version: 66.12
revision: CLOWNFISH
glider: 542
mission: 17
dive: 56
start: 10 27 117 16 13 41
data:
$ID,542
$MISSION,17
$DIVE,56
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$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,340
$T_MISSION,355
$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,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,17
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3955
$C_VBD,2360
$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
$GPS1,271017,160450,-5241.6226,-4016.7429,71,0.8,71,-6.7,0.0,0.0,10,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-71.9
$GPS2,271017,161258,-5241.5820,-4016.7170,23,0.9,23,-6.7,0.6,43.5,8,12.7
$SPEED_LIMITS,0.269,0.279
$TGT_NAME,GOCART1
$TGT_LATLONG,-5247.670,-4009.864
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,162.3,13639,-16.4,-9.804,-19.34,2709
$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,-0.54,-87.6,136,1988,1416,1288,0.0,0.0,0,72,0.00,0.00,-53.67,0.000,16386,0.000,0.000,136,1989,2657,2726,2589,0,0,0,0,0,0,25.94,28.83,25.96
$GC,74,-0.54,-87.6,136,1988,2726,2590,3.3,-4.5,7,91,9.15,2.40,-1.33,0.000,18692,0.252,0.093,2379,3384,2720,2795,2646,0,0,0,0,0,0,25.44,24.71,25.60
$GC,213,-0.54,-87.6,2379,3384,2800,2646,31.6,-15.8,31,221,0.00,2.38,0.00,0.000,1030,0.000,0.067,2379,1980,2723,2800,2646,0,0,0,0,0,0,25.85,25.74,25.87
$GC,266,-0.54,-87.6,2379,1979,2799,2646,41.1,-18.2,40,273,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1979,2723,2800,2646,0,0,0,0,0,0,26.08,26.09,26.08
$GC,319,-0.54,-87.6,2378,1979,2800,2646,50.9,-19.5,49,327,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1979,2722,2799,2646,0,0,0,0,0,0,26.10,26.12,26.12
$GC,371,-0.54,-87.6,2378,1979,2800,2646,60.6,-18.1,58,379,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1979,2723,2800,2646,0,0,0,0,0,0,26.13,26.15,26.14
$GC,425,-0.54,-87.6,2378,1979,2800,2646,70.0,-17.7,67,432,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1980,2723,2800,2646,0,0,0,0,0,0,26.15,26.17,26.17
$GC,477,-0.54,-87.6,2379,1979,2800,2646,79.5,-18.0,76,485,0.00,2.38,0.00,0.000,260,0.000,0.079,2369,3384,2723,2800,2646,0,0,0,0,0,0,26.17,25.84,26.19
$GC,508,-0.54,-87.6,2369,3385,2800,2646,85.3,-18.8,81,517,0.00,2.38,0.00,0.000,1030,0.000,0.067,2370,1969,2723,2800,2646,0,0,0,0,0,0,25.98,25.86,26.01
$GC,564,-0.54,-87.6,2369,1969,2800,2646,95.6,-18.6,90,571,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1969,2723,2800,2646,0,0,0,0,0,0,26.20,26.22,26.22
$GC,615,-0.54,-87.6,2369,1969,2800,2646,105.6,-19.7,99,621,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1969,2723,2800,2646,0,0,0,0,0,0,26.22,26.23,26.23
$GC,749,-0.54,-87.6,2369,1969,2800,2646,130.3,-17.7,124,756,0.00,2.38,0.00,0.000,260,0.000,0.080,2359,3391,2723,2800,2646,0,0,0,0,0,0,26.27,25.92,26.28
$GC,782,-0.54,-87.6,2358,3391,2800,2646,135.6,-17.9,129,789,0.12,2.35,0.00,0.000,3078,0.192,0.067,2393,1981,2723,2800,2646,0,0,0,0,0,0,25.84,25.95,26.01
$GC,917,-0.54,-87.6,2392,1981,2800,2646,158.0,-16.4,154,924,0.00,2.35,0.00,0.000,516,0.000,0.083,2393,569,2723,2800,2646,0,0,0,0,0,0,26.31,25.96,26.32
$GC,945,-0.54,-87.6,2392,569,2800,2646,162.6,-16.0,159,952,0.00,2.35,0.00,0.000,1030,0.000,0.069,2385,1978,2723,2800,2646,0,0,0,0,0,0,26.08,25.98,26.08
$GC,1079,-0.54,-87.6,2384,1978,2800,2646,183.1,-15.4,184,1088,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1978,2723,2800,2646,0,0,0,0,0,0,26.34,26.35,26.35
$GC,1216,-0.54,-87.6,2384,1978,2799,2646,204.0,-15.4,209,1222,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1978,2722,2799,2646,0,0,0,0,0,0,26.37,26.39,26.38
