version: 66.12
revision: DORADO
glider: 542
mission: 4
dive: 1
start: 12 10 118 5 16 59
data:
$ID,542
$MISSION,4
$DIVE,1
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,100
$D_ABORT,150
$D_NO_BLEED,29
$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,34
$T_MISSION,40
$T_ABORT,65
$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,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54894
$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,532.10419
$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,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,181
$PITCH_MAX,3936
$C_PITCH,2559
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,34
$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,62
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2810
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,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,-175.94231
$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,300
$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
$GPS1,101218,051241,-4300.2485,747.6167,18,0.9,19,-24.8,0.0,0.0,9,6.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.49
$_SM_ANGLEo,-53.5
$GPS2,101218,051635,-4300.2935,747.6258,15,1.0,16,-24.8,0.0,0.0,8,7.7
$SPEED_LIMITS,0.170,0.323
$TGT_NAME,WP1
$TGT_LATLONG,-4300.000,747.520
$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,10.0,562,-16.7,-9.804,-19.59,2631
$D_GRID,100
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.70,-168.6,169,2135,761,486,0.0,0.0,0,156,0.00,0.00,-134.70,0.000,16386,0.000,0.000,169,2136,3398,3369,3427,0,0,0,0,0,0,15.30,28.83,15.31
$GC,158,-0.70,-168.6,169,2136,3371,3427,3.8,-10.3,23,178,12.52,0.00,-2.05,0.000,18694,0.330,0.000,2328,2136,3500,3476,3524,0,0,0,0,0,0,14.78,13.99,15.05
$GC,210,-0.79,-243.3,2324,2136,3477,3523,16.1,-5.0,32,217,0.00,0.00,-5.25,0.000,20486,0.000,0.000,2324,2136,3803,3704,3902,0,0,0,0,0,0,15.26,13.92,15.25
$GC,248,-0.79,-243.3,2324,2136,3704,3902,18.3,-7.7,39,255,0.08,2.35,0.00,0.000,4612,0.272,0.083,2304,753,3803,3705,3902,0,0,0,0,0,0,14.92,15.02,15.02
$GC,507,-0.79,-243.3,2305,753,3705,3902,49.1,-12.2,90,514,0.00,2.28,0.00,0.000,1030,0.000,0.050,2305,2146,3803,3705,3902,0,0,0,0,0,0,15.14,15.07,15.16
$GC,545,-0.79,-243.3,2304,2146,3705,3902,53.9,-11.7,97,552,0.00,2.30,0.00,0.000,260,0.000,0.067,2304,3547,3802,3702,3902,0,0,0,0,0,0,15.27,15.00,15.28
$STATE,928,end dive,TARGET_DEPTH_EXCEEDED
$STATE,928,begin apogee
$GC,933,-0.15,0.0,2305,2156,3705,3902,100.5,-12.0,173,1114,0.85,0.00,175.82,1.419,10246,0.096,0.000,2497,2155,2808,2911,2705,0,0,0,0,0,0,15.00,14.41,13.86
$STATE,1116,end apogee,CONTROL_FINISHED_OK
$STATE,1116,begin climb
$GC,1117,0.79,243.3,2497,2155,2907,2703,114.9,0.0,191,1312,1.45,2.55,180.60,1.389,10756,0.062,0.083,2830,741,1811,1910,1713,0,0,0,0,0,0,14.50,14.36,13.86
$GC,1394,0.79,243.3,2830,741,1900,1709,97.5,22.8,220,1401,0.08,2.35,0.00,0.000,5126,0.356,0.053,2818,2138,1804,1900,1708,0,0,0,0,0,0,14.59,14.71,14.78
