version: 66.12
revision: CLOWNFISH
glider: 542
mission: 17
dive: 29
start: 10 23 117 0 47 15
data:
$ID,542
$MISSION,17
$DIVE,29
$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,90
$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,180
$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,10
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3955
$C_VBD,2705
$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
$GPS1,231017,003650,-5248.5132,-4010.3313,39,0.9,39,-6.6,0.0,0.0,10,13.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-67.0
$GPS2,231017,004634,-5248.4780,-4010.1448,16,0.8,17,-6.6,1.3,119.5,11,16.0
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,GOCART1
$TGT_LATLONG,-5247.670,-4009.864
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,18.5,1529,-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,-0.56,-87.6,137,1992,1034,874,0.0,0.0,0,86,0.00,0.00,-69.07,0.000,16386,0.000,0.000,137,1991,2594,2660,2529,0,0,0,0,0,0,25.90,28.83,25.91
$GC,89,-0.56,-87.6,137,1991,2660,2531,3.1,-2.4,9,115,9.20,2.47,-10.27,0.000,18948,0.257,0.094,2377,560,3065,3166,2965,0,0,0,0,0,0,25.46,24.87,25.60
$GC,213,-0.56,-87.6,2376,560,3170,2965,30.6,-17.7,29,222,0.00,2.40,0.00,0.000,1030,0.000,0.073,2369,1967,3067,3170,2965,0,0,0,0,0,0,25.76,25.69,25.79
$GC,270,-0.56,-87.6,2367,1967,3170,2965,42.0,-21.9,38,278,0.00,2.42,0.00,0.000,260,0.000,0.084,2358,3383,3067,3170,2965,0,0,0,0,0,0,26.04,25.71,26.06
$GC,297,-0.56,-87.6,2357,3383,3170,2965,48.5,-23.1,42,307,0.10,2.40,0.00,0.000,3078,0.182,0.069,2386,1964,3067,3170,2965,0,0,0,0,0,0,25.67,25.75,25.77
$GC,354,-0.56,-87.6,2385,1964,3170,2965,59.1,-18.9,51,363,0.00,2.38,0.00,0.000,516,0.000,0.083,2386,573,3067,3170,2965,0,0,0,0,0,0,26.08,25.75,26.10
$GC,371,-0.56,-87.6,2385,572,3170,2966,62.3,-18.9,53,379,0.00,2.38,0.00,0.000,1030,0.000,0.073,2377,1974,3067,3170,2965,0,0,0,0,0,0,25.84,25.77,25.86
$GC,427,-0.56,-87.6,2377,1974,3170,2965,73.3,-20.0,62,436,0.00,2.40,0.00,0.000,260,0.000,0.083,2366,3383,3067,3170,2965,0,0,0,0,0,0,26.11,25.78,26.12
$GC,449,-0.56,-87.6,2366,3383,3170,2965,78.0,-20.4,65,458,0.00,2.38,0.00,0.000,1030,0.000,0.068,2367,1973,3067,3170,2965,0,0,0,0,0,0,25.86,25.79,25.90
$GC,506,-0.56,-87.6,2366,1973,3170,2966,89.5,-20.9,74,515,0.00,2.38,0.00,0.000,516,0.000,0.084,2366,578,3067,3170,2965,0,0,0,0,0,0,26.15,25.82,26.15
$GC,523,-0.56,-87.6,2366,577,3170,2966,93.0,-21.0,76,532,0.10,2.38,0.00,0.000,3078,0.194,0.071,2383,1983,3068,3170,2966,0,0,0,0,0,0,25.74,25.82,25.84
$GC,580,-0.56,-87.6,2382,1984,3170,2965,103.9,-18.7,85,588,0.00,2.40,0.00,0.000,260,0.000,0.083,2374,3392,3067,3170,2965,0,0,0,0,0,0,26.17,25.84,26.17
