version: 66.12
revision: CLOWNFISH
glider: 542
mission: 17
dive: 17
start: 10 21 117 9 36 26
data:
$ID,542
$MISSION,17
$DIVE,17
$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,110
$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,500.95157
$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,15
$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,2683
$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
$GPS1,211017,092832,-5248.9658,-4009.7617,36,0.8,36,-6.6,0.0,0.0,10,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-60.1
$GPS2,211017,093546,-5248.9697,-4009.7571,17,1.1,17,-6.6,0.0,0.0,7,10.7
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,GOCART1
$TGT_LATLONG,-5247.670,-4009.864
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,3.7,2410,-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,13,begin dive
$GC,15,-0.58,-107.1,195,1979,609,620,0.0,0.0,0,109,0.00,0.00,-91.38,0.000,16386,0.000,0.000,195,1979,2750,2814,2687,0,0,0,0,0,0,25.96,28.83,25.97
$GC,111,-0.58,-107.1,195,1979,2814,2688,3.4,-3.8,12,136,8.77,2.40,-7.55,0.000,18692,0.252,0.099,2365,3391,3122,3215,3029,0,0,0,0,0,0,25.52,25.30,25.67
$GC,303,-0.58,-107.1,2365,3391,3217,3030,49.1,-18.6,44,311,0.00,2.40,0.00,0.000,1030,0.000,0.073,2365,1981,3123,3218,3029,0,0,0,0,0,0,25.85,25.79,25.87
$GC,359,-0.58,-107.1,2365,1981,3217,3029,60.7,-21.7,53,367,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,1981,3123,3217,3029,0,0,0,0,0,0,26.13,26.15,26.15
$GC,414,-0.58,-107.1,2364,1980,3218,3029,73.2,-22.6,62,422,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,1981,3123,3217,3029,0,0,0,0,0,0,26.16,26.17,26.17
$GC,470,-0.58,-107.1,2364,1981,3217,3030,85.6,-22.2,71,478,0.00,2.40,0.00,0.000,260,0.000,0.085,2355,3387,3123,3217,3029,0,0,0,0,0,0,26.18,25.84,26.20
$GC,497,-0.58,-107.1,2355,3387,3217,3030,91.8,-22.4,75,505,0.00,2.40,0.00,0.000,1030,0.000,0.073,2355,1973,3123,3217,3029,0,0,0,0,0,0,25.94,25.88,25.96
$GC,553,-0.58,-107.1,2355,1973,3217,3029,103.6,-22.4,84,561,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,1972,3123,3218,3029,0,0,0,0,0,0,26.20,26.22,26.21
$GC,699,-0.58,-107.1,2355,1973,3218,3030,136.1,-22.0,109,707,0.00,2.42,0.00,0.000,260,0.000,0.085,2345,3394,3123,3217,3029,0,0,0,0,0,0,26.25,25.93,26.27
$GC,749,-0.58,-107.1,2345,3394,3217,3030,146.8,-20.1,117,758,0.10,2.40,0.00,0.000,3078,0.181,0.073,2374,1973,3123,3217,3029,0,0,0,0,0,0,25.88,25.96,25.97
$GC,897,-0.58,-107.1,2373,1973,3217,3029,174.6,-18.6,142,906,0.00,2.40,0.00,0.000,516,0.000,0.087,2374,565,3123,3217,3030,0,0,0,0,0,0,26.31,25.98,26.32
$GC,919,-0.58,-107.1,2373,565,3217,3029,178.9,-19.4,145,927,0.00,2.38,0.00,0.000,1030,0.000,0.074,2365,1973,3123,3217,3029,0,0,0,0,0,0,26.06,25.99,26.08
