version: 66.12
revision: CLOWNFISH
glider: 542
mission: 17
dive: 26
start: 10 22 117 14 50 41
data:
$ID,542
$MISSION,17
$DIVE,26
$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,1
$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,21
$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
$GPS1,221017,144302,-5246.8389,-4009.2566,37,1.0,37,-6.7,0.0,0.0,8,37.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-71.7
$GPS2,221017,145000,-5246.8140,-4009.2532,22,1.1,22,-6.7,0.0,0.0,6,52.9
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,GOCART1
$TGT_LATLONG,-5247.670,-4009.864
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,210.0,1727,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.57,-97.3,154,1985,1040,879,0.0,0.0,0,87,0.00,0.00,-69.55,0.000,16386,0.000,0.000,150,1985,2650,2710,2590,0,0,0,0,0,0,26.05,28.83,26.06
$GC,90,-0.57,-97.3,150,1985,2710,2591,3.6,-4.9,9,115,8.90,2.40,-9.05,0.000,18692,0.250,0.096,2363,3392,3082,3179,2986,0,0,0,0,0,0,25.57,25.36,25.73
$GC,266,-0.57,-97.3,2363,3392,3182,2986,43.0,-18.7,38,274,0.00,2.40,0.00,0.000,1030,0.000,0.072,2364,1977,3083,3181,2986,0,0,0,0,0,0,25.89,25.84,25.94
$GC,322,-0.57,-97.3,2363,1977,3182,2986,54.6,-21.7,47,329,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,1977,3084,3182,2986,0,0,0,0,0,0,26.16,26.17,26.17
$GC,377,-0.57,-97.3,2363,1977,3182,2986,66.9,-22.3,56,385,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1977,3084,3182,2986,0,0,0,0,0,0,26.19,26.20,26.20
$GC,432,-0.57,-97.3,2363,1977,3181,2986,79.1,-21.8,65,440,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1977,3084,3182,2986,0,0,0,0,0,0,26.21,26.22,26.22
$GC,488,-0.57,-97.3,2363,1977,3182,2986,91.2,-22.0,74,496,0.00,2.40,0.00,0.000,260,0.000,0.084,2354,3387,3084,3182,2986,0,0,0,0,0,0,26.22,25.89,26.24
$GC,515,-0.57,-97.3,2353,3387,3182,2986,97.3,-22.2,78,524,0.10,2.38,0.00,0.000,3078,0.184,0.070,2381,1975,3084,3182,2986,0,0,0,0,0,0,25.84,25.92,25.94
$GC,572,-0.57,-97.3,2381,1975,3182,2986,108.3,-19.1,87,580,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1975,3084,3182,2986,0,0,0,0,0,0,26.25,26.26,26.26
$GC,718,-0.57,-97.3,2381,1974,3182,2986,136.2,-18.2,112,726,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1974,3084,3182,2986,0,0,0,0,0,0,26.29,26.31,26.30
$GC,865,-0.57,-97.3,2381,1975,3181,2986,163.4,-19.1,137,873,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1975,3083,3181,2986,0,0,0,0,0,0,26.33,26.34,26.34
$GC,1011,-0.57,-97.3,2381,1975,3182,2986,190.6,-17.8,162,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1975,3084,3182,2986,0,0,0,0,0,0,26.36,26.38,26.37
$GC,1157,-0.57,-97.3,2381,1975,3182,2985,215.9,-17.1,187,1165,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1974,3083,3181,2986,0,0,0,0,0,0,26.39,26.40,26.40
$GC,1304,-0.57,-97.3,2381,1975,3182,2986,240.2,-17.0,212,1312,0.00,2.38,0.00,0.000,260,0.000,0.083,2373,3384,3083,3181,2986,0,0,0,0,0,0,26.41,26.08,26.43
$GC,1332,-0.57,-97.3,2373,3384,3182,2986,245.0,-16.6,216,1340,0.00,2.35,0.00,0.000,1030,0.000,0.072,2373,1980,3083,3181,2986,0,0,0,0,0,0,26.16,26.11,26.20
$GC,1481,-0.57,-97.3,2373,1980,3182,2986,270.1,-17.2,241,1489,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1980,3084,3182,2986,0,0,0,0,0,0,26.44,26.45,26.44
$GC,1627,-0.57,-97.3,2373,1979,3182,2986,295.3,-16.9,266,1635,0.00,2.35,0.00,0.000,260,0.000,0.084,2363,3376,3084,3182,2986,0,0,0,0,0,0,26.46,26.12,26.46