$GC,619,-0.56,-87.6,2373,3392,3171,2965,111.2,-18.6,91,627,0.00,2.38,0.00,0.000,1030,0.000,0.069,2374,1977,3067,3170,2965,0,0,0,0,0,0,25.93,25.86,25.96
$GC,767,-0.56,-87.6,2373,1977,3170,2965,140.2,-20.4,116,775,0.00,2.40,0.00,0.000,516,0.000,0.085,2374,567,3068,3170,2966,0,0,0,0,0,0,26.23,25.89,26.24
$GC,789,-0.56,-87.6,2374,566,3170,2965,145.2,-20.9,119,797,0.00,2.38,0.00,0.000,1030,0.000,0.073,2364,1975,3068,3170,2966,0,0,0,0,0,0,25.98,25.91,26.01
$GC,936,-0.56,-87.6,2363,1975,3170,2965,174.4,-19.8,144,945,0.00,2.40,0.00,0.000,260,0.000,0.084,2353,3391,3067,3170,2965,0,0,0,0,0,0,26.27,25.94,26.28
$GC,1003,-0.56,-87.6,2353,3391,3170,2966,187.5,-18.1,155,1013,0.10,2.35,0.00,0.000,3078,0.181,0.069,2382,1983,3067,3170,2965,0,0,0,0,0,0,25.89,25.99,26.00
$GC,1151,-0.56,-87.6,2381,1982,3170,2965,213.0,-17.4,180,1160,0.00,2.40,0.00,0.000,516,0.000,0.086,2382,568,3068,3170,2966,0,0,0,0,0,0,26.32,25.99,26.33
$GC,1173,-0.56,-87.6,2381,568,3170,2965,217.0,-17.0,183,1182,0.00,2.38,0.00,0.000,1030,0.000,0.073,2374,1978,3067,3170,2965,0,0,0,0,0,0,26.07,26.00,26.09
$GC,1322,-0.56,-87.6,2373,1978,3170,2965,243.2,-17.6,208,1331,0.00,2.40,0.00,0.000,260,0.000,0.084,2363,3386,3067,3170,2965,0,0,0,0,0,0,26.35,26.03,26.36
$GC,1372,-0.56,-87.6,2362,3385,3170,2965,252.2,-16.4,216,1381,0.00,2.35,0.00,0.000,1030,0.000,0.070,2363,1977,3067,3170,2965,0,0,0,0,0,0,26.12,26.05,26.13
$GC,1520,-0.56,-87.6,2362,1976,3170,2965,279.2,-18.5,241,1528,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1977,3067,3170,2965,0,0,0,0,0,0,26.39,26.39,26.39
$GC,1666,-0.56,-87.6,2362,1977,3170,2965,306.3,-19.0,266,1674,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1977,3067,3170,2965,0,0,0,0,0,0,26.41,26.42,26.42
$GC,1812,-0.56,-87.6,2362,1977,3170,2965,332.9,-18.4,291,1820,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1977,3067,3170,2965,0,0,0,0,0,0,26.43,26.44,26.44
$GC,1958,-0.56,-87.6,2362,1977,3170,2965,359.5,-18.7,316,1966,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1977,3068,3170,2966,0,0,0,0,0,0,26.45,26.46,26.46
$GC,2106,-0.56,-87.6,2362,1977,3170,2965,385.7,-17.4,341,2114,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1977,3067,3170,2965,0,0,0,0,0,0,26.47,26.48,26.48
$GC,2253,-0.56,-87.6,2362,1977,3170,2965,411.7,-17.1,366,2261,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1977,3067,3170,2965,0,0,0,0,0,0,26.48,26.50,26.50
$GC,2400,-0.56,-87.6,2362,1976,3170,2965,437.2,-17.1,391,2408,0.00,2.38,0.00,0.000,260,0.000,0.086,2353,3388,3067,3170,2965,0,0,0,0,0,0,26.50,26.17,26.51
$GC,2428,-0.56,-87.6,2352,3388,3170,2965,442.1,-17.5,395,2437,0.10,2.35,0.00,0.000,3078,0.177,0.071,2382,1973,3067,3170,2965,0,0,0,0,0,0,26.10,26.18,26.20
