version: 66.12
revision: CLOWNFISH
glider: 542
mission: 17
dive: 86
start: 11 3 117 6 27 59
data:
$ID,542
$MISSION,17
$DIVE,86
$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,222
$T_MISSION,232
$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,1
$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,18
$R_STBD_OVSHOOT,13
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3955
$C_VBD,2155
$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
$GPS1,031117,061932,-5242.8652,-4007.0967,38,0.9,38,-6.7,0.0,0.0,11,10.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-63.4
$GPS2,031117,062715,-5242.8579,-4007.0508,18,0.9,18,-6.7,0.0,0.0,11,8.6
$SPEED_LIMITS,0.413,0.423
$TGT_NAME,GOCART2
$TGT_LATLONG,-5242.059,-4004.501
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,84.3,3221,-17.7,-15.015,-20.00,3082
$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,15,-0.58,-87.6,136,1976,761,681,0.0,0.0,0,99,0.00,0.00,-78.78,0.000,16390,0.000,0.000,137,1976,2513,2592,2434,0,0,0,0,0,0,25.92,24.63,25.93
$GC,102,-0.58,-87.6,136,1976,2592,2435,3.4,-4.8,12,117,9.18,2.42,0.00,0.000,2308,0.255,0.070,2367,3402,2514,2593,2435,0,0,0,0,0,0,25.37,25.61,25.63
$GC,418,-0.58,-87.6,2366,3402,2599,2434,60.4,-16.5,66,428,0.00,2.40,0.00,0.000,1030,0.000,0.067,2366,1972,2517,2600,2434,0,0,0,0,0,0,25.89,25.82,25.93
$GC,476,-0.58,-87.6,2366,1971,2600,2434,69.7,-16.8,75,482,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,1971,2517,2600,2434,0,0,0,0,0,0,26.19,26.20,26.20
$GC,529,-0.58,-87.6,2366,1971,2600,2434,78.7,-16.3,84,537,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,1972,2516,2599,2434,0,0,0,0,0,0,26.21,26.22,26.22
$GC,586,-0.58,-87.6,2366,1971,2599,2434,87.3,-15.5,93,591,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,1971,2517,2600,2434,0,0,0,0,0,0,26.23,26.25,26.25
$GC,638,-0.58,-87.6,2366,1972,2600,2434,96.0,-15.8,102,647,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,1971,2517,2600,2434,0,0,0,0,0,0,26.25,26.27,26.26
$GC,695,-0.58,-87.6,2366,1971,2600,2434,104.6,-15.5,111,702,0.00,2.35,0.00,0.000,260,0.000,0.078,2357,3395,2517,2600,2434,0,0,0,0,0,0,26.27,25.91,26.28
$GC,714,-0.58,-87.6,2356,3396,2600,2434,108.0,-16.2,114,723,0.00,2.35,0.00,0.000,1030,0.000,0.064,2357,1980,2516,2599,2434,0,0,0,0,0,0,25.99,25.93,26.03
$GC,865,-0.58,-87.6,2356,1980,2599,2434,132.5,-16.5,139,872,0.00,2.33,0.00,0.000,516,0.000,0.079,2357,567,2517,2600,2434,0,0,0,0,0,0,26.32,25.94,26.32
$GC,892,-0.58,-87.6,2356,567,2600,2434,137.2,-17.3,143,899,0.12,2.33,0.00,0.000,3078,0.215,0.067,2378,1990,2516,2599,2434,0,0,0,0,0,0,25.82,25.97,26.02
$GC,1039,-0.58,-87.6,2378,1990,2600,2433,160.4,-15.7,168,1048,0.00,2.35,0.00,0.000,260,0.000,0.080,2370,3390,2517,2600,2434,0,0,0,0,0,0,26.36,25.97,26.36
