version: 66.12
revision: CLOWNFISH
glider: 542
mission: 17
dive: 152
start: 11 17 117 15 10 5
data:
$ID,542
$MISSION,17
$DIVE,152
$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,20
$R_STBD_OVSHOOT,15
$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
$GPS1,171117,145602,-5246.5581,-4010.5930,28,0.8,28,-6.7,0.0,0.0,9,23.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-69.5
$GPS2,171117,150921,-5246.5425,-4010.5620,20,1.0,20,-6.7,0.0,0.0,9,82.7
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,GOCART1
$TGT_LATLONG,-5247.670,-4009.864
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,162.3,2230,-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,-87.6,201,1968,1310,1204,0.0,0.0,0,71,0.00,0.00,-51.70,0.000,16390,0.000,0.000,202,1969,2488,2572,2404,0,0,0,0,0,0,25.92,24.27,25.94
$GC,74,-0.56,-87.6,201,1969,2572,2405,3.4,-5.3,8,89,8.82,2.38,0.00,0.000,2308,0.245,0.070,2374,3385,2489,2574,2405,0,0,0,0,0,0,25.25,25.54,25.43
$GC,308,-0.56,-87.6,2374,3386,2577,2405,42.2,-14.7,47,315,0.00,2.35,0.00,0.000,1030,0.000,0.064,2374,1957,2491,2577,2405,0,0,0,0,0,0,25.87,25.73,25.89
$GC,362,-0.56,-87.6,2374,1957,2578,2405,51.0,-15.3,56,370,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1957,2491,2578,2405,0,0,0,0,0,0,26.16,26.17,26.17
$GC,419,-0.56,-87.6,2374,1957,2578,2405,59.6,-15.7,65,425,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1957,2491,2578,2405,0,0,0,0,0,0,26.19,26.20,26.20
$GC,472,-0.56,-87.6,2374,1956,2578,2405,68.5,-16.3,74,481,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1957,2491,2578,2405,0,0,0,0,0,0,26.21,26.22,26.22
$GC,530,-0.56,-87.6,2374,1957,2577,2405,77.2,-15.3,83,536,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1957,2491,2577,2405,0,0,0,0,0,0,26.24,26.25,26.25
$GC,583,-0.56,-87.6,2374,1957,2578,2405,85.6,-15.0,92,591,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1957,2491,2578,2405,0,0,0,0,0,0,26.26,26.27,26.27
$GC,640,-0.56,-87.6,2374,1957,2577,2404,93.4,-14.1,101,645,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1957,2491,2578,2405,0,0,0,0,0,0,26.28,26.29,26.29
$GC,693,-0.56,-87.6,2374,1957,2578,2405,101.2,-14.2,110,701,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1957,2491,2578,2405,0,0,0,0,0,0,26.29,26.32,26.30
$GC,843,-0.56,-87.6,2374,1957,2578,2405,123.1,-15.4,135,849,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1957,2491,2578,2405,0,0,0,0,0,0,26.34,26.35,26.35
$GC,988,-0.56,-87.6,2374,1957,2579,2405,144.5,-14.2,160,996,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1957,2491,2578,2405,0,0,0,0,0,0,26.38,26.39,26.39
$GC,1140,-0.56,-87.6,2374,1957,2579,2405,165.9,-14.6,185,1146,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1957,2492,2579,2405,0,0,0,0,0,0,26.41,26.42,26.42
$GC,1285,-0.56,-87.6,2374,1957,2579,2404,187.4,-14.1,210,1294,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1957,2492,2579,2405,0,0,0,0,0,0,26.44,26.45,26.45
$GC,1436,-0.56,-87.6,2374,1957,2579,2405,208.4,-13.6,235,1442,0.00,2.30,0.00,0.000,516,0.000,0.079,2374,550,2492,2579,2405,0,0,0,0,0,0,26.46,25.99,26.47
$GC,1466,-0.56,-87.6,2374,550,2579,2405,213.0,-14.2,240,1475,0.00,2.35,0.00,0.000,1030,0.000,0.067,2364,1966,2492,2579,2405,0,0,0,0,0,0,26.10,26.03,26.15
$GC,1618,-0.56,-87.6,2363,1966,2579,2405,234.3,-14.8,265,1623,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,1967,2492,2579,2405,0,0,0,0,0,0,26.48,26.49,26.49
$GC,1763,-0.56,-87.6,2364,1967,2579,2405,256.2,-14.8,290,1771,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,1967,2492,2579,2405,0,0,0,0,0,0,26.50,26.51,26.51
