version: 66.12
revision: DORADO
glider: 542
mission: 4
dive: 486
start: 3 12 119 2 44 35
data:
$ID,542
$MISSION,4
$DIVE,486
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,90
$D_ABORT,105
$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,30
$T_MISSION,40
$T_ABORT,45
$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,75
$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,180
$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,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,2022
$C_ROLL_CLIMB,1985
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$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,-175.94231
$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
$GPS1,120319,022402,-4304.2739,750.7296,65,0.9,93,-24.8,0.7,232.3,10,6.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-70.0
$GPS2,120319,024410,-4304.3188,750.7340,17,0.8,18,-24.8,0.0,0.0,11,9.3
$SPEED_LIMITS,0.173,0.187
$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,357.4,1676,-25.9,-10.000,-28.18,1121
$D_GRID,90
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.02,-73.0,182,1983,1653,1470,0.0,0.0,0,74,0.00,0.00,-49.28,0.000,16386,0.000,0.000,182,1983,2590,2573,2607,0,0,0,0,0,0,14.90,28.83,14.91
$GC,78,-1.02,-73.0,183,1983,2575,2608,3.2,-5.8,9,99,12.35,2.53,-0.35,0.000,18948,0.372,0.086,2082,604,2610,2599,2621,0,0,0,0,0,0,14.04,13.09,14.31
$GC,168,-1.02,-73.0,2082,603,2603,2615,22.0,-16.7,25,175,0.00,2.45,0.00,0.000,3078,0.000,0.054,2082,2023,2609,2603,2615,0,0,0,0,0,0,14.71,14.56,14.73
$GC,208,-1.02,-73.0,2081,2024,2603,2613,28.1,-15.3,32,215,0.00,2.55,0.00,0.000,2308,0.000,0.075,2081,3425,2608,2603,2613,0,0,0,0,0,0,14.95,14.33,14.95
$GC,253,-1.02,-73.0,2082,3424,2603,2613,35.0,-14.6,40,260,0.00,2.47,0.00,0.000,3078,0.000,0.054,2082,2009,2608,2603,2613,0,0,0,0,0,0,14.48,14.38,14.50
$GC,293,-1.02,-73.0,2080,2009,2603,2614,41.2,-15.6,47,300,0.00,0.00,0.00,0.000,2054,0.000,0.000,2082,2009,2608,2603,2613,0,0,0,0,0,0,14.97,14.97,14.97
$GC,333,-1.02,-73.0,2081,2010,2603,2613,47.4,-15.7,54,339,0.00,2.55,0.00,0.000,2564,0.000,0.078,2082,611,2608,2603,2613,0,0,0,0,0,0,14.97,14.51,14.97
$GC,372,-1.02,-73.0,2081,612,2605,2613,54.3,-16.7,61,378,0.00,2.45,0.00,0.000,3078,0.000,0.054,2082,2029,2608,2604,2612,0,0,0,0,0,0,14.73,14.59,14.76
$GC,412,-1.02,-73.0,2081,2029,2605,2612,60.7,-16.0,68,417,0.00,0.00,0.00,0.000,2054,0.000,0.000,2081,2029,2608,2604,2612,0,0,0,0,0,0,14.96,14.97,14.96
$GC,450,-1.02,-73.0,2081,2029,2604,2612,66.7,-15.1,75,457,0.00,0.00,0.00,0.000,2054,0.000,0.000,2082,2029,2608,2604,2612,0,0,0,0,0,0,14.96,14.96,14.96
$GC,490,-1.02,-73.0,2081,2029,2604,2612,72.5,-15.4,82,496,0.00,0.00,0.00,0.000,2054,0.000,0.000,2081,2029,2608,2605,2612,0,0,0,0,0,0,14.97,14.97,14.97