$GC,1112,-0.58,-87.6,2369,3390,2600,2433,171.7,-15.4,180,1120,0.00,2.33,0.00,0.000,1030,0.000,0.065,2369,1982,2517,2600,2434,0,0,0,0,0,0,26.09,26.03,26.13
$GC,1262,-0.58,-87.6,2369,1981,2600,2434,193.9,-15.0,205,1268,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,1981,2516,2599,2434,0,0,0,0,0,0,26.39,26.41,26.41
$GC,1407,-0.58,-87.6,2369,1982,2600,2434,215.9,-15.3,230,1416,0.00,2.35,0.00,0.000,260,0.000,0.080,2359,3387,2517,2600,2434,0,0,0,0,0,0,26.42,26.05,26.44
$GC,1445,-0.58,-87.6,2359,3387,2600,2434,222.1,-16.4,236,1454,0.00,2.33,0.00,0.000,1030,0.000,0.065,2359,1979,2517,2600,2434,0,0,0,0,0,0,26.15,26.08,26.18
$GC,1595,-0.58,-87.6,2359,1979,2600,2434,244.7,-14.6,261,1602,0.00,2.30,0.00,0.000,516,0.000,0.078,2359,569,2517,2600,2434,0,0,0,0,0,0,26.45,26.07,26.46
$GC,1624,-0.58,-87.6,2359,570,2600,2434,249.1,-15.4,265,1631,0.12,2.30,0.00,0.000,3078,0.213,0.069,2382,1981,2517,2601,2434,0,0,0,0,0,0,25.94,26.08,26.14
$GC,1772,-0.58,-87.6,2381,1981,2600,2434,269.9,-13.4,290,1781,0.00,2.35,0.00,0.000,260,0.000,0.081,2373,3387,2517,2600,2434,0,0,0,0,0,0,26.46,26.08,26.48
$GC,1822,-0.58,-87.6,2372,3387,2600,2434,276.8,-13.7,298,1831,0.00,2.33,0.00,0.000,1030,0.000,0.064,2373,1972,2517,2600,2434,0,0,0,0,0,0,26.19,26.11,26.21
$GC,1973,-0.58,-87.6,2372,1972,2600,2434,296.4,-12.8,323,1979,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1972,2516,2600,2433,0,0,0,0,0,0,26.48,26.50,26.49
$GC,2118,-0.58,-87.6,2372,1972,2601,2433,315.7,-12.4,348,2126,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1972,2516,2600,2433,0,0,0,0,0,0,26.51,26.51,26.51
$GC,2270,-0.58,-87.6,2372,1972,2600,2434,334.4,-12.3,373,2276,0.00,2.30,0.00,0.000,516,0.000,0.079,2373,561,2516,2600,2433,0,0,0,0,0,0,26.52,26.14,26.53
$GC,2320,-0.58,-87.6,2372,561,2600,2433,341.3,-13.2,381,2327,0.00,2.30,0.00,0.000,1030,0.000,0.069,2363,1980,2517,2600,2434,0,0,0,0,0,0,26.29,26.16,26.31
$GC,2467,-0.58,-87.6,2363,1980,2600,2433,360.2,-12.2,406,2476,0.00,2.35,0.00,0.000,260,0.000,0.077,2352,3393,2516,2600,2433,0,0,0,0,0,0,26.53,26.14,26.54
$GC,2506,-0.58,-87.6,2352,3392,2600,2433,365.2,-13.1,412,2515,0.10,2.33,0.00,0.000,3078,0.199,0.065,2379,1979,2516,2600,2433,0,0,0,0,0,0,26.03,26.22,26.15
$GC,2657,-0.58,-87.6,2378,1978,2600,2433,382.1,-10.9,437,2664,0.00,2.33,0.00,0.000,516,0.000,0.080,2379,568,2516,2600,2433,0,0,0,0,0,0,26.54,26.16,26.55
$GC,2700,-0.58,-87.6,2378,567,2600,2433,387.4,-12.3,444,2709,0.00,2.33,0.00,0.000,1030,0.000,0.068,2371,1973,2516,2600,2433,0,0,0,0,0,0,26.25,26.18,26.29
$GC,2852,-0.58,-87.6,2370,1973,2600,2433,404.1,-11.3,469,2859,0.00,2.33,0.00,0.000,260,0.000,0.080,2360,3396,2516,2600,2433,0,0,0,0,0,0,26.55,26.17,26.56