$GC,1433,0.79,243.3,2818,2139,1898,1707,89.3,20.2,227,1439,0.00,0.00,0.00,0.000,4102,0.000,0.000,2819,2142,1802,1898,1707,0,0,0,0,0,0,14.98,14.98,14.98
$GC,1470,0.79,243.3,2818,2139,1897,1707,81.9,20.5,234,1477,0.00,2.42,0.00,0.000,4612,0.000,0.083,2828,730,1802,1897,1707,0,0,0,0,0,0,15.03,14.81,15.03
$GC,1494,0.79,243.3,2828,730,1896,1707,77.0,21.3,238,1501,0.05,2.35,0.00,0.000,5126,0.412,0.051,2820,2143,1801,1896,1707,0,0,0,0,0,0,14.69,14.83,14.90
$GC,1532,0.79,243.3,2820,2143,1895,1706,69.3,19.4,245,1538,0.00,0.00,0.00,0.000,4102,0.000,0.000,2820,2143,1801,1896,1706,0,0,0,0,0,0,15.07,15.07,15.07
$GC,1569,0.79,243.3,2820,2143,1895,1706,61.6,20.1,252,1576,0.00,2.42,0.00,0.000,4612,0.000,0.083,2829,736,1800,1895,1706,0,0,0,0,0,0,15.10,14.88,15.11
$GC,1603,0.79,243.3,2829,736,1895,1706,55.1,20.3,258,1610,0.08,2.33,0.00,0.000,5126,0.364,0.051,2818,2143,1803,1900,1706,0,0,0,0,0,0,14.73,14.88,14.93
$GC,1641,0.79,243.3,2817,2144,1894,1706,47.7,19.0,265,1647,0.00,2.42,0.00,0.000,4612,0.000,0.083,2827,731,1798,1891,1705,0,0,0,0,0,0,15.12,14.90,15.12
$GC,1729,0.79,243.3,2826,731,1894,1706,29.3,21.5,282,1736,0.05,2.33,0.00,0.000,5126,0.405,0.051,2820,2140,1799,1893,1706,0,0,0,0,0,0,14.80,14.96,15.01
$GC,1767,0.79,243.3,2819,2141,1894,1706,22.6,18.3,289,1773,0.00,0.00,0.00,0.000,4102,0.000,0.000,2820,2141,1799,1893,1706,0,0,0,0,0,0,15.16,15.17,15.16
$GC,1805,0.79,243.3,2819,2141,1894,1702,15.3,19.0,296,1811,0.00,0.00,0.00,0.000,4102,0.000,0.000,2818,2141,1800,1894,1706,0,0,0,0,0,0,15.18,15.19,15.19
$GC,1842,0.79,243.3,2819,2141,1893,1705,7.7,20.8,303,1850,0.00,2.40,0.00,0.000,4612,0.000,0.084,2829,737,1799,1893,1706,0,0,0,0,0,0,15.18,14.92,15.19
$STATE,1864,end climb,SURFACE_DEPTH_REACHED
$STATE,1865,begin surface coast
$FINISH,0.4,1.026352
$STATE,1876,end surface coast,CONTROL_FINISHED_OK
$STATE,1876,begin surface
$SM_CCo,1897,165.20,1.055,0,0,637,532.29
$SM_GC,0.54,12.48,2.35,165.20,0.082,0.053,1.055,180,2137,637,-7.36,-1.24,532.29,0,0,0,0,0,0,15.01,14.99,14.09
$IRIDIUM_FIX,-4244.98,746.97,101218,050901
$TT8_MAMPS,0.019474,0.852362
$HUMID,51.57
$INTERNAL_PRESSURE,8.87303
$TCM_TEMP,19.90
$XPDR_PINGS,5
$SC_FREEKB,3922336
$24V_AH,13.86,6.636
$10V_AH,13.68,0.000
$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,27.625,33.175,356.425,165.200,0.000,0.000,0.000,0.000,1.250,0.000,17.193,685.179,252.550,637.504,544.408,20.657,0.000,983.005,0.000,507.300,0.000,1.019,0.000
$DEVICE_MAMPS,411.570,84.150,1419.075,1054.935,0.000,0.000,0.000,0.000,420.000,0.000,23.220,9.170,2.190,9.170,30.140,42.880,0.000,11.800,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1861.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.927,0.000,0.000,0.000
$MEM,339108
$DATA_FILE_SIZE,6794,309
$CAP_FILE_SIZE,99143,0
$CFSIZE,1023623168,1020985344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.809,163.67,1
$GPS,101218,055217,-4300.513,747.558,18,0.9,19,-24.8,0.0,225.5,9,10.0