version: 66.12
revision: CLOWNFISH
glider: 542
mission: 17
dive: 18
start: 10 21 117 13 22 37
data:
$ID,542
$MISSION,17
$DIVE,18
$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,100
$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,200
$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,16
$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
$GPS1,211017,131326,-5246.9487,-4008.9043,39,0.9,39,-6.7,0.9,308.0,9,19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-59.9
$GPS2,211017,132157,-5246.9048,-4008.8599,19,0.9,19,-6.7,1.4,62.3,8,25.2
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,GOCART1
$TGT_LATLONG,-5247.670,-4009.864
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,225.1,1809,-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,-0.57,-97.3,189,1979,595,623,0.0,0.0,0,101,0.00,0.00,-83.72,0.000,16386,0.000,0.000,190,1981,2576,2646,2507,0,0,0,0,0,0,25.88,28.83,25.89
$GC,104,-0.57,-97.3,189,1980,2646,2507,3.2,-4.2,11,128,8.82,0.00,-11.32,0.000,18694,0.249,0.000,2377,1978,3081,3183,2979,0,0,0,0,0,0,25.46,24.93,25.60
$GC,176,-0.57,-97.3,2377,1978,3187,2980,20.3,-20.9,22,185,0.00,2.47,0.00,0.000,260,0.000,0.089,2368,3389,3083,3187,2980,0,0,0,0,0,0,25.97,25.64,25.98
$GC,198,-0.57,-97.3,2367,3389,3186,2980,24.9,-21.2,25,207,0.00,2.42,0.00,0.000,1030,0.000,0.074,2368,1974,3083,3187,2980,0,0,0,0,0,0,25.73,25.67,25.76
$GC,254,-0.57,-97.3,2367,1974,3187,2980,36.3,-21.4,34,262,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1974,3083,3187,2980,0,0,0,0,0,0,26.02,26.03,26.03
$GC,309,-0.57,-97.3,2368,1974,3187,2980,48.5,-21.9,43,317,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1974,3083,3187,2980,0,0,0,0,0,0,26.06,26.07,26.06
$GC,365,-0.57,-97.3,2368,1974,3187,2980,61.2,-23.1,52,373,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1974,3083,3187,2980,0,0,0,0,0,0,26.08,26.10,26.10
$GC,420,-0.57,-97.3,2367,1974,3187,2980,73.6,-21.8,61,428,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1974,3083,3187,2980,0,0,0,0,0,0,26.11,26.13,26.12
$GC,476,-0.57,-97.3,2368,1974,3187,2980,85.6,-21.6,70,483,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1974,3083,3187,2980,0,0,0,0,0,0,26.14,26.15,26.15
$GC,531,-0.57,-97.3,2368,1974,3186,2980,98.1,-22.2,79,539,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1974,3083,3187,2980,0,0,0,0,0,0,26.17,26.17,26.17
$GC,586,-0.57,-97.3,2367,1974,3187,2980,110.6,-22.2,88,594,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1974,3083,3187,2980,0,0,0,0,0,0,26.18,26.20,26.20
$GC,735,-0.57,-97.3,2367,1974,3187,2980,141.6,-21.5,113,743,0.00,2.42,0.00,0.000,260,0.000,0.087,2358,3389,3083,3187,2979,0,0,0,0,0,0,26.24,25.90,26.25
$GC,791,-0.57,-97.3,2357,3389,3187,2980,153.2,-18.8,122,799,0.00,2.40,0.00,0.000,1030,0.000,0.074,2358,1971,3083,3187,2980,0,0,0,0,0,0,25.99,25.94,26.03
$GC,938,-0.57,-97.3,2357,1971,3187,2980,183.9,-20.8,147,947,0.08,0.00,0.00,0.000,2054,0.215,0.000,2382,1970,3083,3187,2980,0,0,0,0,0,0,25.90,26.05,26.00
$GC,1085,-0.57,-97.3,2382,1970,3187,2980,211.4,-19.1,172,1093,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1970,3083,3187,2980,0,0,0,0,0,0,26.33,26.34,26.34
$GC,1232,-0.57,-97.3,2382,1970,3187,2980,238.5,-17.9,197,1240,0.00,2.42,0.00,0.000,260,0.000,0.087,2373,3392,3083,3187,2980,0,0,0,0,0,0,26.36,26.02,26.37
$GC,1259,-0.57,-97.3,2373,3392,3187,2980,243.5,-17.9,201,1268,0.00,2.38,0.00,0.000,1030,0.000,0.074,2374,1981,3083,3187,2980,0,0,0,0,0,0,26.10,26.03,26.13