$GC,528,-1.02,-73.0,2081,2029,2604,2613,77.7,-14.2,89,534,0.00,0.00,0.00,0.000,2054,0.000,0.000,2082,2029,2608,2604,2612,0,0,0,0,0,0,14.98,14.99,14.99
$GC,567,-1.02,-73.0,2082,2029,2601,2612,83.4,-14.6,96,573,0.00,0.00,0.00,0.000,2054,0.000,0.000,2082,2029,2608,2605,2612,0,0,0,0,0,0,14.97,14.98,14.98
$GC,606,-1.02,-73.0,2082,2030,2605,2612,89.2,-14.8,103,613,0.00,2.55,0.00,0.000,2308,0.000,0.074,2081,3434,2608,2605,2612,0,0,0,0,0,0,14.97,14.51,14.97
$STATE,618,end dive,TARGET_DEPTH_EXCEEDED
$STATE,618,begin apogee
$GC,628,-0.18,0.0,2082,1977,2605,2612,91.3,-14.1,105,698,1.58,0.00,65.53,1.353,10246,0.269,0.000,2349,1977,2306,2359,2254,0,0,0,0,0,0,14.08,14.42,13.61
$STATE,702,end apogee,CONTROL_FINISHED_OK
$STATE,702,begin climb
$GC,705,1.02,73.0,2349,1977,2358,2252,95.2,0.0,117,782,1.88,0.00,67.28,1.325,10246,0.143,0.000,2724,1977,2010,2099,1921,0,0,0,0,0,0,14.38,14.07,13.48
$GC,816,1.09,136.7,2723,1977,2089,1919,93.7,4.2,135,882,0.08,2.65,58.60,1.310,10756,0.192,0.086,2757,583,1746,1856,1637,0,0,0,0,0,0,14.38,14.21,13.47
$GC,897,1.11,148.4,2757,584,1854,1637,87.7,8.9,148,916,0.00,2.45,12.20,1.216,11270,0.000,0.047,2757,1996,1698,1812,1585,0,0,0,0,0,0,14.48,14.38,13.43
$GC,948,1.11,148.4,2758,1996,1810,1584,82.2,10.3,157,954,0.00,0.00,0.00,0.000,2054,0.000,0.000,2757,1996,1697,1810,1584,0,0,0,0,0,0,14.68,14.68,14.68
$GC,988,1.11,148.4,2757,1996,1810,1584,78.4,10.5,164,994,0.00,2.50,0.00,0.000,2308,0.000,0.064,2757,3388,1696,1810,1583,0,0,0,0,0,0,14.76,14.45,14.76
$GC,1017,1.11,148.4,2757,3389,1809,1583,75.0,10.6,169,1024,0.00,2.50,0.00,0.000,3078,0.000,0.060,2757,1982,1696,1809,1583,0,0,0,0,0,0,14.64,14.52,14.66
$GC,1058,1.11,148.4,2757,1982,1809,1582,70.5,11.1,176,1064,0.00,2.60,0.00,0.000,2564,0.000,0.086,2757,572,1695,1809,1582,0,0,0,0,0,0,14.85,14.49,14.85
$GC,1072,1.11,148.4,2757,572,1809,1581,68.9,11.1,178,1079,0.00,2.45,0.00,0.000,3078,0.000,0.047,2757,1995,1695,1809,1582,0,0,0,0,0,0,14.69,14.56,14.71
$GC,1111,1.11,148.4,2757,1996,1809,1581,64.6,11.6,185,1118,0.00,2.62,0.00,0.000,2564,0.000,0.085,2757,578,1695,1809,1582,0,0,0,0,0,0,14.90,14.45,14.90
$GC,1135,1.11,148.4,2757,578,1808,1581,61.9,11.0,189,1142,0.00,2.40,0.00,0.000,3078,0.000,0.047,2757,1986,1694,1808,1581,0,0,0,0,0,0,14.59,14.47,14.59
$GC,1176,1.12,154.3,2757,1986,1808,1581,57.8,9.5,196,1188,0.00,0.00,5.78,1.070,10246,0.000,0.000,2757,1986,1675,1790,1560,0,0,0,0,0,0,14.92,14.22,13.57
$GC,1221,1.12,154.3,2757,1986,1790,1560,52.8,10.9,204,1227,0.00,0.00,0.00,0.000,2054,0.000,0.000,2757,1986,1675,1790,1560,0,0,0,0,0,0,14.92,14.92,14.92
$GC,1259,1.12,154.3,2757,1986,1787,1560,48.4,11.5,211,1266,0.00,0.00,0.00,0.000,2054,0.000,0.000,2757,1986,1675,1790,1560,0,0,0,0,0,0,14.94,14.94,14.94