$GC,2575,-0.56,-87.6,2382,1973,3170,2965,464.0,-14.3,420,2583,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,1973,3067,3170,2965,0,0,0,0,0,0,26.51,26.53,26.52
$GC,2722,-0.56,-87.6,2382,1973,3170,2965,485.6,-14.9,445,2731,0.00,2.38,0.00,0.000,260,0.000,0.084,2374,3388,3067,3170,2965,0,0,0,0,0,0,26.52,26.19,26.53
$GC,2744,-0.56,-87.6,2373,3388,3170,2965,489.0,-14.8,448,2753,0.00,2.35,0.00,0.000,1030,0.000,0.070,2374,1975,3067,3170,2965,0,0,0,0,0,0,26.27,26.23,26.29
$GC,2892,-0.56,-87.6,2373,1975,3170,2965,512.2,-15.9,473,2900,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1975,3067,3170,2965,0,0,0,0,0,0,26.53,26.55,26.54
$GC,3242,-0.56,-87.6,2373,1975,3170,2965,568.2,-15.5,534,3251,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1975,3067,3170,2965,0,0,0,0,0,0,26.56,26.57,26.57
$GC,3595,-0.56,-87.6,2373,1975,3170,2965,621.7,-15.0,595,3603,0.00,2.38,0.00,0.000,260,0.000,0.083,2364,3393,3067,3169,2965,0,0,0,0,0,0,26.58,26.26,26.60
$GC,3623,-0.56,-87.6,2363,3393,3170,2965,626.1,-15.5,599,3631,0.00,2.35,0.00,0.000,1030,0.000,0.070,2364,1975,3067,3169,2966,0,0,0,0,0,0,26.33,26.27,26.39
$GC,3974,-0.56,-87.6,2363,1975,3170,2966,682.0,-15.8,660,3982,0.00,2.35,0.00,0.000,516,0.000,0.086,2364,573,3067,3170,2965,0,0,0,0,0,0,26.60,26.27,26.61
$GC,4001,-0.56,-87.6,2363,573,3170,2965,686.5,-16.2,664,4010,0.10,2.33,0.00,0.000,3078,0.183,0.071,2382,1978,3067,3170,2965,0,0,0,0,0,0,26.20,26.28,26.30
$GC,4355,-0.56,-87.6,2381,1978,3170,2965,736.1,-14.0,725,4363,0.00,2.40,0.00,0.000,260,0.000,0.085,2373,3397,3067,3170,2965,0,0,0,0,0,0,26.61,26.28,26.62
$GC,4439,-0.56,-87.6,2372,3397,3170,2965,747.9,-13.3,739,4447,0.00,2.33,0.00,0.000,1030,0.000,0.068,2373,1988,3067,3170,2965,0,0,0,0,0,0,26.39,26.30,26.39
$GC,4790,-0.56,-87.6,2372,1988,3170,2965,801.1,-14.8,800,4799,0.00,2.38,0.00,0.000,516,0.000,0.085,2373,568,3067,3170,2965,0,0,0,0,0,0,26.63,26.29,26.64
$GC,4820,-0.56,-87.6,2372,568,3170,2966,805.6,-15.5,804,4828,0.00,2.33,0.00,0.000,1030,0.000,0.071,2363,1976,3067,3170,2965,0,0,0,0,0,0,26.36,26.30,26.39
$GC,5171,-0.56,-87.6,2362,1976,3170,2965,859.2,-15.1,865,5180,0.00,2.35,0.00,0.000,260,0.000,0.084,2353,3384,3068,3170,2966,0,0,0,0,0,0,26.63,26.29,26.65
$GC,5261,-0.56,-87.6,2352,3384,3170,2965,872.5,-14.5,880,5270,0.10,2.33,0.00,0.000,3078,0.174,0.070,2381,1975,3067,3170,2965,0,0,0,0,0,0,26.25,26.32,26.34
$GC,5615,-0.56,-87.6,2381,1976,3170,2965,919.8,-13.1,941,5623,0.00,2.35,0.00,0.000,516,0.000,0.085,2382,569,3067,3170,2965,0,0,0,0,0,0,26.65,26.32,26.66