$GC,1406,-0.57,-97.3,2373,1981,3187,2980,270.5,-18.3,226,1415,0.00,2.38,0.00,0.000,260,0.000,0.085,2364,3385,3083,3187,2980,0,0,0,0,0,0,26.39,26.05,26.40
$GC,1446,-0.57,-97.3,2363,3385,3187,2980,277.9,-18.0,232,1455,0.00,2.35,0.00,0.000,1030,0.000,0.072,2364,1982,3083,3187,2980,0,0,0,0,0,0,26.13,26.07,26.17
$GC,1594,-0.57,-97.3,2363,1982,3187,2981,305.9,-19.6,257,1602,0.00,2.38,0.00,0.000,516,0.000,0.087,2364,579,3083,3187,2980,0,0,0,0,0,0,26.41,26.08,26.42
$GC,1616,-0.57,-97.3,2363,578,3187,2980,310.3,-19.7,260,1625,0.10,2.35,0.00,0.000,3078,0.190,0.074,2381,1979,3083,3187,2980,0,0,0,0,0,0,26.01,26.08,26.10
$GC,1764,-0.57,-97.3,2381,1979,3187,2980,335.6,-16.8,285,1772,0.00,2.38,0.00,0.000,260,0.000,0.086,2372,3385,3083,3187,2980,0,0,0,0,0,0,26.43,26.09,26.44
$GC,1803,-0.57,-97.3,2372,3385,3187,2980,341.8,-15.9,291,1811,0.00,2.35,0.00,0.000,1030,0.000,0.072,2372,1980,3083,3187,2980,0,0,0,0,0,0,26.17,26.10,26.20
$GC,1951,-0.57,-97.3,2372,1980,3187,2980,366.7,-17.5,316,1959,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,1979,3083,3187,2980,0,0,0,0,0,0,26.45,26.46,26.46
$GC,2098,-0.57,-97.3,2372,1980,3187,2980,392.4,-16.9,341,2106,0.00,2.38,0.00,0.000,260,0.000,0.087,2362,3385,3083,3187,2980,0,0,0,0,0,0,26.47,26.13,26.48
$GC,2137,-0.57,-97.3,2362,3385,3187,2980,399.1,-16.8,347,2146,0.00,2.35,0.00,0.000,1030,0.000,0.072,2362,1971,3083,3186,2980,0,0,0,0,0,0,26.22,26.15,26.25
$GC,2285,-0.57,-97.3,2362,1971,3187,2980,424.7,-17.6,372,2292,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1971,3083,3186,2980,0,0,0,0,0,0,26.48,26.50,26.50
$GC,2431,-0.57,-97.3,2361,1971,3187,2980,450.4,-17.7,397,2439,0.00,2.38,0.00,0.000,260,0.000,0.083,2352,3389,3083,3187,2980,0,0,0,0,0,0,26.50,26.17,26.51
$GC,2470,-0.57,-97.3,2352,3389,3187,2980,457.0,-16.9,403,2479,0.10,2.35,0.00,0.000,3078,0.175,0.070,2381,1974,3083,3187,2980,0,0,0,0,0,0,26.11,26.17,26.20
$GC,2618,-0.57,-97.3,2380,1974,3187,2980,479.1,-15.0,428,2626,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1974,3083,3187,2980,0,0,0,0,0,0,26.51,26.53,26.52
$GC,2765,-0.57,-97.3,2381,1974,3187,2980,500.5,-14.4,453,2773,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1974,3083,3187,2980,0,0,0,0,0,0,26.53,26.54,26.53
$GC,3117,-0.57,-97.3,2380,1974,3187,2980,553.3,-15.3,514,3124,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1974,3083,3187,2980,0,0,0,0,0,0,26.55,26.57,26.57
$GC,3468,-0.57,-97.3,2380,1974,3187,2980,607.0,-15.0,575,3475,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1974,3083,3187,2980,0,0,0,0,0,0,26.58,26.60,26.60
$GC,3818,-0.57,-97.3,2381,1974,3187,2980,660.4,-15.5,636,3827,0.00,2.38,0.00,0.000,260,0.000,0.087,2373,3388,3083,3187,2980,0,0,0,0,0,0,26.61,26.27,26.62
$GC,3852,-0.57,-97.3,2372,3388,3187,2980,665.5,-14.9,641,3861,0.00,2.35,0.00,0.000,1030,0.000,0.073,2373,1974,3083,3187,2980,0,0,0,0,0,0,26.34,26.29,26.38
$GC,4203,-0.57,-97.3,2372,1974,3187,2980,720.1,-15.0,702,4211,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1974,3083,3187,2980,0,0,0,0,0,0,26.62,26.63,26.63
$GC,4554,-0.57,-97.3,2372,1974,3187,2980,771.9,-14.8,763,4563,0.00,2.38,0.00,0.000,260,0.000,0.085,2363,3392,3083,3187,2980,0,0,0,0,0,0,26.64,26.31,26.65
$GC,4588,-0.57,-97.3,2362,3392,3187,2980,776.9,-14.4,768,4596,0.00,2.33,0.00,0.000,1030,0.000,0.071,2362,1984,3083,3187,2980,0,0,0,0,0,0,26.38,26.31,26.41
$GC,4941,-0.57,-97.3,2362,1984,3187,2980,831.6,-15.5,829,4949,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,1984,3083,3187,2980,0,0,0,0,0,0,26.65,26.66,26.66
