version: 66.12
revision: CLOWNFISH
glider: 542
mission: 17
dive: 102
start: 11 6 117 15 28 54
data:
$ID,542
$MISSION,17
$DIVE,102
$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,333
$T_MISSION,343
$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,17
$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
$GPS1,061117,151932,-5240.6885,-4015.3303,30,1.0,30,-6.7,0.6,321.8,9,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-72.4
$GPS2,061117,152810,-5240.6016,-4015.3157,18,1.6,18,-6.7,0.0,0.0,7,17.3
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,GOCART3
$TGT_LATLONG,-5242.059,-4015.221
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,190.2,2701,-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,-0.56,-87.6,187,1985,1320,1220,0.0,0.0,0,73,0.00,0.00,-52.42,0.000,16390,0.000,0.000,187,1985,2513,2593,2433,0,0,0,0,0,0,25.94,24.49,25.95
$GC,75,-0.56,-87.6,187,1985,2593,2435,3.5,-4.5,8,90,9.05,2.40,0.00,0.000,2308,0.256,0.072,2373,3397,2515,2596,2435,0,0,0,0,0,0,25.32,25.58,25.60
$GC,238,-0.56,-87.6,2372,3396,2600,2435,34.8,-18.0,35,245,0.00,2.35,0.00,0.000,1030,0.000,0.066,2373,1973,2517,2600,2435,0,0,0,0,0,0,25.84,25.72,25.86
$GC,293,-0.56,-87.6,2372,1972,2600,2435,44.5,-16.8,44,301,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1972,2517,2600,2434,0,0,0,0,0,0,26.10,26.12,26.12
$GC,349,-0.56,-87.6,2372,1973,2600,2435,53.9,-15.9,53,355,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1972,2517,2600,2435,0,0,0,0,0,0,26.14,26.15,26.15
$GC,402,-0.56,-87.6,2372,1972,2600,2435,63.7,-17.9,62,410,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1972,2517,2599,2435,0,0,0,0,0,0,26.17,26.18,26.17
$GC,459,-0.56,-87.6,2372,1972,2599,2435,72.9,-16.1,71,465,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1972,2517,2600,2435,0,0,0,0,0,0,26.19,26.20,26.20
$GC,511,-0.56,-87.6,2372,1972,2600,2435,82.3,-17.1,80,519,0.00,2.35,0.00,0.000,516,0.000,0.079,2373,576,2517,2600,2435,0,0,0,0,0,0,26.21,25.83,26.22
$GC,544,-0.56,-87.6,2372,575,2600,2435,87.6,-16.5,85,551,0.00,2.33,0.00,0.000,1030,0.000,0.070,2363,1984,2517,2600,2435,0,0,0,0,0,0,25.98,25.84,26.01
$GC,598,-0.56,-87.6,2362,1984,2600,2435,96.8,-17.0,94,607,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,1984,2517,2600,2435,0,0,0,0,0,0,26.24,26.25,26.25
$GC,655,-0.56,-87.6,2362,1984,2600,2435,105.8,-15.7,103,662,0.00,2.33,0.00,0.000,260,0.000,0.080,2352,3390,2517,2600,2435,0,0,0,0,0,0,26.26,25.86,26.27
$GC,673,-0.56,-87.6,2352,3390,2600,2435,109.3,-16.7,106,683,0.10,2.35,0.00,0.000,3078,0.200,0.065,2379,1978,2517,2600,2435,0,0,0,0,0,0,25.72,25.90,25.85
$GC,826,-0.56,-87.6,2378,1977,2600,2435,132.8,-15.3,131,832,0.00,2.33,0.00,0.000,516,0.000,0.078,2379,565,2517,2600,2435,0,0,0,0,0,0,26.31,25.91,26.32
$GC,867,-0.56,-87.6,2378,565,2600,2435,140.0,-16.5,138,877,0.00,2.38,0.00,0.000,1030,0.000,0.071,2371,1981,2517,2600,2435,0,0,0,0,0,0,26.01,25.94,26.05
$GC,1019,-0.56,-87.6,2369,1981,2600,2435,161.7,-14.5,163,1025,0.00,2.33,0.00,0.000,260,0.000,0.080,2360,3391,2517,2600,2435,0,0,0,0,0,0,26.35,25.95,26.36
$GC,1083,-0.56,-87.6,2359,3391,2600,2435,171.4,-14.0,174,1094,0.10,2.33,0.00,0.000,3078,0.194,0.063,2387,1981,2517,2600,2435,0,0,0,0,0,0,25.84,25.96,25.96
$GC,1236,-0.56,-87.6,2386,1981,2600,2435,192.3,-12.8,199,1242,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1981,2517,2600,2435,0,0,0,0,0,0,26.39,26.41,26.40
$GC,1381,-0.56,-87.6,2386,1981,2600,2435,211.4,-12.9,224,1390,0.00,2.35,0.00,0.000,516,0.000,0.079,2387,575,2517,2600,2435,0,0,0,0,0,0,26.42,26.02,26.43
