version: 66.12
revision: DORADO
glider: 542
mission: 4
dive: 487
start: 3 12 119 3 22 3
data:
$ID,542
$MISSION,4
$DIVE,487
$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,29
$R_STBD_OVSHOOT,37
$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
$GPS1,120319,031410,-4304.2192,750.5581,19,0.9,19,-24.8,0.0,0.0,9,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-70.3
$GPS2,120319,032139,-4304.2412,750.5579,19,0.9,19,-24.8,0.0,0.0,10,8.1
$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,5.8,1405,-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,24,-1.02,-73.0,180,1986,1653,1465,0.0,0.0,0,76,0.00,0.00,-49.22,0.000,16390,0.000,0.000,180,1986,2607,2593,2622,0,0,0,0,0,0,14.95,12.79,14.90
$GC,80,-1.02,-73.0,180,1986,2593,2622,3.4,-7.5,9,100,12.30,2.60,0.00,0.000,2308,0.372,0.066,2078,3429,2608,2595,2621,0,0,0,0,0,0,14.00,14.38,14.25
$GC,117,-1.02,-73.0,2078,3429,2596,2621,13.5,-24.1,15,125,0.00,2.45,0.00,0.000,3078,0.000,0.053,2078,2020,2608,2597,2620,0,0,0,0,0,0,14.77,14.63,14.78
$GC,158,-1.02,-73.0,2078,2020,2600,2618,20.0,-15.8,22,164,0.00,2.55,0.00,0.000,2564,0.000,0.076,2078,612,2609,2600,2618,0,0,0,0,0,0,14.97,14.56,14.97
$GC,192,-1.02,-73.0,2078,612,2601,2618,25.7,-16.7,28,199,0.00,2.42,0.00,0.000,3078,0.000,0.051,2078,2024,2609,2601,2617,0,0,0,0,0,0,14.76,14.62,14.78
$GC,232,-1.02,-73.0,2078,2024,2603,2617,32.0,-15.7,35,239,0.00,0.00,0.00,0.000,2054,0.000,0.000,2078,2024,2609,2603,2616,0,0,0,0,0,0,14.97,14.97,14.97
$GC,272,-1.02,-73.0,2078,2024,2603,2617,38.2,-15.7,42,278,0.00,2.53,0.00,0.000,2308,0.000,0.073,2078,3425,2609,2603,2616,0,0,0,0,0,0,15.00,14.57,15.00
$GC,307,-1.02,-73.0,2078,3423,2603,2617,43.7,-16.1,48,314,0.00,2.45,0.00,0.000,3078,0.000,0.052,2078,2017,2609,2603,2616,0,0,0,0,0,0,14.77,14.62,14.79
$GC,346,-1.02,-73.0,2078,2015,2603,2616,49.9,-15.8,55,354,0.00,2.55,0.00,0.000,2564,0.000,0.076,2078,616,2609,2603,2616,0,0,0,0,0,0,14.98,14.56,14.98
$GC,392,-1.02,-73.0,2078,616,2603,2616,57.6,-16.9,63,399,0.00,2.42,0.00,0.000,3078,0.000,0.051,2078,2026,2609,2603,2616,0,0,0,0,0,0,14.77,14.63,14.79
$GC,432,-1.02,-73.0,2078,2026,2603,2615,64.2,-16.2,70,439,0.00,2.53,0.00,0.000,2308,0.000,0.073,2078,3429,2609,2603,2615,0,0,0,0,0,0,15.00,14.57,15.00
$GC,458,-1.02,-73.0,2078,3429,2604,2615,68.1,-16.1,74,465,0.00,2.45,0.00,0.000,3078,0.000,0.053,2078,2017,2609,2603,2615,0,0,0,0,0,0,14.78,14.63,14.80
$GC,498,-1.02,-73.0,2078,2016,2603,2615,74.1,-16.3,81,504,0.00,2.53,0.00,0.000,2564,0.000,0.076,2078,616,2609,2604,2615,0,0,0,0,0,0,15.00,14.57,15.00