$GC,1914,-0.56,-87.6,2364,1967,2579,2405,276.9,-13.5,315,1921,0.00,2.33,0.00,0.000,260,0.000,0.077,2353,3387,2492,2579,2405,0,0,0,0,0,0,26.52,26.04,26.53
$GC,1964,-0.56,-87.6,2353,3387,2579,2405,284.2,-14.0,323,1972,0.12,2.30,0.00,0.000,3078,0.188,0.064,2388,1959,2491,2578,2405,0,0,0,0,0,0,25.89,26.08,26.10
$GC,2112,-0.56,-87.6,2387,1959,2579,2405,302.8,-11.5,348,2120,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,1959,2492,2579,2405,0,0,0,0,0,0,26.53,26.54,26.54
$GC,2263,-0.56,-87.6,2388,1959,2579,2405,320.1,-11.1,373,2269,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,1959,2492,2579,2405,0,0,0,0,0,0,26.54,26.55,26.55
$GC,2409,-0.56,-87.6,2388,1959,2579,2405,336.8,-11.5,398,2418,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,1959,2492,2579,2405,0,0,0,0,0,0,26.55,26.57,26.56
$GC,2558,-0.56,-87.6,2388,1959,2579,2405,353.3,-11.3,423,2564,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,1959,2492,2579,2405,0,0,0,0,0,0,26.57,26.58,26.58
$GC,2703,-0.56,-87.6,2387,1959,2579,2405,370.2,-11.4,448,2711,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,1959,2492,2579,2405,0,0,0,0,0,0,26.58,26.59,26.59
$GC,2852,-0.56,-87.6,2388,1959,2579,2405,387.5,-12.4,473,2858,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,1959,2492,2579,2405,0,0,0,0,0,0,26.59,26.60,26.60
$GC,2997,-0.56,-87.6,2387,1959,2578,2405,405.7,-12.7,498,3006,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,1959,2492,2579,2405,0,0,0,0,0,0,26.60,26.61,26.60
$GC,3147,-0.56,-87.6,2387,1959,2579,2405,424.2,-12.2,523,3154,0.00,2.28,0.00,0.000,516,0.000,0.079,2388,558,2492,2579,2405,0,0,0,0,0,0,26.60,26.11,26.61
$GC,3198,-0.56,-87.6,2388,558,2579,2405,430.8,-13.0,531,3205,0.00,2.28,0.00,0.000,1030,0.000,0.067,2380,1967,2492,2579,2405,0,0,0,0,0,0,26.30,26.15,26.34
$GC,3347,-0.56,-87.6,2379,1967,2579,2405,449.7,-12.4,556,3355,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1967,2492,2580,2405,0,0,0,0,0,0,26.60,26.62,26.62
$GC,3498,-0.56,-87.6,2379,1967,2579,2405,468.1,-11.7,581,3503,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1967,2492,2579,2405,0,0,0,0,0,0,26.61,26.63,26.63
$GC,3643,-0.56,-87.6,2379,1966,2579,2405,485.8,-12.0,606,3651,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1967,2491,2579,2404,0,0,0,0,0,0,26.62,26.63,26.63
$GC,3791,-0.56,-87.6,2378,1967,2579,2405,502.8,-11.2,631,3796,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1967,2492,2579,2405,0,0,0,0,0,0,26.63,26.64,26.64
$GC,4111,-0.56,-87.6,2379,1967,2579,2405,539.7,-11.2,692,4117,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1967,2492,2579,2405,0,0,0,0,0,0,26.64,26.65,26.65
$GC,4435,-0.56,-87.6,2379,1967,2579,2405,577.0,-11.7,753,4441,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1967,2492,2579,2405,0,0,0,0,0,0,26.65,26.67,26.66
$GC,4754,-0.56,-87.6,2379,1967,2579,2405,615.1,-12.0,814,4760,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1967,2492,2579,2405,0,0,0,0,0,0,26.66,26.67,26.67
$GC,5078,-0.56,-87.6,2379,1967,2579,2405,654.7,-12.3,875,5083,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1967,2492,2579,2405,0,0,0,0,0,0,26.67,26.68,26.68
$GC,5399,-0.56,-87.6,2379,1967,2579,2405,693.1,-11.7,936,5407,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1967,2492,2579,2405,0,0,0,0,0,0,26.67,26.70,26.69
$GC,5727,-0.56,-87.6,2379,1967,2579,2405,729.9,-11.0,997,5732,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1967,2492,2579,2405,0,0,0,0,0,0,26.68,26.70,26.70
$GC,6050,-0.56,-87.6,2379,1967,2579,2405,763.3,-9.6,1058,6057,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1967,2492,2579,2405,0,0,0,0,0,0,26.69,26.70,26.70