$GC,5648,-0.56,-87.6,2381,569,3170,2965,924.5,-13.8,946,5657,0.00,2.33,0.00,0.000,1030,0.000,0.072,2374,1976,3068,3170,2966,0,0,0,0,0,0,26.39,26.32,26.42
$GC,6000,-0.56,-87.6,2373,1977,3170,2965,971.8,-13.4,1007,6008,0.00,2.35,0.00,0.000,260,0.000,0.085,2362,3385,3067,3170,2965,0,0,0,0,0,0,26.65,26.32,26.67
$GC,6084,-0.56,-87.6,2362,3385,3170,2965,983.0,-12.8,1021,6093,0.00,2.33,0.00,0.000,1030,0.000,0.070,2363,1977,3067,3170,2965,0,0,0,0,0,0,26.41,26.34,26.44
$STATE,6202,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6202,begin apogee
$GC,6207,-0.14,0.0,2362,1898,3170,2966,1000.1,-14.8,1041,6298,0.50,0.00,81.90,1.808,10246,0.165,0.000,2522,1897,2702,2802,2603,0,0,0,0,0,0,26.26,23.99,23.27
$STATE,6299,end apogee,CONTROL_FINISHED_OK
$STATE,6299,begin climb
$GC,6301,0.56,87.6,2521,1897,2801,2603,1005.8,0.0,1053,6393,0.75,2.65,84.95,1.755,10756,0.111,0.086,2774,499,2347,2422,2272,0,0,0,0,0,0,24.45,23.74,22.82
$GC,6436,0.92,440.6,2774,499,2411,2271,1012.0,-4.4,1072,6808,0.28,2.53,360.75,1.728,11270,0.061,0.072,2880,1894,908,995,821,0,0,0,0,0,0,24.39,24.35,21.44
$GC,7151,0.92,440.6,2880,1894,991,809,863.5,26.7,1181,7160,0.00,2.58,0.00,0.000,260,0.000,0.086,2881,3313,900,992,809,0,0,0,0,0,0,25.01,24.68,25.01
$GC,7264,0.92,440.6,2880,3313,991,809,834.0,26.2,1200,7273,0.00,2.47,0.00,0.000,1030,0.000,0.073,2891,1918,900,991,809,0,0,0,0,0,0,24.97,24.91,25.00
$GC,7615,0.92,440.6,2890,1918,990,807,739.1,27.1,1261,7623,0.00,2.53,0.00,0.000,516,0.000,0.089,2902,489,899,991,807,0,0,0,0,0,0,25.65,25.32,25.66
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$STATE,10734,end climb,SURFACE_DEPTH_REACHED
$STATE,10735,begin surface coast
$FINISH,0.3,1.011432
$STATE,10753,end surface coast,CONTROL_FINISHED_OK
$STATE,10753,begin surface
$SM_CCo,10830,0.00,0.000,0,0,893,444.48
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$IRIDIUM_FIX,-5224.32,-4012.93,221017,212134
$TT8_MAMPS,0.021721,0.23968
$HUMID,60.39
$INTERNAL_PRESSURE,9.23831
$TCM_TEMP,9.10
$XPDR_PINGS,0
$24V_AH,21.44,8.775
$10V_AH,10.13,10.765
$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
$DEVICE_SECS,19.125,167.650,527.600,0.000,0.000,22.778,22.583,396.862,0.000,0.000,17.817,3950.360,60.204,640.527,6486.251,257.869,0.000,2342.462,0.000,6092.504,0.000,1.006,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1258.636,90.938,6091.541,5686.953,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,48.680,100.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343360
$DATA_FILE_SIZE,117077,1784
$CAP_FILE_SIZE,190523,0
$CFSIZE,259248128,254255104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,231017,034856,-5246.549,-4009.373,41,0.8,41,-6.7,0.0,0.0,10,9.7