$GC,547,-1.02,-73.0,2078,616,2604,2615,81.9,-15.1,90,554,0.00,2.40,0.00,0.000,3078,0.000,0.051,2078,2020,2609,2604,2615,0,0,0,0,0,0,14.79,14.64,14.81
$GC,587,-1.02,-73.0,2078,2021,2604,2614,87.4,-13.1,97,593,0.00,2.53,0.00,0.000,2308,0.000,0.073,2078,3427,2609,2604,2614,0,0,0,0,0,0,15.00,14.57,15.00
$STATE,604,end dive,TARGET_DEPTH_EXCEEDED
$STATE,604,begin apogee
$GC,613,-0.18,0.0,2078,1984,2604,2614,90.1,-13.8,100,684,1.58,0.00,65.72,1.336,10246,0.260,0.000,2350,1985,2307,2360,2255,0,0,0,0,0,0,14.16,14.43,13.62
$STATE,687,end apogee,CONTROL_FINISHED_OK
$STATE,687,begin climb
$GC,690,1.02,73.0,2350,1983,2358,2253,93.9,0.0,112,768,1.88,2.62,67.22,1.314,10756,0.141,0.084,2725,580,2006,2091,1921,0,0,0,0,0,0,14.40,14.09,13.50
$GC,818,1.07,117.1,2726,581,2088,1918,89.9,6.0,133,866,0.08,2.42,40.60,1.294,11270,0.200,0.044,2757,1996,1827,1930,1725,0,0,0,0,0,0,14.42,14.50,13.57
$GC,901,1.11,151.8,2756,1996,1927,1723,83.5,6.8,147,937,0.00,0.00,32.60,1.274,10246,0.000,0.000,2756,1996,1686,1801,1571,0,0,0,0,0,0,14.72,14.33,13.56
$GC,970,1.11,151.8,2756,1996,1799,1570,76.8,10.2,159,978,0.00,2.50,0.00,0.000,2308,0.000,0.064,2757,3389,1683,1797,1570,0,0,0,0,0,0,14.73,14.32,14.73
$GC,995,1.11,151.8,2756,3390,1795,1570,73.8,11.9,163,1002,0.00,2.47,0.00,0.000,3078,0.000,0.060,2755,1988,1681,1794,1569,0,0,0,0,0,0,14.50,14.40,14.51
$GC,1036,1.11,151.8,2760,1988,1796,1568,69.2,10.6,170,1042,0.00,2.50,0.00,0.000,2308,0.000,0.063,2757,3383,1680,1793,1568,0,0,0,0,0,0,14.83,14.41,14.83
$GC,1055,1.11,151.8,2757,3383,1795,1568,66.8,12.3,173,1062,0.00,2.47,0.00,0.000,3078,0.000,0.060,2757,1984,1681,1795,1568,0,0,0,0,0,0,14.54,14.40,14.55
$GC,1095,1.11,151.8,2757,1984,1795,1568,62.1,10.3,180,1102,0.00,2.60,0.00,0.000,2564,0.000,0.086,2757,572,1681,1795,1568,0,0,0,0,0,0,14.89,14.42,14.90
$GC,1125,1.11,151.8,2756,572,1795,1567,58.5,11.3,185,1132,0.00,2.40,0.00,0.000,3078,0.000,0.045,2757,1985,1681,1795,1568,0,0,0,0,0,0,14.58,14.47,14.59
$GC,1166,1.11,151.8,2757,1985,1794,1568,53.9,10.5,192,1171,0.00,0.00,0.00,0.000,2054,0.000,0.000,2757,1985,1680,1792,1568,0,0,0,0,0,0,14.94,14.94,14.94
$GC,1204,1.11,151.8,2757,1985,1795,1567,49.0,12.1,199,1211,0.00,0.00,0.00,0.000,2054,0.000,0.000,2757,1985,1680,1794,1567,0,0,0,0,0,0,14.95,14.95,14.95
$GC,1244,1.11,151.8,2757,1985,1794,1567,44.5,11.7,206,1249,0.00,0.00,0.00,0.000,2054,0.000,0.000,2757,1985,1681,1795,1567,0,0,0,0,0,0,14.95,14.96,14.96