$GC,1427,-0.56,-87.6,2386,575,2600,2435,217.4,-13.9,231,1434,0.00,2.30,0.00,0.000,1030,0.000,0.069,2379,1984,2517,2600,2435,0,0,0,0,0,0,26.18,26.05,26.21
$GC,1574,-0.56,-87.6,2378,1984,2600,2435,237.5,-13.5,256,1581,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1984,2517,2600,2435,0,0,0,0,0,0,26.45,26.46,26.46
$GC,1724,-0.56,-87.6,2378,1984,2600,2435,257.3,-13.7,281,1729,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1984,2517,2600,2435,0,0,0,0,0,0,26.46,26.48,26.48
$GC,1869,-0.56,-87.6,2378,1984,2601,2435,276.9,-13.0,306,1878,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1984,2517,2600,2435,0,0,0,0,0,0,26.48,26.50,26.50
$GC,2019,-0.56,-87.6,2378,1984,2600,2435,296.2,-13.0,331,2026,0.00,2.33,0.00,0.000,260,0.000,0.078,2368,3396,2517,2600,2435,0,0,0,0,0,0,26.51,26.10,26.52
$GC,2057,-0.56,-87.6,2367,3397,2600,2435,301.4,-14.0,337,2064,0.00,2.28,0.00,0.000,1030,0.000,0.062,2368,1978,2517,2600,2435,0,0,0,0,0,0,26.26,26.13,26.29
$GC,2204,-0.56,-87.6,2367,1978,2600,2435,322.0,-13.6,362,2212,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1978,2517,2600,2435,0,0,0,0,0,0,26.51,26.53,26.53
$GC,2353,-0.56,-87.6,2367,1978,2600,2435,341.7,-13.2,387,2360,0.00,2.33,0.00,0.000,516,0.000,0.079,2368,568,2517,2600,2435,0,0,0,0,0,0,26.53,26.13,26.53
$GC,2382,-0.56,-87.6,2367,567,2601,2435,345.5,-14.1,391,2389,0.10,2.30,0.00,0.000,3078,0.205,0.069,2384,1983,2517,2600,2435,0,0,0,0,0,0,26.00,26.14,26.20
$GC,2529,-0.56,-87.6,2383,1984,2600,2435,365.1,-12.6,416,2537,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1984,2517,2600,2435,0,0,0,0,0,0,26.54,26.55,26.55
$GC,2678,-0.56,-87.6,2383,1984,2600,2435,383.4,-12.9,441,2684,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1984,2517,2600,2435,0,0,0,0,0,0,26.55,26.57,26.56
$GC,2823,-0.56,-87.6,2383,1984,2600,2435,401.4,-12.1,466,2832,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1984,2517,2600,2435,0,0,0,0,0,0,26.56,26.58,26.58
$GC,2974,-0.56,-87.6,2383,1984,2600,2435,419.4,-12.0,491,2980,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1984,2517,2600,2435,0,0,0,0,0,0,26.58,26.59,26.58
$GC,3119,-0.56,-87.6,2383,1984,2600,2435,437.4,-11.7,516,3127,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1984,2517,2600,2435,0,0,0,0,0,0,26.58,26.60,26.60
$GC,3268,-0.56,-87.6,2383,1984,2600,2435,454.8,-12.0,541,3274,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1984,2517,2600,2435,0,0,0,0,0,0,26.60,26.61,26.60
$GC,3413,-0.56,-87.6,2383,1984,2600,2435,472.6,-12.3,566,3421,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1984,2517,2600,2435,0,0,0,0,0,0,26.60,26.62,26.61
$GC,3563,-0.56,-87.6,2383,1984,2600,2435,489.7,-11.4,591,3569,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1984,2517,2600,2435,0,0,0,0,0,0,26.61,26.63,26.62
$GC,3702,-0.56,-87.6,2383,1984,2600,2435,506.2,-11.4,616,3712,0.00,2.33,0.00,0.000,260,0.000,0.081,2375,3381,2517,2600,2435,0,0,0,0,0,0,26.62,26.19,26.63
$GC,3734,-0.56,-87.6,2374,3381,2600,2435,509.8,-11.9,621,3740,0.00,2.25,0.00,0.000,1030,0.000,0.062,2375,1974,2517,2600,2435,0,0,0,0,0,0,26.37,26.25,26.40
$GC,4061,-0.56,-87.6,2374,1974,2600,2435,549.5,-12.2,682,4066,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1974,2517,2600,2435,0,0,0,0,0,0,26.63,26.64,26.64
$GC,4381,-0.56,-87.6,2374,1974,2600,2435,588.9,-12.1,743,4387,0.00,2.28,0.00,0.000,516,0.000,0.078,2375,569,2517,2600,2435,0,0,0,0,0,0,26.65,26.23,26.65
$GC,4416,-0.56,-87.6,2374,569,2600,2435,593.3,-13.4,749,4422,0.00,2.28,0.00,0.000,1030,0.000,0.067,2365,1980,2517,2600,2435,0,0,0,0,0,0,26.39,26.26,26.41
