version: 66.12
revision: DORADO
glider: 542
mission: 4
dive: 140
start: 1 3 119 9 16 14
data:
$ID,542
$MISSION,4
$DIVE,140
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$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,334
$T_MISSION,345
$T_ABORT,355
$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,200
$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,210
$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,0
$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,2390
$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,2039
$C_ROLL_CLIMB,1955
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2425
$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,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
$GPS1,030119,090034,-4255.8296,745.4583,43,1.0,44,-24.8,0.0,339.4,10,7.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-68.6
$GPS2,030119,091603,-4255.8926,745.4444,20,1.0,25,-24.8,0.3,31.4,10,9.1
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,WP2
$TGT_LATLONG,-4257.000,745.230
$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,214.3,2072,-27.8,-9.980,-30.00,970
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.07,-63.0,183,2051,1615,1468,0.0,0.0,0,76,0.00,0.00,-56.67,0.000,16390,0.000,0.000,181,2050,2682,2669,2696,0,0,0,0,0,0,14.82,13.54,14.83
$GC,78,-1.16,-135.4,181,2051,2670,2696,2.3,-2.3,10,103,11.52,2.53,-7.68,0.000,18948,0.378,0.094,2005,630,2980,2960,3000,0,0,0,0,0,0,14.34,13.93,14.53
$GC,437,-1.16,-135.4,2005,630,2980,2985,91.8,-22.2,81,444,0.00,2.42,0.00,0.000,3078,0.000,0.055,2005,2048,2981,2979,2984,0,0,0,0,0,0,14.78,14.67,14.78
$GC,473,-1.16,-135.4,2006,2049,2980,2984,99.3,-22.2,88,473,0.00,0.00,0.00,0.000,2054,0.000,0.000,2005,2048,2981,2980,2983,0,0,0,0,0,0,14.95,14.95,14.95
$GC,508,-1.16,-135.4,2005,2048,2982,2984,107.5,-22.9,92,508,0.00,0.00,0.00,0.000,2054,0.000,0.000,2005,2048,2981,2980,2983,0,0,0,0,0,0,14.96,14.97,14.97
$GC,568,-1.16,-135.4,2004,2049,2981,2984,120.9,-22.2,98,573,0.00,2.45,0.00,0.000,2308,0.000,0.075,2005,3449,2981,2979,2983,0,0,0,0,0,0,14.97,14.68,14.97
$GC,578,-1.16,-135.4,2005,3450,2981,2984,123.0,-21.9,99,584,0.00,2.42,0.00,0.000,3078,0.000,0.050,2005,2036,2981,2980,2983,0,0,0,0,0,0,14.72,14.66,14.74
$GC,648,-1.16,-135.4,2006,2037,2981,2984,138.4,-21.7,106,649,0.00,0.00,0.00,0.000,2054,0.000,0.000,2005,2036,2981,2980,2983,0,0,0,0,0,0,14.99,15.00,14.99
$GC,708,-1.16,-135.4,2005,2037,2980,2984,151.4,-21.7,112,709,0.00,0.00,0.00,0.000,2054,0.000,0.000,2005,2036,2981,2980,2983,0,0,0,0,0,0,14.99,15.00,15.00
$GC,768,-1.16,-135.4,2006,2037,2980,2984,164.6,-21.9,118,769,0.00,0.00,0.00,0.000,2054,0.000,0.000,2005,2036,2981,2980,2983,0,0,0,0,0,0,15.00,15.00,15.00