$GC,1660,-0.57,-97.3,2363,3376,3182,2986,301.1,-17.0,271,1669,0.00,2.33,0.00,0.000,1030,0.000,0.071,2363,1980,3084,3182,2986,0,0,0,0,0,0,26.20,26.15,26.24
$GC,1808,-0.57,-97.3,2362,1980,3182,2986,326.5,-17.6,296,1816,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1980,3084,3182,2986,0,0,0,0,0,0,26.47,26.48,26.48
$GC,1954,-0.57,-97.3,2362,1980,3182,2986,351.5,-16.6,321,1962,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1980,3084,3182,2986,0,0,0,0,0,0,26.48,26.50,26.50
$GC,2102,-0.57,-97.3,2362,1980,3181,2986,376.2,-16.9,346,2110,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1980,3083,3181,2986,0,0,0,0,0,0,26.50,26.51,26.51
$GC,2248,-0.57,-97.3,2363,1980,3182,2986,401.0,-16.6,371,2257,0.00,2.35,0.00,0.000,260,0.000,0.086,2353,3378,3084,3182,2986,0,0,0,0,0,0,26.52,26.18,26.53
$GC,2276,-0.57,-97.3,2353,3378,3182,2986,405.7,-16.9,375,2285,0.10,2.33,0.00,0.000,3078,0.176,0.070,2382,1974,3084,3182,2986,0,0,0,0,0,0,26.13,26.20,26.22
$GC,2425,-0.57,-97.3,2381,1974,3181,2986,427.7,-14.5,400,2432,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1974,3084,3182,2986,0,0,0,0,0,0,26.53,26.54,26.53
$GC,2570,-0.57,-97.3,2381,1974,3182,2986,449.2,-14.9,425,2578,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1974,3083,3181,2986,0,0,0,0,0,0,26.53,26.55,26.55
$GC,2717,-0.57,-97.3,2381,1974,3182,2986,470.6,-14.5,450,2725,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1974,3083,3181,2986,0,0,0,0,0,0,26.55,26.56,26.56
$GC,2865,-0.57,-97.3,2381,1974,3182,2986,491.7,-14.2,475,2873,0.00,2.38,0.00,0.000,260,0.000,0.084,2374,3390,3084,3182,2986,0,0,0,0,0,0,26.56,26.23,26.57
$GC,2904,-0.57,-97.3,2373,3390,3181,2986,497.3,-13.7,481,2912,0.00,2.33,0.00,0.000,1030,0.000,0.070,2374,1985,3083,3181,2985,0,0,0,0,0,0,26.29,26.24,26.33
$GC,3052,-0.57,-97.3,2373,1985,3181,2986,518.5,-14.2,506,3059,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1985,3084,3182,2986,0,0,0,0,0,0,26.56,26.58,26.58
$GC,3403,-0.57,-97.3,2373,1985,3182,2986,570.1,-14.2,567,3412,0.00,2.35,0.00,0.000,260,0.000,0.083,2364,3391,3083,3181,2986,0,0,0,0,0,0,26.59,26.27,26.60
$GC,3460,-0.57,-97.3,2363,3391,3181,2986,578.3,-13.6,576,3468,0.00,2.33,0.00,0.000,1030,0.000,0.069,2364,1981,3084,3182,2986,0,0,0,0,0,0,26.34,26.27,26.35
$GC,3812,-0.57,-97.3,2364,1980,3182,2986,634.2,-16.5,637,3820,0.00,2.35,0.00,0.000,260,0.000,0.083,2354,3388,3084,3182,2986,0,0,0,0,0,0,26.60,26.27,26.62
$GC,3856,-0.57,-97.3,2353,3388,3182,2986,641.4,-15.9,644,3865,0.10,2.33,0.00,0.000,3078,0.171,0.069,2383,1980,3084,3182,2986,0,0,0,0,0,0,26.22,26.29,26.32
$GC,4210,-0.57,-97.3,2382,1980,3181,2986,691.3,-14.1,705,4218,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1980,3084,3182,2986,0,0,0,0,0,0,26.62,26.63,26.63
$GC,4561,-0.57,-97.3,2382,1980,3181,2986,741.3,-14.1,766,4569,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1980,3084,3182,2986,0,0,0,0,0,0,26.64,26.65,26.65
$GC,4913,-0.57,-97.3,2382,1980,3181,2986,791.6,-14.3,827,4920,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1980,3083,3181,2986,0,0,0,0,0,0,26.65,26.67,26.66
$GC,5265,-0.57,-97.3,2382,1980,3181,2986,840.6,-13.5,888,5273,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1979,3084,3182,2986,0,0,0,0,0,0,26.66,26.67,26.67
$GC,5617,-0.57,-97.3,2383,1979,3181,2986,888.6,-13.5,949,5625,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1980,3084,3182,2986,0,0,0,0,0,0,26.67,26.69,26.69
$GC,5968,-0.57,-97.3,2382,1980,3182,2986,936.1,-13.8,1010,5975,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1979,3083,3181,2986,0,0,0,0,0,0,26.68,26.70,26.70