$GC,1067,-0.58,-107.1,2365,1974,3217,3029,206.9,-18.9,170,1076,0.00,2.40,0.00,0.000,260,0.000,0.087,2355,3388,3123,3217,3029,0,0,0,0,0,0,26.34,26.01,26.35
$GC,1152,-0.58,-107.1,2354,3388,3217,3030,222.2,-17.3,184,1161,0.00,2.38,0.00,0.000,1030,0.000,0.072,2355,1970,3123,3217,3029,0,0,0,0,0,0,26.10,26.04,26.13
$GC,1299,-0.58,-107.1,2354,1970,3217,3029,251.0,-20.3,209,1307,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,1970,3123,3217,3029,0,0,0,0,0,0,26.39,26.40,26.39
$GC,1445,-0.58,-107.1,2354,1970,3217,3029,279.7,-19.3,234,1454,0.00,2.40,0.00,0.000,260,0.000,0.086,2345,3388,3123,3217,3030,0,0,0,0,0,0,26.41,26.07,26.42
$GC,1501,-0.58,-107.1,2344,3388,3217,3029,290.2,-17.8,243,1510,0.10,2.35,0.00,0.000,3078,0.178,0.073,2373,1984,3123,3217,3030,0,0,0,0,0,0,26.02,26.10,26.12
$GC,1649,-0.58,-107.1,2373,1984,3217,3029,315.0,-17.0,268,1657,0.00,2.35,0.00,0.000,260,0.000,0.083,2365,3384,3123,3217,3029,0,0,0,0,0,0,26.44,26.10,26.45
$GC,1688,-0.58,-107.1,2364,3384,3217,3029,321.6,-16.5,274,1696,0.00,2.35,0.00,0.000,1030,0.000,0.073,2365,1980,3123,3218,3029,0,0,0,0,0,0,26.18,26.11,26.20
$GC,1835,-0.58,-107.1,2364,1980,3217,3030,347.7,-18.5,299,1843,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,1980,3123,3217,3029,0,0,0,0,0,0,26.45,26.47,26.46
$GC,1981,-0.58,-107.1,2364,1979,3217,3029,374.1,-18.0,324,1989,0.00,2.38,0.00,0.000,260,0.000,0.084,2355,3389,3123,3217,3029,0,0,0,0,0,0,26.47,26.14,26.48
$GC,2026,-0.58,-107.1,2354,3389,3218,3029,381.9,-17.1,331,2035,0.00,2.35,0.00,0.000,1030,0.000,0.073,2355,1981,3123,3217,3029,0,0,0,0,0,0,26.22,26.15,26.26
$GC,2173,-0.58,-107.1,2355,1981,3217,3029,409.0,-18.3,356,2181,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,1981,3123,3217,3029,0,0,0,0,0,0,26.49,26.50,26.50
$GC,2319,-0.58,-107.1,2354,1981,3217,3029,437.0,-19.0,381,2328,0.00,2.38,0.00,0.000,260,0.000,0.083,2345,3396,3123,3217,3029,0,0,0,0,0,0,26.51,26.17,26.51
$GC,2353,-0.58,-107.1,2344,3396,3217,3029,443.4,-18.6,386,2362,0.10,2.38,0.00,0.000,3078,0.176,0.073,2374,1974,3123,3217,3029,0,0,0,0,0,0,26.12,26.20,26.21
$GC,2500,-0.58,-107.1,2373,1973,3218,3029,467.7,-16.4,411,2508,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1973,3123,3217,3029,0,0,0,0,0,0,26.51,26.53,26.53
$GC,2647,-0.58,-107.1,2373,1973,3218,3029,490.9,-15.1,436,2656,0.00,2.38,0.00,0.000,260,0.000,0.086,2366,3384,3123,3217,3029,0,0,0,0,0,0,26.53,26.20,26.54
$GC,2669,-0.58,-107.1,2365,3384,3217,3030,494.4,-15.6,439,2678,0.00,2.35,0.00,0.000,1030,0.000,0.072,2366,1973,3123,3217,3029,0,0,0,0,0,0,26.27,26.23,26.30