$GC,4738,-0.56,-87.6,2364,1980,2600,2435,633.5,-12.4,810,4744,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,1980,2517,2600,2435,0,0,0,0,0,0,26.65,26.67,26.66
$GC,5060,-0.56,-87.6,2364,1980,2600,2435,672.3,-12.0,871,5065,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,1980,2517,2600,2435,0,0,0,0,0,0,26.66,26.67,26.67
$GC,5383,-0.56,-87.6,2365,1980,2600,2435,710.8,-12.0,932,5389,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,1980,2517,2600,2435,0,0,0,0,0,0,26.67,26.68,26.68
$GC,5706,-0.56,-87.6,2365,1980,2600,2435,747.9,-11.3,993,5711,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,1981,2517,2600,2435,0,0,0,0,0,0,26.67,26.70,26.69
$GC,6025,-0.56,-87.6,2364,1980,2599,2435,784.5,-11.2,1054,6031,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,1980,2517,2600,2435,0,0,0,0,0,0,26.69,26.70,26.70
$GC,6350,-0.56,-87.6,2365,1980,2600,2435,820.8,-11.2,1115,6355,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,1980,2517,2600,2435,0,0,0,0,0,0,26.70,26.71,26.71
$GC,6670,-0.56,-87.6,2365,1980,2600,2435,855.4,-10.6,1176,6679,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,1980,2517,2600,2435,0,0,0,0,0,0,26.70,26.71,26.71
$GC,6996,-0.56,-87.6,2365,1980,2600,2435,889.7,-11.1,1237,7001,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,1980,2517,2600,2435,0,0,0,0,0,0,26.71,26.72,26.72
$GC,7319,-0.56,-87.6,2365,1980,2600,2435,922.7,-9.7,1298,7325,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,1980,2517,2600,2435,0,0,0,0,0,0,26.71,26.72,26.72
$GC,7642,-0.56,-87.6,2365,1980,2600,2435,954.4,-9.9,1359,7647,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,1980,2517,2600,2435,0,0,0,0,0,0,26.72,26.73,26.72
$GC,7963,-0.56,-87.6,2364,1980,2600,2435,985.0,-9.2,1420,7969,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,1980,2517,2600,2435,0,0,0,0,0,0,26.72,26.73,26.73
$STATE,8128,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8128,begin apogee
$GC,8132,-0.14,0.0,2365,1888,2600,2435,1000.4,-9.4,1451,8220,0.50,0.00,84.40,1.802,10246,0.175,0.000,2520,1888,2155,2245,2065,0,0,0,0,0,0,26.14,24.25,23.30
$STATE,8221,end apogee,CONTROL_FINISHED_OK
$STATE,8222,begin climb
$GC,8223,0.56,87.6,2519,1888,2245,2066,1003.1,0.0,1466,8321,0.75,2.70,87.97,1.744,10500,0.125,0.080,2758,3318,1796,1883,1710,0,0,0,0,0,0,24.35,23.15,22.23
$GC,8343,0.56,87.6,2757,3318,1876,1707,993.9,11.1,1487,8349,0.00,2.53,0.00,0.000,1030,0.000,0.063,2768,1916,1791,1876,1706,0,0,0,0,0,0,23.84,23.73,23.86
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$STATE,17466,end climb,SURFACE_DEPTH_REACHED
$STATE,17466,begin surface coast
$FINISH,0.2,1.022630
$STATE,17492,end surface coast,CONTROL_FINISHED_OK
$STATE,17492,begin surface
$SM_CCo,17567,0.00,0.000,0,0,788,335.32
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$IRIDIUM_FIX,-5220.79,-4013.35,061117,101450
$TT8_MAMPS,0.021721,0.244923
$HUMID,60.98
$INTERNAL_PRESSURE,9.21877
$TCM_TEMP,8.50
$XPDR_PINGS,0
$24V_AH,22.23,22.277
$10V_AH,10.01,36.394
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.225,132.775,355.725,0.000,0.000,22.856,16.633,331.245,0.000,0.000,18.813,6631.583,3210.376,671.429,7211.792,343.062,0.000,3044.358,0.000,6781.046,0.000,1.004,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1157.285,130.904,4480.000,2900.326,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,48.680,100.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343328
$DATA_FILE_SIZE,214047,3099
$CAP_FILE_SIZE,272796,0
$CFSIZE,259248128,243826688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.090,309.20,1
$GPS,061117,202256,-5242.188,-4016.606,39,1.0,43,-6.7,0.6,294.4,8,12.9