$GC,828,-1.16,-135.4,2005,2037,2982,2984,178.0,-22.4,124,829,0.00,0.00,0.00,0.000,2054,0.000,0.000,2005,2036,2982,2981,2983,0,0,0,0,0,0,15.00,15.01,15.00
$GC,888,-1.16,-135.4,2006,2037,2980,2984,191.4,-22.3,130,889,0.00,0.00,0.00,0.000,2054,0.000,0.000,2005,2036,2982,2981,2983,0,0,0,0,0,0,15.01,15.01,15.01
$GC,948,-1.16,-135.4,2006,2036,2981,2984,205.2,-23.5,136,949,0.00,0.00,0.00,0.000,2054,0.000,0.000,2005,2036,2982,2981,2983,0,0,0,0,0,0,15.02,15.02,15.02
$GC,1008,-1.16,-135.4,2006,2037,2981,2984,218.3,-21.7,142,1009,0.00,0.00,0.00,0.000,2054,0.000,0.000,2005,2036,2982,2981,2983,0,0,0,0,0,0,15.02,15.03,15.02
$GC,1068,-1.16,-135.4,2006,2037,2981,2984,231.4,-21.7,148,1069,0.00,0.00,0.00,0.000,2054,0.000,0.000,2005,2034,2982,2981,2983,0,0,0,0,0,0,15.03,15.04,15.03
$GC,1128,-1.16,-135.4,2006,2037,2981,2984,244.5,-22.0,154,1134,0.00,2.53,0.00,0.000,2308,0.000,0.074,2005,3446,2982,2981,2983,0,0,0,0,0,0,15.04,14.71,15.04
$GC,1143,-1.16,-135.4,2006,3447,2981,2984,246.7,-22.1,155,1150,0.00,2.42,0.00,0.000,3078,0.000,0.053,2005,2033,2982,2981,2983,0,0,0,0,0,0,14.81,14.76,14.83
$GC,1208,-1.16,-135.4,2006,2034,2981,2984,262.1,-22.0,162,1209,0.00,0.00,0.00,0.000,2054,0.000,0.000,2005,2033,2982,2981,2983,0,0,0,0,0,0,15.04,15.04,15.04
$GC,1268,-1.16,-135.4,2006,2032,2981,2983,275.3,-22.1,168,1269,0.00,0.00,0.00,0.000,2054,0.000,0.000,2005,2033,2982,2981,2983,0,0,0,0,0,0,15.04,15.04,15.04
$GC,1328,-1.16,-135.4,2005,2034,2983,2984,288.6,-22.1,174,1333,0.00,2.50,0.00,0.000,2564,0.000,0.076,2005,627,2982,2981,2983,0,0,0,0,0,0,15.05,14.75,15.06
$GC,1343,-1.16,-135.4,2006,627,2981,2984,290.8,-22.1,175,1350,0.00,2.45,0.00,0.000,3078,0.000,0.054,2005,2044,2981,2981,2982,0,0,0,0,0,0,14.82,14.78,14.85
$GC,1418,-1.16,-135.4,2007,2045,2982,2983,308.7,-22.0,182,1424,0.00,2.53,0.00,0.000,2564,0.000,0.074,2005,628,2982,2982,2982,0,0,0,0,0,0,15.05,14.76,15.05
$GC,1433,-1.16,-135.4,2005,629,2983,2983,312.1,-22.0,183,1439,0.00,2.42,0.00,0.000,3078,0.000,0.054,2005,2032,2981,2982,2981,0,0,0,0,0,0,14.86,14.80,14.88
$GC,1569,-1.16,-135.4,2005,2033,2984,2983,341.5,-21.7,192,1569,0.00,0.00,0.00,0.000,2054,0.000,0.000,2005,2033,2982,2982,2982,0,0,0,0,0,0,15.07,15.07,15.06
$GC,1689,-1.16,-135.4,2006,2033,2982,2983,366.9,-21.2,200,1689,0.00,0.00,0.00,0.000,2054,0.000,0.000,2005,2033,2982,2982,2982,0,0,0,0,0,0,15.07,15.07,15.07
$GC,1809,-1.16,-135.4,2005,2033,2984,2983,392.4,-21.3,208,1809,0.00,0.00,0.00,0.000,2054,0.000,0.000,2005,2032,2982,2982,2982,0,0,0,0,0,0,15.08,15.08,15.07