$GC,1299,1.12,154.3,2757,1986,1790,1560,43.8,10.9,218,1305,0.00,0.00,0.00,0.000,2054,0.000,0.000,2757,1986,1675,1790,1560,0,0,0,0,0,0,14.95,14.95,14.95
$GC,1337,1.12,154.3,2757,1986,1790,1560,39.9,11.4,225,1343,0.00,0.00,0.00,0.000,2054,0.000,0.000,2758,1986,1675,1790,1560,0,0,0,0,0,0,14.95,14.95,14.95
$GC,1376,1.12,154.3,2757,1986,1790,1560,35.4,11.4,232,1382,0.00,0.00,0.00,0.000,2054,0.000,0.000,2757,1986,1674,1789,1560,0,0,0,0,0,0,14.96,14.96,14.96
$GC,1415,1.12,154.3,2757,1986,1790,1560,31.0,11.8,239,1422,0.00,0.00,0.00,0.000,2054,0.000,0.000,2757,1985,1674,1789,1560,0,0,0,0,0,0,14.97,14.98,14.98
$GC,1455,1.12,154.3,2757,1986,1789,1557,26.2,11.8,246,1461,0.00,0.00,0.00,0.000,2054,0.000,0.000,2757,1986,1674,1789,1560,0,0,0,0,0,0,14.99,14.99,14.99
$GC,1493,1.12,154.3,2757,1986,1789,1560,21.5,12.1,253,1500,0.00,2.50,0.00,0.000,2308,0.000,0.067,2757,3393,1674,1788,1560,0,0,0,0,0,0,14.98,14.59,14.98
$GC,1513,1.12,154.3,2757,3390,1788,1560,19.1,11.5,256,1520,0.00,2.47,0.00,0.000,3078,0.000,0.057,2757,1976,1673,1789,1558,0,0,0,0,0,0,14.78,14.64,14.80
$GC,1553,1.12,154.3,2757,1978,1789,1560,14.3,11.4,263,1560,0.00,2.55,0.00,0.000,2564,0.000,0.085,2757,582,1674,1789,1560,0,0,0,0,0,0,15.00,14.57,15.00
$GC,1593,1.12,154.3,2757,582,1789,1560,9.3,12.5,270,1600,0.00,2.38,0.00,0.000,3078,0.000,0.047,2757,1984,1674,1789,1560,0,0,0,0,0,0,14.79,14.66,14.81
$GC,1632,1.12,154.3,2756,1985,1788,1560,5.0,10.8,277,1638,0.00,0.00,0.00,0.000,2054,0.000,0.000,2757,1985,1674,1788,1560,0,0,0,0,0,0,14.99,14.99,14.99
$STATE,1648,end climb,SURFACE_DEPTH_REACHED
$STATE,1649,begin surface coast
$FINISH,0.3,1.026105
$STATE,1674,end surface coast,CONTROL_FINISHED_OK
$STATE,1674,begin surface
$SM_CCo,1698,15.82,1.021,0,0,1573,180.05
$SM_GC,1.74,12.43,0.00,15.82,0.080,0.000,1.021,180,1986,1573,-6.91,-1.02,180.05,0,0,0,0,0,0,14.68,15.03,13.83
$IRIDIUM_FIX,-4244.98,746.97,110319,212730
$TT8_MAMPS,0.019474,0.927262
$HUMID,49.33
$INTERNAL_PRESSURE,8.84373
$TCM_TEMP,19.70
$XPDR_PINGS,0
$SC_FREEKB,3593600
$24V_AH,13.09,210.701
$10V_AH,12.82,0.000
$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,28.300,50.225,209.375,15.825,0.000,28.089,18.897,698.794,0.000,0.000,19.071,658.146,198.785,362.686,1357.892,330.427,0.000,695.278,0.000,438.437,0.000,1.013,0.000
$DEVICE_MAMPS,371.790,86.445,1353.285,1020.510,0.000,28.300,160.000,223.000,420.000,0.000,23.220,9.170,2.190,9.170,30.140,42.880,0.000,11.800,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1875.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,33.348,0.000,0.000,0.000
$MEM,338672
$DATA_FILE_SIZE,6805,285
$CAP_FILE_SIZE,81503,0
$CFSIZE,1023623168,918061056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.080,224.23,1
$GPS,120319,031410,-4304.219,750.558,19,0.9,19,-24.8,0.0,0.0,9,8.3