version: 66.12
revision: DORADO
glider: 542
mission: 6
dive: 1
start: 7 21 119 9 45 30
data:
$ID,542
$MISSION,6
$DIVE,1
$N_DIVES,0
$STOP_T,7211914
$D_SURF,3
$D_FLARE,3
$D_TGT,50
$D_ABORT,70
$D_NO_BLEED,20
$D_BOOST,0
$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,13
$T_MISSION,23
$T_ABORT,60
$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,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53565
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4743.3999
$TGT_DEFAULT_LON,-12224.2
$TGT_AUTO_DEFAULT,0
$SM_CC,408.96558
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,259
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100840
$T_RSLEEP,5
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,181
$PITCH_MAX,3936
$C_PITCH,2419
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,28
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,345
$ROLL_MAX,3934
$ROLL_DEG,40
$C_ROLL_DIVE,2139
$C_ROLL_CLIMB,2139
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2308
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$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,310
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,10
$MAXI_24V,3
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-175.69942
$PRESSURE_SLOPE,0.00010809
$AD7714Ch0Gain,1
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,1000
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097655999
$INT_PRESSURE_YINT,1.5
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$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,0.0044170357
$SEABIRD_T_H,0.00064478762
$SEABIRD_T_I,2.6496438e-05
$SEABIRD_T_J,3.2924222e-06
$SEABIRD_C_G,-10.314617
$SEABIRD_C_H,1.1815245
$SEABIRD_C_I,-0.0025321953
$SEABIRD_C_J,0.00028878695
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,210719,093745,-4259.9341,830.5776,20,1.3,60,-25.0,0.8,182.0,7,3.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-46.7
$GPS2,210719,094508,-4259.8848,830.7753,15,1.2,55,-25.0,0.5,275.9,7,3.3
$SPEED_LIMITS,0.222,0.229
$TGT_NAME,WP1
$TGT_LATLONG,-3352.180,1814.030
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.000000,0.000000
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,66.5,1353998,-27.3,-12.821,-29.22,1167
$D_GRID,50
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,19,-1.09,-97.3,194,2130,762,505,0.0,0.0,0,143,0.00,0.00,-116.05,0.000,16390,0.000,0.000,194,2128,2706,2700,2712,0,0,0,0,0,0,15.29,13.93,15.26
$GC,145,-1.09,-97.3,193,2130,2700,2712,1.7,-1.2,21,165,10.90,2.42,0.00,0.000,2564,0.341,0.085,2060,734,2708,2705,2712,0,0,0,0,0,0,14.83,15.00,15.02
$GC,317,-1.09,-97.3,2060,733,2711,2706,17.2,-14.3,54,324,0.00,2.35,0.00,0.000,3078,0.000,0.057,2054,2135,2708,2711,2705,0,0,0,0,0,0,15.11,15.01,15.12
$GC,356,-1.09,-97.3,2053,2135,2711,2705,24.8,-19.7,61,363,0.00,2.42,0.00,0.000,2564,0.000,0.086,2054,735,2708,2711,2705,0,0,0,0,0,0,15.23,14.96,15.23
$GC,405,-1.09,-97.3,2054,735,2711,2704,34.4,-19.7,70,412,0.08,2.35,0.00,0.000,3078,0.369,0.056,2058,2141,2708,2711,2705,0,0,0,0,0,0,14.82,14.96,15.02
$GC,444,-1.09,-97.3,2058,2141,2711,2704,41.6,-17.3,77,450,0.00,0.00,0.00,0.000,2054,0.000,0.000,2059,2141,2707,2711,2704,0,0,0,0,0,0,15.21,15.21,15.21