$GC,1929,-1.16,-135.4,2004,2033,2984,2986,417.7,-21.0,216,1929,0.00,0.00,0.00,0.000,2054,0.000,0.000,2005,2033,2982,2982,2982,0,0,0,0,0,0,15.07,15.08,15.07
$GC,2048,-1.16,-135.4,2004,2033,2982,2982,442.5,-20.7,224,2049,0.00,0.00,0.00,0.000,2054,0.000,0.000,2005,2033,2984,2982,2986,0,0,0,0,0,0,15.07,15.07,15.07
$GC,2168,-1.16,-135.4,2005,2034,2984,2982,468.0,-21.2,232,2169,0.00,0.00,0.00,0.000,2054,0.000,0.000,2005,2033,2981,2982,2981,0,0,0,0,0,0,15.07,15.08,15.07
$GC,2288,-1.16,-135.4,2004,2033,2984,2982,493.5,-21.2,240,2289,0.00,0.00,0.00,0.000,2054,0.000,0.000,2004,2033,2981,2982,2981,0,0,0,0,0,0,15.07,15.07,15.08
$GC,2409,-1.16,-135.4,2005,2033,2984,2981,519.1,-21.3,248,2409,0.00,0.00,0.00,0.000,2054,0.000,0.000,2005,2033,2981,2982,2981,0,0,0,0,0,0,15.07,15.08,15.08
$GC,2529,-1.16,-135.4,2005,2033,2984,2981,544.4,-21.0,256,2529,0.00,0.00,0.00,0.000,2054,0.000,0.000,2005,2033,2981,2982,2980,0,0,0,0,0,0,15.08,15.08,15.08
$GC,2648,-1.16,-135.4,2005,2033,2984,2981,569.5,-20.9,264,2649,0.00,0.00,0.00,0.000,2054,0.000,0.000,2005,2033,2981,2982,2980,0,0,0,0,0,0,15.08,15.08,15.08
$GC,2768,-1.16,-135.4,2005,2033,2983,2980,595.0,-21.1,272,2769,0.00,0.00,0.00,0.000,2054,0.000,0.000,2005,2033,2980,2982,2979,0,0,0,0,0,0,15.07,15.08,15.08
$GC,2899,-1.16,-135.4,2006,2033,2982,2980,622.5,-21.2,279,2899,0.00,0.00,0.00,0.000,2054,0.000,0.000,2005,2033,2980,2982,2978,0,0,0,0,0,0,15.07,15.08,15.07
$GC,3139,-1.16,-135.4,2006,2033,2982,2978,673.4,-20.9,291,3144,0.00,2.47,0.00,0.000,2564,0.000,0.076,2005,620,2980,2982,2978,0,0,0,0,0,0,15.08,14.83,15.09
$GC,3164,-1.16,-135.4,2005,621,2984,2981,677.7,-21.0,292,3169,0.00,2.45,0.00,0.000,3078,0.000,0.056,2005,2033,2980,2983,2978,0,0,0,0,0,0,14.85,14.80,14.88
$GC,3419,-1.16,-135.4,2006,2034,2984,2977,732.3,-20.8,305,3420,0.00,0.00,0.00,0.000,2054,0.000,0.000,2005,2034,2980,2983,2977,0,0,0,0,0,0,15.08,15.08,15.08
$GC,3659,-1.16,-135.4,2007,2034,2984,2976,782.2,-20.5,317,3659,0.00,0.00,0.00,0.000,2054,0.000,0.000,2005,2033,2979,2983,2975,0,0,0,0,0,0,15.09,15.09,15.09
$GC,3899,-1.16,-135.4,2006,2034,2983,2974,831.6,-20.0,329,3904,0.00,2.50,0.00,0.000,2308,0.000,0.080,2005,3458,2978,2983,2974,0,0,0,0,0,0,15.08,14.79,15.08
$GC,3919,-1.16,-135.4,2006,3459,2983,2974,835.6,-19.9,330,3924,0.00,2.45,0.00,0.000,3078,0.000,0.056,2005,2035,2979,2983,2976,0,0,0,0,0,0,14.88,14.82,14.89
$GC,4179,-1.16,-135.4,2005,2036,2983,2973,887.5,-19.8,343,4184,0.00,2.47,0.00,0.000,2564,0.000,0.079,2005,625,2978,2983,2973,0,0,0,0,0,0,15.07,14.83,15.07
$GC,4203,-1.16,-135.4,2006,626,2983,2973,891.8,-20.2,344,4209,0.00,2.45,0.00,0.000,3078,0.000,0.057,2005,2030,2982,2983,2981,0,0,0,0,0,0,14.87,14.81,14.88