$GC,2817,-0.58,-107.1,2365,1972,3217,3029,518.8,-17.1,464,2825,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,1973,3123,3217,3029,0,0,0,0,0,0,26.54,26.55,26.55
$GC,3167,-0.58,-107.1,2365,1973,3217,3029,578.4,-17.0,525,3176,0.00,2.38,0.00,0.000,260,0.000,0.085,2356,3388,3123,3217,3029,0,0,0,0,0,0,26.57,26.23,26.58
$GC,3206,-0.58,-107.1,2355,3388,3217,3029,584.9,-16.6,531,3215,0.00,2.35,0.00,0.000,1030,0.000,0.072,2356,1974,3123,3217,3029,0,0,0,0,0,0,26.32,26.25,26.34
$GC,3557,-0.58,-107.1,2355,1974,3218,3029,648.5,-18.4,592,3566,0.00,2.38,0.00,0.000,260,0.000,0.085,2346,3389,3123,3217,3030,0,0,0,0,0,0,26.59,26.25,26.60
$GC,3607,-0.58,-107.1,2345,3389,3217,3029,657.5,-17.2,600,3617,0.10,2.35,0.00,0.000,3078,0.175,0.073,2375,1977,3123,3217,3029,0,0,0,0,0,0,26.20,26.28,26.29
$GC,3960,-0.58,-107.1,2375,1976,3217,3029,714.6,-15.9,661,3968,0.00,2.38,0.00,0.000,260,0.000,0.085,2367,3392,3123,3217,3029,0,0,0,0,0,0,26.60,26.27,26.62
$GC,3982,-0.58,-107.1,2366,3393,3217,3029,718.2,-16.5,664,3990,0.00,2.35,0.00,0.000,1030,0.000,0.071,2367,1974,3123,3218,3029,0,0,0,0,0,0,26.35,26.28,26.38
$GC,4334,-0.58,-107.1,2366,1974,3217,3029,776.6,-16.5,725,4343,0.00,2.38,0.00,0.000,260,0.000,0.083,2357,3396,3123,3217,3029,0,0,0,0,0,0,26.62,26.29,26.63
$GC,4379,-0.58,-107.1,2356,3396,3217,3029,784.3,-16.0,732,4387,0.00,2.35,0.00,0.000,1030,0.000,0.070,2357,1974,3123,3217,3030,0,0,0,0,0,0,26.36,26.30,26.40
$GC,4730,-0.58,-107.1,2356,1974,3217,3030,844.3,-17.3,793,4739,0.00,2.35,0.00,0.000,260,0.000,0.083,2346,3387,3123,3217,3030,0,0,0,0,0,0,26.63,26.30,26.65
$GC,4780,-0.58,-107.1,2346,3387,3218,3029,852.8,-15.9,801,4790,0.10,2.33,0.00,0.000,3078,0.174,0.071,2377,1981,3123,3218,3029,0,0,0,0,0,0,26.25,26.32,26.34
$GC,5134,-0.58,-107.1,2376,1980,3217,3029,904.7,-14.2,862,5142,0.00,2.35,0.00,0.000,260,0.000,0.086,2368,3386,3123,3217,3029,0,0,0,0,0,0,26.65,26.31,26.65
$GC,5167,-0.58,-107.1,2368,3385,3217,3030,909.6,-14.4,867,5176,0.00,2.33,0.00,0.000,1030,0.000,0.071,2368,1979,3123,3217,3029,0,0,0,0,0,0,26.39,26.32,26.42
$GC,5519,-0.58,-107.1,2368,1980,3218,3030,961.1,-14.5,928,5526,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1979,3123,3217,3029,0,0,0,0,0,0,26.65,26.67,26.67
$STATE,5788,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5788,begin apogee
$GC,5792,-0.14,0.0,2368,1901,3218,3029,1000.0,-14.1,975,5899,0.47,0.00,98.55,1.815,10246,0.164,0.000,2519,1901,2683,2778,2589,0,0,0,0,0,0,26.27,23.91,23.19
$STATE,5900,end apogee,CONTROL_FINISHED_OK
$STATE,5900,begin climb
$GC,5901,0.58,107.1,2519,1901,2777,2589,1005.4,0.0,989,6016,0.75,2.67,104.10,1.768,10756,0.106,0.088,2774,499,2245,2326,2165,0,0,0,0,0,0,24.36,23.41,22.70
