1238,1083,125.6,12.2,376,2340,0.00,2.47,0.00,0.000,516,0.000,0.082,2827,462,1160,1238,1083,0,0,0,0,0,0,25.65,25.17,25.67
$GC,2365,0.71,235.9,2826,462,1237,1082,121.5,12.3,381,2372,0.00,2.40,0.00,0.000,1030,0.000,0.067,2827,1887,1159,1237,1082,0,0,0,0,0,0,25.41,25.26,25.46
$GC,2508,0.71,235.9,2826,1888,1236,1081,101.7,13.8,406,2516,0.00,2.42,0.00,0.000,260,0.000,0.079,2827,3292,1159,1237,1082,0,0,0,0,0,0,25.91,25.42,25.93
$GC,2554,0.71,235.9,2826,3292,1236,1081,95.3,14.8,413,2561,0.12,2.38,0.00,0.000,5126,0.170,0.070,2802,1877,1159,1236,1082,0,0,0,0,0,0,25.33,25.47,25.56
$GC,2607,0.71,235.9,2801,1877,1236,1081,88.2,11.6,422,2616,0.00,2.45,0.00,0.000,516,0.000,0.083,2811,464,1158,1236,1081,0,0,0,0,0,0,26.01,25.51,26.02
$GC,2642,0.71,235.9,2810,464,1236,1080,84.5,11.4,427,2649,0.00,2.35,0.00,0.000,1030,0.000,0.065,2811,1883,1158,1236,1081,0,0,0,0,0,0,25.72,25.57,25.77
$GC,2697,0.71,235.9,2810,1883,1236,1081,78.2,11.6,436,2705,0.00,2.40,0.00,0.000,260,0.000,0.078,2811,3286,1158,1236,1081,0,0,0,0,0,0,26.07,25.55,26.08
$GC,2724,0.71,235.9,2810,3286,1236,1081,74.8,12.3,440,2732,0.00,2.40,0.00,0.000,1030,0.000,0.067,2821,1876,1158,1236,1080,0,0,0,0,0,0,25.67,25.60,25.74
$GC,2779,0.71,235.9,2821,1876,1236,1080,68.4,11.6,449,2786,0.00,2.40,0.00,0.000,516,0.000,0.083,2833,456,1158,1236,1080,0,0,0,0,0,0,26.12,25.58,26.13
$GC,2806,0.71,235.9,2832,456,1236,1080,65.1,12.5,453,2813,0.10,2.35,0.00,0.000,5126,0.168,0.067,2803,1878,1158,1236,1080,0,0,0,0,0,0,25.52,25.65,25.72
$GC,2858,0.71,235.9,2803,1878,1236,1080,58.9,10.4,462,2867,0.00,2.40,0.00,0.000,260,0.000,0.077,2804,3288,1158,1236,1080,0,0,0,0,0,0,26.15,25.63,26.17
$GC,2893,0.71,235.9,2803,3288,1236,1080,55.3,11.2,467,2900,0.00,2.35,0.00,0.000,1030,0.000,0.067,2812,1871,1158,1236,1080,0,0,0,0,0,0,25.84,25.67,25.89
$GC,2947,0.71,235.9,2811,1871,1236,1080,48.9,11.5,476,2956,0.00,2.40,0.00,0.000,516,0.000,0.083,2823,474,1158,1236,1080,0,0,0,0,0,0,26.20,25.64,26.21
$GC,2982,0.71,235.9,2822,473,1235,1079,44.9,12.2,481,2989,0.00,2.33,0.00,0.000,1030,0.000,0.066,2823,1885,1157,1236,1079,0,0,0,0,0,0,25.87,25.72,25.93
$GC,3034,0.71,235.9,2822,1884,1235,1079,38.3,12.1,490,3043,0.00,2.38,0.00,0.000,260,0.000,0.076,2823,3286,1157,1236,1079,0,0,0,0,0,0,26.22,25.69,26.24
$GC,3067,0.71,235.9,2822,3286,1236,1079,34.2,13.3,495,3075,0.10,2.33,0.00,0.000,5126,0.176,0.066,2805,1878,1157,1236,1079,0,0,0,0,0,0,25.59,25.72,25.80
$GC,3123,0.71,235.9,2804,1878,1236,1079,27.7,10.9,504,3131,0.00,2.42,0.00,0.000,516,0.000,0.083,2814,466,1157,1236,1079,0,0,0,0,0,0,26.25,25.69,26.27
$GC,3150,0.71,235.9,2814,466,1236,1079,24.6,11.0,508,3158,0.00,2.35,0.00,0.000,1030,0.000,0.066,2814,1869,1157,1236,1079,0,0,0,0,0,0,25.85,25.77,25.90
$GC,3205,0.71,235.9,2814,1869,1236,1079,18.7,11.3,517,3212,0.00,2.35,0.00,0.000,260,0.000,0.075,2814,3289,1157,1236,1079,0,0,0,0,0,0,26.28,25.73,26.29
$GC,3248,0.71,235.9,2814,3289,1236,1079,13.3,12.5,524,3257,0.00,2.38,0.00,0.000,1030,0.000,0.067,2825,1881,1157,1236,1079,0,0,0,0,0,0,25.84,25.75,25.89
$GC,3305,0.71,235.9,2824,1882,1236,1079,7.1,11.1,533,3312,0.00,2.38,0.00,0.000,516,0.000,0.082,2836,464,1157,1236,1079,0,0,0,0,0,0,26.30,25.72,26.31
$STATE,3341,end climb,SURFACE_DEPTH_REACHED
$STATE,3342,begin surface coast
$FINISH,0.4,1.022469
$STATE,3366,end surface coast,CONTROL_FINISHED_OK
$STATE,3366,begin surface
$SM_CCo,3444,0.00,0.000,0,0,1155,239.16
$SM_GC,1.10,6.97,2.50,0.00,0.042,0.063,0.000,198,1964,1155,-7.41,-0.62,239.16,0,0,0,0,0,0,25.75,25.80,25.86
$IRIDIUM_FIX,-5220.79,-4013.35,021217,091430
$TT8_MAMPS,0.021721,0.23968
$HUMID,61.53
$INTERNAL_PRESSURE,9.27737
$TCM_TEMP,8.80
$XPDR_PINGS,0
$24V_AH,22.39,43.480
$10V_AH,9.85,73.908
$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,17.975,105.275,298.350,0.000,0.000,24.764,19.247,161.858,0.000,0.000,22.417,1307.005,363.733,429.296,1545.910,143.100,0.000,1040.738,0.000,1324.931,0.000,1.003,0.000
$DEVICE_MAMPS,245.565,98.685,1315.800,0.000,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,2.190,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,410.699,133.025,927.777,868.667,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,48.680,100.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343716
$DATA_FILE_SIZE,40458,543
$CAP_FILE_SIZE,82950,0
$CFSIZE,259248128,225947648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.146,68.64,1
$GPS,021217,112158,-5241.776,-4015.359,20,1.0,20,-6.7,0.0,0.0,9,16.9