version: 66.12
revision: DORADO
glider: 542
mission: 4
dive: 249
start: 1 22 119 19 37 0
data:
$ID,542
$MISSION,4
$DIVE,249
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,100
$D_ABORT,1050
$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,33
$T_MISSION,43
$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,95
$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,190
$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,26
$R_STBD_OVSHOOT,44
$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
$GPS1,220119,193251,-4301.7612,752.4640,21,1.2,25,-24.8,1.3,46.8,8,5.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-52.8
$GPS2,220119,193638,-4301.7163,752.5094,17,1.1,21,-24.8,1.1,33.3,8,9.0
$SPEED_LIMITS,0.175,0.211
$TGT_NAME,WP3
$TGT_LATLONG,-4303.700,749.830
$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,249.4,5162,-23.2,-10.101,-25.62,1407
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.94,-92.5,188,2032,734,436,0.0,0.0,0,128,0.00,0.00,-104.47,0.000,16386,0.000,0.000,189,2032,2745,2729,2762,0,0,0,0,0,0,15.07,28.83,15.08
$GC,132,-0.94,-92.5,188,2032,2730,2762,3.1,-6.4,18,151,11.95,0.00,-1.27,0.000,18694,0.383,0.000,2075,2032,2804,2806,2803,0,0,0,0,0,0,14.48,13.65,14.69
$GC,183,-0.94,-92.5,2075,2032,2808,2803,17.0,-20.8,27,189,0.00,2.45,0.00,0.000,2308,0.000,0.069,2075,3435,2805,2808,2803,0,0,0,0,0,0,15.04,14.75,15.04
$GC,246,-0.94,-92.5,2076,3435,2809,2803,28.9,-19.6,39,253,0.00,2.40,0.00,0.000,3078,0.000,0.056,2075,2034,2805,2808,2802,0,0,0,0,0,0,14.89,14.76,14.90
$GC,286,-0.94,-92.5,2075,2033,2809,2803,37.3,-21.3,46,292,0.00,2.47,0.00,0.000,2564,0.000,0.075,2075,631,2806,2809,2803,0,0,0,0,0,0,15.05,14.74,15.06
$GC,315,-0.94,-92.5,2075,631,2808,2803,44.1,-24.8,51,322,0.00,2.40,0.00,0.000,3078,0.000,0.056,2075,2027,2805,2808,2802,0,0,0,0,0,0,14.84,14.71,14.85
$GC,354,-0.94,-92.5,2075,2027,2809,2802,51.7,-19.7,58,360,0.00,0.00,0.00,0.000,2054,0.000,0.000,2075,2027,2805,2809,2802,0,0,0,0,0,0,15.04,15.04,15.04
$GC,392,-0.94,-92.5,2075,2027,2809,2802,57.8,-16.4,65,399,0.00,0.00,0.00,0.000,2054,0.000,0.000,2075,2027,2805,2809,2802,0,0,0,0,0,0,15.04,15.05,15.05
$GC,431,-0.94,-92.5,2075,2027,2809,2802,64.9,-18.8,72,437,0.00,0.00,0.00,0.000,2054,0.000,0.000,2075,2027,2805,2809,2802,0,0,0,0,0,0,15.05,15.05,15.05
$GC,468,-0.94,-92.5,2075,2027,2809,2802,71.5,-17.0,79,474,0.00,0.00,0.00,0.000,2054,0.000,0.000,2075,2027,2805,2809,2802,0,0,0,0,0,0,15.04,15.04,15.04
$GC,507,-0.94,-92.5,2075,2027,2809,2802,77.5,-15.2,86,513,0.00,2.50,0.00,0.000,2564,0.000,0.080,2075,628,2805,2809,2802,0,0,0,0,0,0,15.04,14.73,15.05
$GC,641,-0.94,-92.5,2075,628,2809,2802,97.1,-16.1,112,647,0.00,2.42,0.00,0.000,3078,0.000,0.055,2075,2048,2806,2810,2802,0,0,0,0,0,0,14.90,14.77,14.91
$STATE,657,end dive,TARGET_DEPTH_EXCEEDED
$STATE,657,begin apogee
$GC,663,-0.18,0.0,2075,1944,2809,2801,100.1,-16.2,115,750,1.35,0.00,82.53,1.385,10246,0.243,0.000,2319,1943,2423,2481,2365,0,0,0,0,0,0,14.48,14.42,13.84
$STATE,752,end apogee,CONTROL_FINISHED_OK
$STATE,752,begin climb
$GC,754,0.94,92.5,2319,1943,2480,2364,106.0,0.0,124,847,1.77,2.58,80.90,1.354,10756,0.147,0.086,2673,562,2044,2130,1958,0,0,0,0,0,0,14.39,14.20,13.72
$GC,894,0.98,123.8,2673,561,2123,1956,100.4,7.8,137,930,0.00,2.42,27.42,1.314,11270,0.000,0.048,2673,1971,1915,2010,1820,0,0,0,0,0,0,14.52,14.42,13.81
$GC,963,0.99,128.3,2673,1971,2005,1819,94.5,9.8,148,977,0.05,2.42,4.68,1.009,10500,0.272,0.067,2694,3361,1897,1991,1804,0,0,0,0,0,0,14.40,14.40,13.85
