version: 66.12
revision: CLOWNFISH
glider: 542
mission: 17
dive: 149
start: 11 16 117 23 17 58
data:
$ID,542
$MISSION,17
$DIVE,149
$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,1964
$C_ROLL_CLIMB,1877
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$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,2130
$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
$GPS1,161117,230726,-5242.0122,-4014.4932,43,0.8,43,-6.7,0.0,0.0,11,13.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-70.8
$GPS2,161117,231716,-5242.0024,-4014.4714,21,1.4,21,-6.7,0.0,0.0,5,12.5
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,GOCART1
$TGT_LATLONG,-5247.670,-4009.864
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,149.6,11696,-16.4,-10.010,-19.35,2733
$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,15,begin dive
$GC,16,-0.54,-87.6,196,1977,1295,1188,0.0,0.0,0,72,0.00,0.00,-52.53,0.000,16390,0.000,0.000,196,1977,2488,2571,2405,0,0,0,0,0,0,25.97,24.33,25.98
$GC,75,-0.54,-87.6,196,1977,2571,2406,3.5,-4.6,8,90,8.88,2.33,0.00,0.000,2308,0.246,0.070,2379,3373,2490,2573,2407,0,0,0,0,0,0,25.30,25.58,25.48
$GC,411,-0.54,-87.6,2378,3373,2577,2406,57.3,-15.2,65,418,0.00,2.30,0.00,0.000,1030,0.000,0.063,2378,1959,2491,2577,2406,0,0,0,0,0,0,25.94,25.79,25.97
$GC,465,-0.54,-87.6,2377,1959,2577,2406,65.8,-15.7,74,474,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1959,2491,2577,2406,0,0,0,0,0,0,26.23,26.25,26.24
$GC,522,-0.54,-87.6,2378,1959,2577,2406,74.3,-15.3,83,528,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1959,2491,2577,2406,0,0,0,0,0,0,26.25,26.27,26.26
$GC,576,-0.54,-87.6,2378,1959,2577,2406,82.7,-14.5,92,584,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1959,2491,2577,2406,0,0,0,0,0,0,26.27,26.28,26.28
$GC,632,-0.54,-87.6,2377,1959,2577,2406,90.3,-13.9,101,638,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1959,2492,2577,2407,0,0,0,0,0,0,26.29,26.30,26.30
$GC,685,-0.54,-87.6,2378,1959,2577,2406,97.9,-14.1,110,694,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,1959,2491,2577,2406,0,0,0,0,0,0,26.31,26.32,26.32
$GC,744,-0.54,-87.6,2378,1959,2577,2406,105.4,-12.9,119,751,0.00,2.33,0.00,0.000,260,0.000,0.076,2368,3372,2491,2577,2406,0,0,0,0,0,0,26.32,25.87,26.33
$GC,771,-0.54,-87.6,2368,3372,2577,2407,109.1,-13.2,123,778,0.00,2.30,0.00,0.000,1030,0.000,0.063,2368,1954,2491,2577,2406,0,0,0,0,0,0,26.06,25.91,26.08
$GC,918,-0.54,-87.6,2367,1954,2577,2406,129.9,-14.6,148,927,0.00,2.33,0.00,0.000,516,0.000,0.078,2368,561,2491,2577,2406,0,0,0,0,0,0,26.36,25.91,26.37
$GC,1024,-0.54,-87.6,2368,560,2577,2406,145.5,-14.8,165,1032,0.12,2.28,0.00,0.000,3078,0.200,0.067,2392,1961,2492,2577,2407,0,0,0,0,0,0,25.77,25.97,25.99
$GC,1172,-0.54,-87.6,2391,1961,2577,2407,165.0,-13.0,190,1181,0.00,2.35,0.00,0.000,260,0.000,0.077,2383,3371,2492,2577,2407,0,0,0,0,0,0,26.41,25.96,26.42
$GC,1229,-0.54,-87.6,2382,3371,2577,2407,172.2,-13.3,199,1236,0.00,2.28,0.00,0.000,1030,0.000,0.061,2383,1960,2491,2577,2406,0,0,0,0,0,0,26.15,26.01,26.18
$GC,1376,-0.54,-87.6,2381,1959,2577,2407,192.6,-14.1,224,1384,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1959,2492,2577,2407,0,0,0,0,0,0,26.44,26.46,26.45
$GC,1527,-0.54,-87.6,2382,1960,2577,2407,214.5,-15.0,249,1534,0.00,2.30,0.00,0.000,516,0.000,0.078,2382,551,2492,2577,2407,0,0,0,0,0,0,26.47,26.01,26.48
$GC,1559,-0.54,-87.6,2382,551,2577,2407,219.9,-16.0,254,1568,0.00,2.33,0.00,0.000,1030,0.000,0.066,2373,1957,2492,2577,2407,0,0,0,0,0,0,26.12,26.05,26.17
$GC,1711,-0.54,-87.6,2372,1957,2577,2407,243.3,-15.0,279,1717,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1957,2492,2577,2407,0,0,0,0,0,0,26.48,26.50,26.49