$GC,1282,1.11,151.8,2757,1985,1794,1567,40.4,11.3,213,1288,0.00,0.00,0.00,0.000,2054,0.000,0.000,2757,1985,1680,1794,1567,0,0,0,0,0,0,14.97,14.97,14.97
$GC,1322,1.11,151.8,2757,1985,1794,1567,35.9,11.7,220,1327,0.00,0.00,0.00,0.000,2054,0.000,0.000,2757,1985,1680,1794,1567,0,0,0,0,0,0,14.97,14.98,14.98
$GC,1361,1.11,151.8,2757,1985,1794,1567,31.5,11.7,227,1367,0.00,0.00,0.00,0.000,2054,0.000,0.000,2757,1985,1680,1793,1567,0,0,0,0,0,0,15.00,15.00,15.00
$GC,1400,1.11,151.8,2757,1985,1793,1567,26.9,11.6,234,1406,0.00,0.00,0.00,0.000,2054,0.000,0.000,2757,1985,1680,1793,1567,0,0,0,0,0,0,15.00,15.01,15.01
$GC,1439,1.11,151.8,2757,1985,1793,1567,22.1,11.2,241,1445,0.00,0.00,0.00,0.000,2054,0.000,0.000,2757,1985,1680,1793,1567,0,0,0,0,0,0,15.00,15.00,15.00
$GC,1478,1.11,151.8,2757,1985,1792,1567,18.0,11.3,248,1484,0.00,0.00,0.00,0.000,2054,0.000,0.000,2757,1986,1682,1798,1567,0,0,0,0,0,0,15.00,15.00,15.00
$GC,1517,1.11,151.8,2757,1986,1792,1567,13.6,10.9,255,1524,0.00,2.58,0.00,0.000,2564,0.000,0.085,2757,579,1680,1793,1567,0,0,0,0,0,0,15.00,14.58,15.00
$GC,1577,1.11,151.8,2757,579,1791,1567,6.6,12.2,266,1584,0.00,2.42,0.00,0.000,3078,0.000,0.047,2757,1995,1679,1791,1567,0,0,0,0,0,0,14.81,14.68,14.83
$STATE,1604,end climb,SURFACE_DEPTH_REACHED
$STATE,1604,begin surface coast
$FINISH,0.2,1.026125
$STATE,1626,end surface coast,CONTROL_FINISHED_OK
$STATE,1628,begin surface
$SM_CCo,1652,16.00,1.017,0,0,1571,180.05
$SM_GC,2.14,12.32,0.00,16.00,0.073,0.000,1.017,186,1997,1571,-6.92,-0.74,180.05,0,0,0,0,0,0,14.74,15.04,13.83
$IRIDIUM_FIX,-4244.98,746.97,120319,023119
$TT8_MAMPS,0.018725,0.822402
$HUMID,48.74
$INTERNAL_PRESSURE,8.84373
$TCM_TEMP,19.80
$XPDR_PINGS,0
$SC_FREEKB,3593088
$24V_AH,12.79,210.828
$10V_AH,12.81,0.000
$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,28.150,59.950,206.150,16.000,0.000,22.586,16.439,180.455,0.000,0.000,20.511,635.585,202.106,356.472,723.695,209.237,0.000,678.687,0.000,421.833,0.000,1.012,0.000
$DEVICE_MAMPS,371.790,85.680,1336.455,1017.450,0.000,28.300,160.000,223.000,420.000,0.000,23.220,9.170,2.190,9.170,30.140,42.880,0.000,11.800,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1668.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.559,0.000,0.000,0.000
$MEM,338724
$DATA_FILE_SIZE,6807,275
$CAP_FILE_SIZE,67695,0
$CFSIZE,1023623168,917962752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.077,229.89,1
$GPS,120319,035055,-4304.128,750.424,17,0.8,21,-24.8,0.0,43.1,11,8.3