$GC,5292,-0.57,-97.3,2362,1984,3187,2980,886.3,-15.7,890,5301,0.00,2.35,0.00,0.000,260,0.000,0.084,2353,3391,3083,3187,2980,0,0,0,0,0,0,26.66,26.33,26.67
$GC,5315,-0.57,-97.3,2352,3391,3187,2980,889.9,-15.8,893,5324,0.10,2.35,0.00,0.000,3078,0.174,0.072,2381,1972,3083,3186,2980,0,0,0,0,0,0,26.27,26.34,26.36
$GC,5668,-0.57,-97.3,2380,1972,3186,2980,938.6,-14.0,954,5675,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1972,3083,3187,2980,0,0,0,0,0,0,26.67,26.68,26.68
$GC,6018,-0.57,-97.3,2381,1972,3187,2980,986.1,-13.4,1015,6026,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1972,3083,3187,2980,0,0,0,0,0,0,26.68,26.70,26.69
$STATE,6124,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6124,begin apogee
$GC,6128,-0.14,0.0,2381,1896,3187,2980,1000.4,-13.4,1033,6227,0.43,0.00,89.97,1.810,10246,0.161,0.000,2521,1895,2682,2780,2585,0,0,0,0,0,0,26.29,23.94,23.22
$STATE,6228,end apogee,CONTROL_FINISHED_OK
$STATE,6228,begin climb
$GC,6229,0.57,97.3,2521,1895,2780,2586,1005.9,0.0,1046,6337,0.75,2.62,94.47,1.764,10756,0.117,0.087,2770,503,2285,2363,2207,0,0,0,0,0,0,24.38,23.70,22.79
$GC,6374,0.89,418.3,2769,503,2356,2205,1011.3,-3.1,1066,6715,0.28,2.53,326.90,1.735,11270,0.068,0.071,2868,1902,978,1086,871,0,0,0,0,0,0,24.37,24.35,21.48
$GC,7060,0.89,418.3,2868,1902,1083,855,870.6,25.7,1171,7068,0.00,2.55,0.00,0.000,260,0.000,0.086,2868,3308,969,1083,856,0,0,0,0,0,0,25.01,24.68,25.02
$GC,7184,0.89,418.3,2868,3309,1081,855,839.2,23.9,1192,7192,0.00,2.50,0.00,0.000,1030,0.000,0.077,2879,1909,968,1081,855,0,0,0,0,0,0,24.97,24.91,25.01
$GC,7536,0.89,418.3,2878,1909,1079,854,745.7,26.7,1253,7545,0.00,2.53,0.00,0.000,516,0.000,0.092,2890,488,967,1080,854,0,0,0,0,0,0,25.64,25.32,25.65
$GC,7615,0.89,418.3,2890,488,1078,854,724.2,26.7,1266,7623,0.00,2.45,0.00,0.000,1030,0.000,0.076,2890,1901,966,1078,854,0,0,0,0,0,0,25.46,25.39,25.48
$GC,7968,0.89,418.3,2889,1901,1077,854,627.5,27.4,1327,7976,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1901,965,1077,854,0,0,0,0,0,0,25.94,25.95,25.95
$GC,8318,0.89,418.3,2889,1901,1077,853,532.0,26.5,1388,8327,0.00,2.45,0.00,0.000,516,0.000,0.091,2900,492,965,1078,853,0,0,0,0,0,0,26.10,25.77,26.11
$GC,8346,0.89,418.3,2899,492,1077,853,524.4,27.3,1392,8356,0.12,2.40,0.00,0.000,5126,0.203,0.076,2867,1899,965,1077,853,0,0,0,0,0,0,25.70,25.81,25.81
$GC,8700,0.89,418.3,2866,1900,1077,852,439.5,24.0,1453,8709,0.00,2.42,0.00,0.000,516,0.000,0.090,2876,495,964,1077,852,0,0,0,0,0,0,26.22,25.89,26.23
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$STATE,10749,end climb,SURFACE_DEPTH_REACHED
$STATE,10749,begin surface coast
$FINISH,0.2,1.022603
$STATE,10763,end surface coast,CONTROL_FINISHED_OK
$STATE,10763,begin surface
$SM_CCo,10837,0.00,0.000,0,0,961,422.40
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$IRIDIUM_FIX,-5227.86,-4010.21,211017,093012
$TT8_MAMPS,0.021721,0.216461
$HUMID,60.94
$INTERNAL_PRESSURE,9.23831
$TCM_TEMP,9.20
$XPDR_PINGS,0
$24V_AH,21.48,5.760
$10V_AH,10.15,6.503
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.100,96.550,511.350,0.000,0.000,23.244,43.458,313.732,0.000,0.000,20.477,3957.992,60.240,609.772,6470.212,239.887,0.000,2276.834,0.000,6139.131,0.000,1.005,0.000
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$SENSOR_MAMPS,23.970,8.990,48.680,100.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343428
$DATA_FILE_SIZE,116879,1797
$CAP_FILE_SIZE,177690,0
$CFSIZE,259248128,255381504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,211017,162426,-5247.767,-4011.192,42,0.8,42,-6.6,1.0,217.3,10,89.3