$GC,1349,-0.54,-87.6,2384,1978,2800,2646,224.7,-15.1,234,1355,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1978,2723,2800,2646,0,0,0,0,0,0,26.39,26.41,26.41
$GC,1480,-0.54,-87.6,2384,1978,2800,2646,244.8,-15.2,259,1486,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1978,2723,2800,2646,0,0,0,0,0,0,26.41,26.44,26.43
$GC,1615,-0.54,-87.6,2384,1978,2800,2646,265.0,-15.2,284,1621,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1978,2723,2800,2646,0,0,0,0,0,0,26.44,26.46,26.45
$GC,1746,-0.54,-87.6,2384,1978,2800,2646,284.7,-14.5,309,1752,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1978,2723,2800,2646,0,0,0,0,0,0,26.46,26.47,26.47
$GC,1878,-0.54,-87.6,2384,1978,2800,2646,303.9,-14.5,334,1884,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1978,2723,2800,2646,0,0,0,0,0,0,26.48,26.48,26.48
$GC,2011,-0.54,-87.6,2384,1978,2800,2646,323.3,-14.2,359,2018,0.00,2.38,0.00,0.000,260,0.000,0.083,2374,3388,2722,2799,2646,0,0,0,0,0,0,26.49,26.14,26.50
$GC,2056,-0.54,-87.6,2373,3388,2800,2646,329.7,-14.4,367,2063,0.00,2.33,0.00,0.000,1030,0.000,0.067,2374,1978,2723,2800,2646,0,0,0,0,0,0,26.24,26.17,26.27
$GC,2190,-0.54,-87.6,2373,1978,2800,2646,349.7,-15.3,392,2199,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1978,2722,2799,2646,0,0,0,0,0,0,26.50,26.51,26.51
$GC,2327,-0.54,-87.6,2373,1978,2799,2646,369.7,-15.2,417,2333,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1978,2723,2800,2646,0,0,0,0,0,0,26.52,26.53,26.53
$GC,2459,-0.54,-87.6,2373,1978,2799,2646,389.9,-14.7,442,2465,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1978,2723,2800,2646,0,0,0,0,0,0,26.53,26.54,26.54
$GC,2592,-0.54,-87.6,2373,1978,2800,2646,409.8,-14.9,467,2598,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1978,2723,2800,2646,0,0,0,0,0,0,26.54,26.55,26.55
$GC,2726,-0.54,-87.6,2373,1978,2800,2646,429.4,-14.8,492,2733,0.00,2.38,0.00,0.000,516,0.000,0.083,2374,569,2723,2800,2646,0,0,0,0,0,0,26.55,26.20,26.56
$GC,2759,-0.54,-87.6,2373,569,2800,2646,434.1,-15.8,497,2766,0.08,2.33,0.00,0.000,3078,0.196,0.070,2392,1974,2723,2800,2646,0,0,0,0,0,0,26.10,26.22,26.27
$GC,2894,-0.54,-87.6,2391,1974,2800,2646,452.8,-12.9,522,2900,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,1974,2723,2800,2646,0,0,0,0,0,0,26.55,26.57,26.56
$GC,3026,-0.54,-87.6,2391,1974,2800,2647,470.4,-13.1,547,3032,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,1975,2722,2800,2645,0,0,0,0,0,0,26.56,26.58,26.58
$GC,3160,-0.54,-87.6,2391,1975,2800,2646,487.9,-13.7,572,3166,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,1975,2723,2799,2647,0,0,0,0,0,0,26.58,26.59,26.58
$GC,3293,-0.54,-87.6,2391,1975,2800,2646,505.4,-13.3,597,3299,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,1975,2723,2800,2646,0,0,0,0,0,0,26.58,26.60,26.60
$GC,3614,-0.54,-87.6,2392,1975,2800,2646,546.8,-13.1,658,3620,0.00,2.35,0.00,0.000,260,0.000,0.083,2383,3397,2722,2799,2646,0,0,0,0,0,0,26.60,26.25,26.61
$GC,3684,-0.54,-87.6,2383,3397,2799,2646,555.8,-12.4,671,3691,0.00,2.33,0.00,0.000,1030,0.000,0.067,2383,1985,2723,2800,2646,0,0,0,0,0,0,26.34,26.27,26.37
$GC,4009,-0.54,-87.6,2382,1984,2799,2646,598.8,-13.2,732,4015,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1984,2722,2799,2646,0,0,0,0,0,0,26.62,26.63,26.63
$GC,4331,-0.54,-87.6,2383,1984,2800,2646,640.5,-12.7,793,4337,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1984,2722,2799,2646,0,0,0,0,0,0,26.63,26.65,26.65
$GC,4650,-0.54,-87.6,2382,1984,2800,2646,680.9,-12.5,854,4657,0.00,2.35,0.00,0.000,516,0.000,0.081,2383,553,2723,2800,2646,0,0,0,0,0,0,26.65,26.29,26.66