$GC,1856,-0.54,-87.6,2372,1957,2577,2406,265.1,-14.1,304,1864,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1956,2491,2577,2406,0,0,0,0,0,0,26.51,26.52,26.51
$GC,2008,-0.54,-87.6,2372,1956,2577,2406,286.1,-14.1,329,2015,0.00,2.33,0.00,0.000,260,0.000,0.080,2362,3376,2491,2577,2406,0,0,0,0,0,0,26.52,26.05,26.53
$GC,2058,-0.54,-87.6,2361,3376,2577,2407,293.1,-13.5,337,2065,0.10,2.28,0.00,0.000,3078,0.195,0.064,2389,1965,2491,2577,2406,0,0,0,0,0,0,25.93,26.10,26.13
$GC,2209,-0.54,-87.6,2389,1965,2577,2407,311.2,-11.8,362,2217,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,1965,2491,2577,2406,0,0,0,0,0,0,26.53,26.55,26.54
$GC,2360,-0.54,-87.6,2389,1965,2577,2407,328.5,-10.9,387,2366,0.00,2.30,0.00,0.000,516,0.000,0.077,2389,551,2492,2578,2406,0,0,0,0,0,0,26.55,26.07,26.55
$GC,2410,-0.54,-87.6,2389,551,2577,2406,334.5,-11.8,395,2417,0.00,2.30,0.00,0.000,1030,0.000,0.067,2381,1971,2491,2577,2406,0,0,0,0,0,0,26.26,26.11,26.29
$GC,2557,-0.54,-87.6,2381,1971,2577,2406,351.2,-10.8,420,2564,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1971,2491,2577,2406,0,0,0,0,0,0,26.55,26.57,26.56
$GC,2707,-0.54,-87.6,2381,1971,2576,2406,367.4,-11.4,445,2713,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1971,2491,2577,2406,0,0,0,0,0,0,26.57,26.58,26.58
$GC,2854,-0.54,-87.6,2381,1971,2577,2406,384.7,-11.5,470,2863,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1971,2491,2577,2406,0,0,0,0,0,0,26.58,26.59,26.58
$GC,3004,-0.54,-87.6,2381,1971,2577,2406,401.2,-11.2,495,3009,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1971,2491,2577,2406,0,0,0,0,0,0,26.59,26.60,26.60
$GC,3150,-0.54,-87.6,2381,1970,2577,2406,417.7,-11.2,520,3158,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1971,2491,2577,2406,0,0,0,0,0,0,26.60,26.61,26.60
$GC,3299,-0.54,-87.6,2381,1970,2577,2406,434.1,-10.3,545,3305,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1971,2491,2577,2406,0,0,0,0,0,0,26.60,26.62,26.62
$GC,3445,-0.54,-87.6,2381,1971,2577,2406,449.5,-10.6,570,3453,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1971,2491,2577,2406,0,0,0,0,0,0,26.61,26.63,26.63
$GC,3596,-0.54,-87.6,2381,1970,2577,2406,465.2,-10.2,595,3602,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1971,2491,2577,2406,0,0,0,0,0,0,26.62,26.63,26.63
$GC,3742,-0.54,-87.6,2381,1971,2577,2406,481.0,-10.4,620,3750,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1971,2491,2577,2406,0,0,0,0,0,0,26.63,26.64,26.64
$GC,3890,-0.54,-87.6,2381,1971,2577,2406,496.6,-10.6,645,3897,0.00,2.30,0.00,0.000,516,0.000,0.075,2381,547,2491,2577,2406,0,0,0,0,0,0,26.63,26.15,26.64
$GC,3921,-0.54,-87.6,2381,547,2577,2406,500.3,-11.6,650,3927,0.00,2.33,0.00,0.000,1030,0.000,0.067,2371,1962,2491,2577,2406,0,0,0,0,0,0,26.26,26.18,26.31
$GC,4244,-0.54,-87.6,2371,1962,2577,2406,537.2,-11.9,711,4249,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1962,2491,2577,2406,0,0,0,0,0,0,26.64,26.65,26.65
$GC,4564,-0.54,-87.6,2371,1962,2577,2406,575.1,-11.4,772,4570,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1962,2492,2577,2407,0,0,0,0,0,0,26.65,26.66,26.66
$GC,4890,-0.54,-87.6,2371,1962,2577,2406,612.6,-11.6,833,4895,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1962,2491,2577,2406,0,0,0,0,0,0,26.66,26.67,26.67
$GC,5211,-0.54,-87.6,2371,1962,2577,2406,650.8,-11.8,894,5217,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1962,2491,2577,2406,0,0,0,0,0,0,26.67,26.68,26.68
$GC,5536,-0.54,-87.6,2371,1962,2577,2406,688.4,-11.3,955,5541,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1963,2491,2577,2406,0,0,0,0,0,0,26.67,26.69,26.69