$GC,6374,-0.56,-87.6,2379,1967,2579,2405,792.6,-8.5,1119,6379,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1967,2492,2579,2405,0,0,0,0,0,0,26.70,26.71,26.71
$GC,6696,-0.56,-87.6,2379,1967,2579,2405,819.0,-8.1,1180,6702,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1967,2492,2579,2405,0,0,0,0,0,0,26.70,26.71,26.71
$GC,7021,-0.56,-87.6,2379,1967,2579,2405,843.7,-7.3,1241,7026,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1967,2492,2579,2405,0,0,0,0,0,0,26.70,26.72,26.72
$GC,7341,-0.56,-87.6,2379,1967,2579,2405,867.2,-7.3,1302,7348,0.00,2.33,0.00,0.000,260,0.000,0.079,2369,3369,2492,2579,2405,0,0,0,0,0,0,26.71,26.17,26.72
$GC,7384,-0.56,-87.6,2369,3369,2579,2405,870.4,-7.9,1309,7390,0.00,2.25,0.00,0.000,1030,0.000,0.064,2369,1967,2492,2579,2405,0,0,0,0,0,0,26.39,26.24,26.42
$GC,7708,-0.56,-87.6,2369,1967,2579,2405,896.5,-7.9,1370,7714,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,1967,2492,2579,2405,0,0,0,0,0,0,26.70,26.72,26.72
$GC,8030,-0.56,-87.6,2369,1967,2579,2405,922.9,-8.5,1431,8036,0.00,2.30,0.00,0.000,260,0.000,0.079,2359,3382,2491,2578,2405,0,0,0,0,0,0,26.71,26.17,26.72
$GC,8059,-0.56,-87.6,2358,3382,2579,2405,925.5,-9.2,1436,8066,0.08,2.33,0.00,0.000,3078,0.179,0.064,2389,1962,2492,2579,2405,0,0,0,0,0,0,26.01,26.22,26.22
$GC,8388,-0.56,-87.6,2389,1962,2579,2405,952.0,-8.4,1497,8393,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,1962,2492,2579,2405,0,0,0,0,0,0,26.71,26.72,26.72
$GC,8710,-0.56,-87.6,2389,1961,2578,2404,980.9,-9.2,1558,8717,0.00,2.33,0.00,0.000,260,0.000,0.080,2381,3389,2491,2579,2403,0,0,0,0,0,0,26.71,26.17,26.72
$GC,8742,-0.56,-87.6,2380,3389,2579,2405,983.7,-9.5,1563,8748,0.00,2.30,0.00,0.000,1030,0.000,0.065,2381,1962,2492,2579,2405,0,0,0,0,0,0,26.37,26.22,26.41
$STATE,8912,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8912,begin apogee
$GC,8916,-0.14,0.0,2381,1864,2579,2405,1000.0,-9.7,1595,9008,0.45,0.00,87.25,2.628,10246,0.159,0.000,2525,1863,2129,2214,2044,0,0,0,0,0,0,25.98,23.35,22.12
$STATE,9009,end apogee,CONTROL_FINISHED_OK
$STATE,9009,begin climb
$GC,9011,0.56,87.6,2525,1863,2215,2044,1003.5,0.0,1611,9113,0.75,0.00,93.97,2.486,10246,0.111,0.000,2760,1863,1771,1853,1690,0,0,0,0,0,0,23.51,22.44,21.54
$GC,9431,0.59,113.5,2759,1863,1846,1677,969.6,9.0,1689,9464,0.00,2.60,25.70,2.514,8452,0.000,0.079,2760,3288,1666,1749,1584,0,0,0,0,0,0,25.35,23.63,22.61
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$STATE,18170,end climb,SURFACE_DEPTH_REACHED
$STATE,18170,begin surface coast
$FINISH,0.3,1.022564
$STATE,18182,end surface coast,CONTROL_FINISHED_OK
$STATE,18182,begin surface
$SM_CCo,18259,0.00,0.000,0,0,1026,270.81
$SM_GC,1.41,7.18,2.55,0.00,0.059,0.070,0.000,191,1963,1026,-7.44,-0.54,270.81,0,0,0,0,0,0,25.04,25.75,25.59
$IRIDIUM_FIX,-5227.86,-4007.49,171117,145822
$TT8_MAMPS,0.021721,0.231441
$HUMID,61.57
$INTERNAL_PRESSURE,9.25784
$TCM_TEMP,16.20
$XPDR_PINGS,0
$24V_AH,21.54,31.148
$10V_AH,9.98,52.437
$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
$DEVICE_SECS,17.900,128.150,317.975,0.000,0.000,49.186,65.577,427.662,0.000,0.000,21.105,6899.733,3409.438,634.778,7669.927,423.689,0.000,3073.907,0.000,7043.553,0.000,1.005,0.000
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$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1150.365,134.987,4638.970,2933.226,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,8.990,48.680,100.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343384
$DATA_FILE_SIZE,220647,3232
$CAP_FILE_SIZE,282987,0
$CFSIZE,259248128,236077056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.055,229.45,1
$GPS,171117,201533,-5248.833,-4009.751,37,0.8,37,-6.6,0.0,0.0,10,7.8