$GC,4690,-0.54,-87.6,2382,553,2800,2646,686.2,-13.7,861,4697,0.00,2.35,0.00,0.000,1030,0.000,0.070,2373,1979,2722,2799,2646,0,0,0,0,0,0,26.45,26.31,26.47
$GC,5014,-0.54,-87.6,2372,1979,2800,2646,727.7,-12.8,922,5020,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1979,2722,2799,2646,0,0,0,0,0,0,26.65,26.67,26.67
$GC,5333,-0.54,-87.6,2373,1979,2800,2646,767.8,-12.4,983,5339,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1979,2723,2800,2646,0,0,0,0,0,0,26.66,26.68,26.67
$GC,5657,-0.54,-87.6,2373,1979,2799,2646,807.4,-12.4,1044,5664,0.00,2.33,0.00,0.000,260,0.000,0.081,2362,3408,2723,2800,2646,0,0,0,0,0,0,26.67,26.32,26.68
$GC,5690,-0.54,-87.6,2362,3408,2800,2646,811.2,-12.2,1049,5697,0.10,2.35,0.00,0.000,3078,0.190,0.066,2390,1972,2723,2800,2646,0,0,0,0,0,0,26.25,26.34,26.41
$GC,6013,-0.54,-87.6,2390,1971,2800,2646,846.5,-10.1,1110,6019,0.00,2.33,0.00,0.000,516,0.000,0.081,2390,569,2723,2800,2646,0,0,0,0,0,0,26.68,26.33,26.69
$GC,6043,-0.54,-87.6,2390,569,2800,2646,849.9,-11.5,1115,6049,0.00,2.33,0.00,0.000,1030,0.000,0.069,2382,1983,2723,2800,2646,0,0,0,0,0,0,26.41,26.34,26.44
$GC,6364,-0.54,-87.6,2381,1983,2800,2646,886.5,-11.2,1176,6374,0.00,2.33,0.00,0.000,260,0.000,0.080,2371,3388,2723,2800,2646,0,0,0,0,0,0,26.68,26.32,26.69
$GC,6401,-0.54,-87.6,2371,3388,2800,2646,890.7,-11.9,1182,6408,0.00,2.30,0.00,0.000,1030,0.000,0.065,2371,1980,2723,2800,2646,0,0,0,0,0,0,26.40,26.34,26.44
$GC,6727,-0.54,-87.6,2371,1979,2800,2646,929.8,-11.9,1243,6734,0.00,2.33,0.00,0.000,516,0.000,0.082,2371,574,2722,2799,2646,0,0,0,0,0,0,26.68,26.33,26.70
$GC,6773,-0.54,-87.6,2370,574,2799,2646,935.4,-12.1,1251,6780,0.08,2.30,0.00,0.000,3078,0.195,0.069,2391,1973,2722,2799,2646,0,0,0,0,0,0,26.23,26.34,26.41
$GC,7096,-0.54,-87.6,2390,1973,2799,2646,969.0,-10.4,1312,7105,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1973,2723,2800,2646,0,0,0,0,0,0,26.69,26.70,26.70
$STATE,7384,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7384,begin apogee
$GC,7389,-0.14,0.0,2391,1901,2799,2646,1000.4,-10.4,1367,7477,0.40,0.00,82.68,1.787,10246,0.168,0.000,2521,1901,2359,2445,2274,0,0,0,0,0,0,26.27,24.25,23.30
$STATE,7478,end apogee,CONTROL_FINISHED_OK
$STATE,7478,begin climb
$GC,7479,0.54,87.6,2520,1901,2445,2273,1004.6,0.0,1381,7574,0.73,2.60,86.20,1.741,10756,0.121,0.080,2761,499,2002,2094,1910,0,0,0,0,0,0,24.39,23.32,22.61
$GC,7607,0.61,152.1,2760,499,2088,1909,999.2,7.4,1402,7680,0.00,2.53,65.07,1.710,9222,0.000,0.070,2761,1908,1739,1832,1646,0,0,0,0,0,0,24.14,24.03,21.93
$GC,7996,0.61,152.1,2761,1908,1823,1633,959.4,10.6,1474,8003,0.00,2.50,0.00,0.000,260,0.000,0.083,2761,3316,1727,1822,1632,0,0,0,0,0,0,25.10,24.77,25.11
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$STATE,16599,end climb,SURFACE_DEPTH_REACHED
$STATE,16599,begin surface coast
$FINISH,0.2,1.022610
$STATE,16622,end surface coast,CONTROL_FINISHED_OK
$STATE,16622,begin surface
$SM_CCo,16696,0.00,0.000,0,0,1281,264.67
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$IRIDIUM_FIX,-5220.79,-4010.63,271017,112603
$TT8_MAMPS,0.021721,0.236684
$HUMID,60.98
$INTERNAL_PRESSURE,9.27737
$TCM_TEMP,11.70
$XPDR_PINGS,0
$24V_AH,21.93,14.300
$10V_AH,10.09,21.277
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_SECS,440.097,135.868,7208.115,1506.677,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,48.680,100.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343396
$DATA_FILE_SIZE,190285,3064
$CAP_FILE_SIZE,269750,0
$CFSIZE,259248128,250732544
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,46.65,0x2338b8,0,24
$CURRENT,0.059,8.72,1
$GPS,271017,205302,-5243.025,-4015.151,35,1.0,35,-6.7,0.9,147.8,8,12.4