$GC,2891,-0.58,-87.6,2359,3397,2600,2433,408.7,-11.7,475,2898,0.00,2.30,0.00,0.000,1030,0.000,0.064,2360,1968,2516,2600,2433,0,0,0,0,0,0,26.32,26.20,26.34
$GC,3037,-0.58,-87.6,2359,1968,2600,2433,425.9,-11.9,500,3045,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1968,2516,2600,2433,0,0,0,0,0,0,26.55,26.57,26.57
$GC,3187,-0.58,-87.6,2359,1968,2600,2433,442.9,-11.4,525,3193,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1968,2516,2600,2433,0,0,0,0,0,0,26.57,26.58,26.58
$GC,3332,-0.58,-87.6,2359,1968,2600,2433,459.9,-11.6,550,3340,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,1968,2516,2599,2433,0,0,0,0,0,0,26.58,26.60,26.59
$GC,3482,-0.58,-87.6,2359,1968,2600,2432,477.4,-12.1,575,3489,0.00,2.33,0.00,0.000,260,0.000,0.079,2350,3394,2516,2600,2433,0,0,0,0,0,0,26.59,26.21,26.60
$GC,3513,-0.58,-87.6,2349,3394,2600,2433,481.5,-12.3,580,3523,0.10,2.33,0.00,0.000,3078,0.195,0.063,2377,1976,2516,2600,2433,0,0,0,0,0,0,26.08,26.25,26.23
$GC,3665,-0.58,-87.6,2376,1976,2600,2433,498.2,-11.2,605,3671,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1976,2516,2600,2433,0,0,0,0,0,0,26.59,26.60,26.60
$GC,3798,-0.58,-87.6,2376,1976,2600,2433,513.0,-10.8,630,3804,0.00,2.33,0.00,0.000,516,0.000,0.078,2377,544,2516,2600,2433,0,0,0,0,0,0,26.60,26.22,26.61
$GC,3822,-0.58,-87.6,2376,543,2600,2433,515.9,-11.9,634,3829,0.00,2.38,0.00,0.000,1030,0.000,0.067,2368,1985,2516,2600,2433,0,0,0,0,0,0,26.31,26.24,26.34
$GC,4145,-0.58,-87.6,2368,1985,2600,2433,553.1,-11.6,695,4150,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1984,2516,2600,2433,0,0,0,0,0,0,26.62,26.63,26.63
$GC,4466,-0.58,-87.6,2368,1984,2600,2432,590.7,-11.1,756,4474,0.00,2.33,0.00,0.000,260,0.000,0.080,2358,3385,2516,2600,2432,0,0,0,0,0,0,26.63,26.25,26.64
$GC,4486,-0.58,-87.6,2357,3386,2600,2433,592.9,-12.0,759,4492,0.00,2.25,0.00,0.000,1030,0.000,0.063,2358,1973,2516,2600,2433,0,0,0,0,0,0,26.39,26.27,26.42
$GC,4807,-0.58,-87.6,2357,1973,2600,2432,632.1,-11.7,820,4813,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,1973,2516,2600,2433,0,0,0,0,0,0,26.64,26.65,26.65
$GC,5133,-0.58,-87.6,2357,1973,2600,2433,670.6,-12.2,881,5138,0.00,2.25,0.00,0.000,516,0.000,0.077,2358,576,2516,2600,2432,0,0,0,0,0,0,26.65,26.27,26.66
$GC,5166,-0.58,-87.6,2357,576,2600,2432,675.3,-13.2,887,5173,0.12,2.25,0.00,0.000,3078,0.210,0.067,2381,1979,2516,2600,2432,0,0,0,0,0,0,26.13,26.29,26.34
$GC,5490,-0.58,-87.6,2380,1979,2600,2433,710.5,-10.6,948,5496,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1979,2516,2600,2433,0,0,0,0,0,0,26.66,26.67,26.67