$GC,6318,-0.57,-97.3,2382,1980,3182,2986,984.8,-13.8,1071,6326,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1980,3084,3182,2986,0,0,0,0,0,0,26.70,26.71,26.70
$STATE,6429,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6429,begin apogee
$GC,6433,-0.14,0.0,2383,1888,3182,2986,1000.2,-13.7,1090,6533,0.40,0.00,90.07,1.824,10246,0.159,0.000,2516,1888,2683,2775,2591,0,0,0,0,0,0,26.31,23.95,23.23
$STATE,6534,end apogee,CONTROL_FINISHED_OK
$STATE,6534,begin climb
$GC,6535,0.57,97.3,2515,1888,2774,2591,1006.5,0.0,1103,6643,0.77,2.62,94.72,1.765,10756,0.113,0.086,2775,501,2284,2360,2209,0,0,0,0,0,0,24.39,23.63,22.72
$GC,6680,0.91,434.8,2774,501,2352,2207,1013.0,-3.7,1123,7036,0.25,2.53,346.92,1.740,11270,0.062,0.071,2869,1895,909,996,823,0,0,0,0,0,0,24.28,24.25,21.44
$GC,7379,0.91,434.8,2868,1895,993,811,874.3,25.5,1230,7388,0.00,2.55,0.00,0.000,260,0.000,0.083,2869,3309,902,993,811,0,0,0,0,0,0,25.00,24.68,25.01
$GC,7475,0.91,434.8,2868,3308,993,811,851.1,23.5,1246,7484,0.00,2.47,0.00,0.000,1030,0.000,0.074,2879,1919,902,993,811,0,0,0,0,0,0,24.94,24.87,24.96
$GC,7827,0.91,434.8,2879,1919,993,809,760.9,26.3,1307,7835,0.00,2.53,0.00,0.000,516,0.000,0.090,2891,493,901,993,809,0,0,0,0,0,0,25.63,25.29,25.63
$GC,7917,0.91,434.8,2890,493,990,809,737.5,25.1,1322,7925,0.00,2.45,0.00,0.000,1030,0.000,0.073,2891,1910,899,990,809,0,0,0,0,0,0,25.45,25.39,25.49
$GC,8267,0.91,434.8,2890,1910,989,808,641.6,28.5,1383,8275,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1909,899,990,808,0,0,0,0,0,0,25.94,25.96,25.95
$GC,8618,0.91,434.8,2890,1909,989,807,546.0,26.9,1444,8627,0.00,2.47,0.00,0.000,516,0.000,0.090,2901,488,898,990,807,0,0,0,0,0,0,26.10,25.77,26.11
$GC,8646,0.91,434.8,2900,488,989,807,538.2,27.9,1448,8655,0.10,2.40,0.00,0.000,5126,0.197,0.073,2874,1901,898,989,807,0,0,0,0,0,0,25.70,25.79,25.82
$GC,8999,0.91,434.8,2873,1902,989,806,452.3,23.8,1509,9007,0.00,2.42,0.00,0.000,260,0.000,0.084,2874,3318,897,989,806,0,0,0,0,0,0,26.22,25.89,26.23
$GC,9027,0.91,434.8,2873,3318,989,806,445.6,24.2,1513,9035,0.00,2.40,0.00,0.000,1030,0.000,0.071,2883,1899,898,990,806,0,0,0,0,0,0,25.96,25.91,26.00
$GC,9174,0.91,434.8,2882,1899,989,806,410.1,24.2,1538,9182,0.00,2.42,0.00,0.000,516,0.000,0.090,2894,489,897,989,806,0,0,0,0,0,0,26.26,25.94,26.27
$GC,9202,0.91,434.8,2893,489,989,807,403.1,25.3,1542,9210,0.00,2.40,0.00,0.000,1030,0.000,0.071,2894,1916,898,990,806,0,0,0,0,0,0,26.03,25.95,26.04
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$STATE,10964,end climb,SURFACE_DEPTH_REACHED
$STATE,10964,begin surface coast
$FINISH,0.2,1.022641
$STATE,10977,end surface coast,CONTROL_FINISHED_OK
$STATE,10977,begin surface
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$IRIDIUM_FIX,-5227.86,-4010.21,221017,113411
$TT8_MAMPS,0.021721,0.241178
$HUMID,60.78
$INTERNAL_PRESSURE,9.23831
$TCM_TEMP,9.20
$XPDR_PINGS,0
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$10V_AH,10.14,9.589
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,17.925,82.075,531.725,0.000,0.000,23.253,22.020,243.058,0.000,0.000,23.283,4040.357,60.557,597.009,6522.956,248.318,0.000,2273.391,0.000,6278.086,0.000,1.004,0.000
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$MEM,343432
$DATA_FILE_SIZE,120616,1838
$CAP_FILE_SIZE,173589,0
$CFSIZE,259248128,254578688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,221017,175603,-5248.327,-4010.696,40,0.9,40,-6.6,0.0,0.0,8,11.2