$GC,5856,-0.54,-87.6,2371,1962,2577,2406,724.2,-11.0,1016,5865,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,1962,2491,2577,2406,0,0,0,0,0,0,26.68,26.70,26.70
$GC,6182,-0.54,-87.6,2371,1962,2577,2406,759.3,-11.2,1077,6187,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,1962,2491,2577,2406,0,0,0,0,0,0,26.70,26.70,26.70
$GC,6502,-0.54,-87.6,2371,1962,2577,2406,793.6,-10.7,1138,6508,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,1962,2492,2578,2406,0,0,0,0,0,0,26.70,26.71,26.71
$GC,6824,-0.54,-87.6,2370,1962,2577,2406,827.8,-10.8,1199,6829,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,1962,2491,2577,2406,0,0,0,0,0,0,26.70,26.72,26.71
$GC,7145,-0.54,-87.6,2371,1962,2577,2406,862.7,-11.0,1260,7151,0.00,2.33,0.00,0.000,260,0.000,0.077,2360,3396,2491,2577,2406,0,0,0,0,0,0,26.70,26.19,26.72
$GC,7176,-0.54,-87.6,2360,3396,2577,2406,865.8,-10.8,1265,7183,0.12,2.30,0.00,0.000,3078,0.185,0.063,2395,1959,2491,2577,2406,0,0,0,0,0,0,26.03,26.26,26.25
$GC,7497,-0.54,-87.6,2395,1959,2577,2406,896.9,-9.3,1326,7503,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1959,2491,2577,2406,0,0,0,0,0,0,26.70,26.72,26.71
$GC,7822,-0.54,-87.6,2395,1959,2577,2406,926.9,-8.9,1387,7827,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1959,2491,2577,2406,0,0,0,0,0,0,26.71,26.72,26.72
$GC,8143,-0.54,-87.6,2395,1959,2577,2406,955.7,-9.0,1448,8152,0.00,2.35,0.00,0.000,260,0.000,0.079,2387,3375,2491,2577,2406,0,0,0,0,0,0,26.71,26.18,26.72
$GC,8179,-0.54,-87.6,2386,3375,2577,2406,959.1,-9.4,1454,8186,0.00,2.30,0.00,0.000,1030,0.000,0.064,2387,1969,2491,2577,2406,0,0,0,0,0,0,26.32,26.24,26.38
$GC,8506,-0.54,-87.6,2386,1970,2577,2406,988.5,-8.8,1515,8511,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1970,2491,2577,2406,0,0,0,0,0,0,26.70,26.72,26.72
$STATE,8642,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8642,begin apogee
$GC,8647,-0.14,0.0,2387,1859,2577,2406,1000.5,-8.9,1541,8739,0.43,0.00,87.62,2.625,10246,0.160,0.000,2523,1857,2130,2216,2044,0,0,0,0,0,0,26.01,23.37,22.16
$STATE,8740,end apogee,CONTROL_FINISHED_OK
$STATE,8740,begin climb
$GC,8742,0.54,87.6,2523,1857,2216,2043,1003.5,0.0,1557,8845,0.75,0.00,93.93,2.482,10758,0.112,0.000,2754,1857,1770,1853,1687,0,0,0,0,0,0,23.52,22.43,21.52
$GC,9162,0.54,87.6,2753,1857,1847,1676,965.5,10.3,1635,9168,0.00,2.50,0.00,0.000,260,0.000,0.080,2754,3293,1761,1846,1676,0,0,0,0,0,0,25.35,24.94,25.36
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$STATE,18134,end climb,SURFACE_DEPTH_REACHED
$STATE,18134,begin surface coast
$FINISH,0.1,1.022560
$STATE,18169,end surface coast,CONTROL_FINISHED_OK
$STATE,18169,begin surface
$SM_CCo,18244,0.00,0.000,0,0,1222,222.48
$SM_GC,1.06,7.07,0.15,0.00,0.056,0.103,0.000,191,1973,1222,-7.44,-0.65,222.48,0,0,0,0,0,0,25.61,26.03,25.93
$IRIDIUM_FIX,-5220.79,-4010.63,161117,175311
$TT8_MAMPS,0.021721,0.231441
$HUMID,61.53
$INTERNAL_PRESSURE,9.27737
$TCM_TEMP,8.70
$XPDR_PINGS,0
$24V_AH,21.52,30.437
$10V_AH,9.99,51.476
$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
$DEVICE_SECS,17.825,123.100,316.700,0.000,0.000,22.545,41.562,368.448,0.000,0.000,22.629,6885.574,3335.613,643.688,7528.355,420.378,0.000,3080.734,0.000,7041.123,0.000,1.005,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1165.907,141.778,4647.792,2961.646,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,48.680,100.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343392
$DATA_FILE_SIZE,220763,3225
$CAP_FILE_SIZE,277976,0
$CFSIZE,259248128,236544000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.063,313.60,1
$GPS,171117,042302,-5243.327,-4013.117,28,1.0,28,-6.7,0.5,62.9,9,8.7