$GC,5815,-0.58,-87.6,2380,1979,2600,2433,744.5,-10.6,1009,5820,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1979,2516,2600,2433,0,0,0,0,0,0,26.67,26.68,26.68
$GC,6135,-0.58,-87.6,2381,1979,2600,2433,778.0,-10.0,1070,6141,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1979,2516,2600,2433,0,0,0,0,0,0,26.68,26.70,26.69
$GC,6460,-0.58,-87.6,2381,1979,2600,2433,810.4,-9.7,1131,6465,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1979,2516,2600,2433,0,0,0,0,0,0,26.69,26.70,26.70
$GC,6781,-0.58,-87.6,2380,1979,2600,2433,842.9,-10.4,1192,6790,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1979,2516,2600,2433,0,0,0,0,0,0,26.70,26.71,26.70
$STATE,6968,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,6968,begin apogee
$GC,6972,-0.14,0.0,2381,1905,2600,2433,862.6,-10.4,1227,7059,0.43,0.00,82.88,1.714,10246,0.177,0.000,2516,1906,2154,2256,2053,0,0,0,0,0,0,26.18,24.32,23.39
$STATE,7060,end apogee,CONTROL_FINISHED_OK
$STATE,7060,begin climb
$GC,7062,0.58,87.6,2515,1906,2257,2053,866.9,0.0,1242,7153,0.77,0.00,86.28,1.662,10246,0.133,0.000,2756,1905,1797,1901,1693,0,0,0,0,0,0,24.41,23.37,22.53
$GC,7467,0.76,269.7,2756,1906,1891,1682,834.5,8.9,1318,7659,0.17,2.75,180.88,1.633,10500,0.076,0.079,2839,3316,1055,1139,971,0,0,0,0,0,0,25.06,22.68,21.83
$GC,7682,0.76,269.7,2838,3316,1136,970,798.0,20.6,1356,7689,0.12,2.60,0.00,0.000,5126,0.190,0.063,2820,1908,1053,1136,970,0,0,0,0,0,0,23.34,23.44,23.49
$GC,8007,0.76,269.7,2820,1907,1133,958,738.6,17.8,1417,8013,0.00,2.47,0.00,0.000,516,0.000,0.083,2830,492,1045,1133,958,0,0,0,0,0,0,25.25,24.91,25.25
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$STATE,12075,end climb,SURFACE_DEPTH_REACHED
$STATE,12075,begin surface coast
$FINISH,0.0,1.022626
$STATE,12088,end surface coast,CONTROL_FINISHED_OK
$STATE,12088,begin surface
$SM_CCo,12163,0.00,0.000,0,0,642,371.13
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$IRIDIUM_FIX,-5220.79,-4008.34,031117,025139
$TT8_MAMPS,0.021721,0.233688
$HUMID,60.98
$INTERNAL_PRESSURE,9.21877
$TCM_TEMP,8.50
$XPDR_PINGS,0
$24V_AH,21.83,19.557
$10V_AH,10.06,31.381
$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
$DEVICE_SECS,18.900,165.100,399.925,0.000,0.000,25.640,24.744,277.144,0.000,0.000,19.208,4596.382,2028.865,646.498,5096.923,259.667,0.000,2390.366,0.000,4713.426,0.000,1.004,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,860.244,113.211,3136.883,2150.131,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,48.680,100.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343376
$DATA_FILE_SIZE,147135,2127
$CAP_FILE_SIZE,206277,0
$CFSIZE,259248128,246317056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.072,334.80,1
$GPS,031117,095158,-5242.112,-4004.744,44,0.9,44,-6.8,0.0,0.0,9,8.9