$GC,482,-1.09,-97.3,2058,2141,2711,2704,48.3,-18.9,84,487,0.00,0.00,0.00,0.000,2054,0.000,0.000,2059,2141,2707,2711,2704,0,0,0,0,0,0,15.21,15.22,15.22
$STATE,492,end dive,TARGET_DEPTH_EXCEEDED
$STATE,492,begin apogee
$GC,495,-0.18,0.0,2058,2141,2711,2704,50.8,-18.4,86,582,1.55,0.00,81.20,1.418,10246,0.246,0.000,2353,2142,2305,2358,2253,0,0,0,0,0,0,14.81,14.53,13.97
$STATE,584,end apogee,CONTROL_FINISHED_OK
$STATE,584,begin climb
$GC,585,1.09,97.3,2353,2142,2357,2250,57.7,0.0,101,674,1.98,2.45,76.53,1.400,10500,0.144,0.070,2752,3545,1906,1978,1834,0,0,0,0,0,0,14.48,14.34,13.82
$GC,686,1.13,124.4,2751,3545,1976,1834,51.5,10.4,117,716,0.00,2.47,21.45,1.327,11270,0.000,0.074,2762,2145,1795,1872,1719,0,0,0,0,0,0,14.49,14.40,13.88
$GC,747,1.13,126.4,2761,2146,1870,1715,43.6,12.6,128,754,0.00,2.53,0.00,0.000,2564,0.000,0.086,2772,732,1792,1870,1715,0,0,0,0,0,0,14.71,14.48,14.71
$GC,760,1.13,126.6,2771,732,1869,1713,42.0,12.8,130,768,0.00,2.40,0.00,0.000,3078,0.000,0.048,2772,2151,1791,1869,1713,0,0,0,0,0,0,14.64,14.56,14.65
$GC,799,1.13,126.6,2771,2152,1868,1711,36.9,13.3,137,805,0.00,0.00,0.00,0.000,2054,0.000,0.000,2772,2151,1790,1868,1712,0,0,0,0,0,0,14.81,14.82,14.81
$GC,836,1.13,126.6,2771,2152,1867,1711,30.9,16.3,144,841,0.00,0.00,0.00,0.000,2054,0.000,0.000,2772,2152,1789,1867,1711,0,0,0,0,0,0,14.85,14.86,14.85
$GC,873,1.13,126.6,2772,2152,1867,1711,24.5,16.3,151,879,0.00,0.00,0.00,0.000,2054,0.000,0.000,2772,2152,1789,1867,1711,0,0,0,0,0,0,14.91,14.91,14.91
$GC,910,1.13,126.6,2772,2152,1866,1710,19.0,14.3,158,918,0.00,2.50,0.00,0.000,2564,0.000,0.085,2782,732,1787,1864,1710,0,0,0,0,0,0,14.93,14.69,14.93
$GC,934,1.13,126.6,2782,732,1864,1709,15.6,14.0,162,942,0.00,2.35,0.00,0.000,1030,0.000,0.051,2782,2137,1786,1864,1709,0,0,0,0,0,0,14.85,14.76,14.85
$GC,973,1.13,126.6,2782,2137,1864,1709,9.0,16.4,169,979,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2137,1786,1864,1708,0,0,0,0,0,0,14.98,14.99,14.98
$GC,1010,1.13,126.6,2782,2138,1863,1708,3.2,15.2,176,1017,0.00,2.47,0.00,0.000,516,0.000,0.091,2792,735,1783,1860,1706,0,0,0,0,0,0,14.98,14.76,14.99
$STATE,1022,end climb,SURFACE_DEPTH_REACHED
$STATE,1022,begin surface coast
$FINISH,-0.2,1.018840
$STATE,1038,end surface coast,CONTROL_FINISHED_OK
$STATE,1038,begin surface
$SM_CCo,1059,178.52,1.103,0,0,637,409.15
$SM_GC,0.79,12.45,2.40,178.52,0.080,0.054,1.103,195,2139,637,-6.92,-0.99,409.15,0,0,0,0,0,0,14.83,14.83,13.95
$IRIDIUM_FIX,-4244.98,816.55,210719,091555
$TT8_MAMPS,0.020223,0.915278
$HUMID,52.99
$INTERNAL_PRESSURE,9.05857
$TCM_TEMP,19.40
$XPDR_PINGS,0
$SC_FREEKB,3755584
$24V_AH,13.82,1.755
$10V_AH,13.24,0.000
$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,26.950,29.125,179.175,178.525,0.000,0.000,0.000,0.000,0.000,0.000,56.253,381.219,111.928,494.171,349.970,15.436,0.000,720.665,0.000,279.680,0.000,1.013,0.000
$DEVICE_MAMPS,368.730,91.035,1418.310,1103.130,0.000,0.000,0.000,0.000,420.000,0.000,23.220,9.170,2.190,9.170,30.140,42.880,0.000,11.800,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1023.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.935,0.000,0.000,0.000
$MEM,339300
$DATA_FILE_SIZE,3500,181
$CAP_FILE_SIZE,59368,0
$CFSIZE,1023623168,1021001728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.514,57.45,1
$GPS,210719,100702,-4259.618,831.260,13,1.0,18,-25.1,1.0,70.3,8,9.7