$GC,1016,0.99,128.3,2694,3361,1988,1803,88.3,12.0,157,1023,0.00,2.45,0.00,0.000,3078,0.000,0.062,2694,1962,1895,1988,1803,0,0,0,0,0,0,14.64,14.52,14.65
$GC,1056,0.99,128.3,2694,1962,1987,1803,83.5,11.3,164,1062,0.00,2.58,0.00,0.000,2564,0.000,0.088,2696,543,1894,1986,1803,0,0,0,0,0,0,14.80,14.55,14.80
$GC,1241,0.99,128.3,2696,543,1982,1801,64.1,11.6,200,1247,0.00,2.40,0.00,0.000,3078,0.000,0.047,2695,1962,1891,1982,1800,0,0,0,0,0,0,14.81,14.71,14.83
$GC,1279,1.00,138.3,2696,1963,1981,1800,60.1,9.4,207,1291,0.00,0.00,8.68,1.191,10246,0.000,0.000,2696,1963,1856,1950,1762,0,0,0,0,0,0,14.95,14.70,14.06
$GC,1323,1.01,146.5,2695,1963,1952,1762,55.8,9.5,215,1342,0.00,2.58,8.77,1.183,10756,0.000,0.089,2696,546,1824,1920,1729,0,0,0,0,0,0,14.92,14.58,14.02
$GC,1399,1.01,146.5,2696,547,1914,1729,46.4,13.3,229,1407,0.00,2.40,0.00,0.000,3078,0.000,0.049,2696,1963,1821,1914,1728,0,0,0,0,0,0,14.76,14.67,14.77
$GC,1439,1.01,146.5,2696,1963,1914,1728,40.8,13.9,236,1445,0.00,0.00,0.00,0.000,2054,0.000,0.000,2696,1963,1821,1915,1728,0,0,0,0,0,0,14.93,14.93,14.93
$GC,1477,1.01,146.5,2696,1963,1914,1727,35.6,14.4,243,1484,0.00,2.45,0.00,0.000,2308,0.000,0.068,2696,3365,1820,1914,1727,0,0,0,0,0,0,14.95,14.70,14.95
$GC,1510,1.01,146.5,2695,3365,1914,1727,31.8,11.6,249,1518,0.00,2.42,0.00,0.000,3078,0.000,0.058,2696,1953,1819,1913,1726,0,0,0,0,0,0,14.83,14.72,14.85
$GC,1551,1.04,171.7,2696,1953,1913,1726,28.4,8.3,256,1576,0.00,2.53,17.73,1.236,10756,0.000,0.087,2696,547,1719,1819,1620,0,0,0,0,0,0,14.97,14.57,14.09
$GC,1619,1.04,171.7,2696,547,1816,1620,20.6,13.4,268,1626,0.00,2.38,0.00,0.000,3078,0.000,0.046,2696,1958,1718,1816,1620,0,0,0,0,0,0,14.76,14.66,14.77
$GC,1657,1.04,171.7,2696,1958,1815,1619,15.5,12.7,275,1664,0.00,2.42,0.00,0.000,2308,0.000,0.072,2696,3351,1716,1814,1619,0,0,0,0,0,0,14.92,14.68,14.92
$GC,1717,1.04,171.7,2696,3351,1812,1618,8.5,12.3,286,1724,0.00,2.42,0.00,0.000,3078,0.000,0.060,2696,1948,1715,1812,1618,0,0,0,0,0,0,14.83,14.72,14.85
$GC,1756,1.07,196.0,2696,1948,1811,1617,4.9,8.3,293,1775,0.05,0.00,14.15,1.040,10758,0.275,0.000,2720,1948,1620,1721,1519,0,0,0,0,0,0,14.62,14.66,14.12
$STATE,1780,end climb,SURFACE_DEPTH_REACHED
$STATE,1780,begin surface coast
$FINISH,0.1,1.023950
$STATE,1797,end surface coast,CONTROL_FINISHED_OK
$STATE,1798,begin surface
$SM_CCo,1880,0.00,0.000,0,0,1611,199.43
$SM_GC,1.09,12.23,0.12,0.00,0.073,0.102,0.000,175,2058,1611,-6.86,-1.16,199.43,0,0,0,0,0,0,14.73,14.73,14.80
$IRIDIUM_FIX,-4244.98,749.89,220119,192917
$TT8_MAMPS,0.019474,0.925015
$HUMID,48.50
$INTERNAL_PRESSURE,8.83397
$TCM_TEMP,19.50
$XPDR_PINGS,0
$SC_FREEKB,3758752
$24V_AH,13.65,112.288
$10V_AH,13.20,0.000
$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,27.400,49.375,244.850,0.000,0.000,0.000,0.000,0.000,0.000,0.000,22.208,690.263,295.205,390.992,522.701,60.180,0.000,728.326,0.000,477.828,0.000,1.016,0.000
$DEVICE_MAMPS,382.500,101.745,1384.650,0.000,0.000,0.000,0.000,0.000,420.000,0.000,23.220,9.170,2.190,9.170,30.140,42.880,0.000,11.800,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1778.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.575,0.000,0.000,0.000
$MEM,338892
$DATA_FILE_SIZE,6814,300
$CAP_FILE_SIZE,127124,0
$CFSIZE,1023623168,971161600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.198,49.94,1
$GPS,220119,201022,-4301.713,752.547,50,1.2,87,-24.8,0.9,100.7,8,9.3