$GC,4459,-1.16,-135.4,2005,2031,2985,2972,944.6,-20.5,357,4464,0.00,2.47,0.00,0.000,2564,0.000,0.078,2005,624,2977,2983,2971,0,0,0,0,0,0,15.07,14.82,15.09
$GC,4479,-1.16,-135.4,2005,624,2985,2972,948.7,-20.6,358,4484,0.00,2.47,0.00,0.000,3078,0.000,0.057,2006,2042,2977,2983,2971,0,0,0,0,0,0,14.86,14.83,14.90
$STATE,4739,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4739,begin apogee
$GC,4743,-0.18,0.0,2006,1940,2984,2971,1000.5,-19.4,371,4882,1.83,0.00,135.23,2.540,10246,0.269,0.000,2323,1939,2424,2497,2351,0,0,0,0,0,0,14.56,13.97,13.21
$STATE,4883,end apogee,CONTROL_FINISHED_OK
$STATE,4883,begin climb
$GC,4884,1.16,135.4,2323,1939,2494,2348,1007.8,0.0,378,5042,2.25,2.75,139.00,2.443,10756,0.144,0.089,2744,560,1866,1965,1768,0,0,0,0,1,0,13.99,13.54,12.81
$GC,5086,1.16,135.4,2744,561,1961,1769,987.9,16.3,388,5092,0.00,2.60,0.00,0.000,3078,0.000,0.051,2744,1961,1864,1961,1768,0,0,0,0,0,0,13.93,13.88,13.95
$GC,5342,1.16,135.4,2743,1963,1955,1764,943.8,16.8,401,5347,0.00,2.58,0.00,0.000,2564,0.000,0.088,2745,556,1858,1953,1763,0,0,0,0,0,0,14.62,14.40,14.62
$GC,5366,1.16,135.4,2745,556,1952,1764,940.4,16.7,402,5372,0.00,2.50,0.00,0.000,3078,0.000,0.051,2745,1963,1858,1952,1764,0,0,0,0,0,0,14.49,14.44,14.52
$GC,5622,1.16,135.4,2744,1964,1952,1763,896.8,16.4,415,5627,0.00,2.53,0.00,0.000,2564,0.000,0.088,2747,557,1856,1951,1762,0,0,0,0,0,0,14.84,14.62,14.84
$GC,5671,1.16,135.4,2748,558,1951,1762,890.1,16.5,417,5677,0.00,2.45,0.00,0.000,3078,0.000,0.051,2747,1959,1856,1950,1762,0,0,0,0,0,0,14.70,14.65,14.71
$GC,5922,1.16,135.4,2747,1960,1951,1762,847.2,16.6,430,5923,0.00,0.00,0.00,0.000,2054,0.000,0.000,2747,1960,1855,1949,1761,0,0,0,0,0,0,14.95,14.95,14.95
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$STATE,11411,end climb,SURFACE_DEPTH_REACHED
$STATE,11411,begin surface coast
$FINISH,0.7,1.026233
$STATE,11432,end surface coast,CONTROL_FINISHED_OK
$STATE,11432,begin surface
$SM_CCo,11451,51.95,1.147,0,0,1565,210.22
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$IRIDIUM_FIX,-4239.11,746.17,030119,045534
$TT8_MAMPS,0.039697,0.837382
$HUMID,51.29
$INTERNAL_PRESSURE,8.74607
$TCM_TEMP,18.90
$XPDR_PINGS,0
$SC_FREEKB,3831136
$24V_AH,12.81,68.281
$10V_AH,12.89,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,28.200,183.275,274.225,51.950,0.000,26.515,38.877,542.707,0.250,0.000,25.511,0.000,8489.028,668.858,3056.464,196.228,0.000,1591.775,0.000,1662.162,0.000,3.732,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$MEM,338692
$DATA_FILE_SIZE,23396,906
$CAP_FILE_SIZE,221124,0
$CFSIZE,1023623168,993067008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.039,16.69,1
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