$GC,6587,0.78,300.5,2774,499,2310,2159,1002.5,2.1,1104,6785,0.15,2.42,187.15,1.763,11270,0.073,0.073,2836,1900,1458,1554,1363,0,0,0,0,0,0,25.40,25.36,21.78
$GC,7128,0.78,300.5,2836,1900,1546,1346,914.0,19.7,1190,7136,0.00,2.55,0.00,0.000,260,0.000,0.086,2829,3310,1446,1547,1346,0,0,0,0,0,0,25.05,24.73,25.06
$GC,7382,0.78,300.5,2829,3310,1544,1344,865.7,19.4,1234,7391,0.00,2.45,0.00,0.000,1030,0.000,0.075,2838,1919,1444,1544,1344,0,0,0,0,0,0,25.18,25.13,25.22
$GC,7734,0.78,300.5,2838,1918,1544,1342,800.5,18.1,1295,7742,0.00,2.53,0.00,0.000,516,0.000,0.093,2850,491,1443,1544,1342,0,0,0,0,0,0,25.76,25.43,25.77
$GC,7767,0.78,300.5,2849,491,1542,1342,794.3,18.4,1300,7776,0.00,2.45,0.00,0.000,1030,0.000,0.076,2850,1907,1442,1542,1342,0,0,0,0,0,0,25.52,25.46,25.56
$GC,8119,0.78,300.5,2849,1907,1542,1341,728.6,18.4,1361,8127,0.00,2.45,0.00,0.000,260,0.000,0.086,2850,3317,1441,1541,1341,0,0,0,0,0,0,25.98,25.66,26.00
$GC,8147,0.78,300.5,2849,3317,1541,1341,723.3,19.0,1365,8156,0.10,2.42,0.00,0.000,5126,0.211,0.074,2833,1904,1441,1541,1341,0,0,0,0,0,0,25.58,25.67,25.70
$GC,8500,0.78,300.5,2832,1904,1541,1341,664.4,16.4,1426,8508,0.00,2.45,0.00,0.000,516,0.000,0.091,2842,492,1441,1541,1341,0,0,0,0,0,0,26.14,25.81,26.15
$GC,8539,0.78,300.5,2842,492,1540,1341,657.5,17.3,1432,8548,0.00,2.40,0.00,0.000,1030,0.000,0.073,2842,1905,1441,1541,1341,0,0,0,0,0,0,25.89,25.82,25.92
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$STATE,12826,end climb,SURFACE_DEPTH_REACHED
$STATE,12826,begin surface coast
$FINISH,0.2,1.022623
$STATE,12845,end surface coast,CONTROL_FINISHED_OK
$STATE,12845,begin surface
$SM_CCo,12861,87.40,0.193,0,0,638,501.14
$SM_GC,1.06,7.25,2.50,87.40,0.071,0.076,0.193,190,1977,638,-7.44,-0.68,501.14,0,0,0,0,0,0,26.08,26.20,25.78
$IRIDIUM_FIX,-5224.32,-4010.21,211017,060810
$TT8_MAMPS,0.021721,0.214214
$HUMID,59.09
$INTERNAL_PRESSURE,9.20901
$TCM_TEMP,9.10
$XPDR_PINGS,0
$24V_AH,21.78,5.486
$10V_AH,10.16,6.120
$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,18.825,205.975,389.800,87.400,0.000,24.400,42.217,245.853,0.000,0.000,17.898,4800.146,0.000,715.453,7579.414,286.313,0.000,2650.810,0.000,7327.016,0.000,1.006,0.000
$DEVICE_MAMPS,251.685,113.985,1814.580,192.780,0.000,26.010,160.000,223.000,420.000,0.000,32.210,13.130,0.000,13.130,42.340,48.330,0.000,11.590,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1520.324,122.787,7328.945,6843.535,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,48.680,100.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343416
$DATA_FILE_SIZE,140593,2146
$CAP_FILE_SIZE,223311,0
$CFSIZE,259248128,255430656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,211017,131326,-5246.949,-4008.904,39,0.9,39,-6.7,0.9,308.0,9,19.9