version: 66.12
revision: DORADO
glider: 542
mission: 4
dive: 489
start: 3 12 119 4 25 23
data:
$ID,542
$MISSION,4
$DIVE,489
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,45
$D_ABORT,55
$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,15
$T_MISSION,20
$T_ABORT,25
$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,31
$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
$GPS1,120319,041849,-4304.1035,750.2847,19,0.9,34,-24.8,0.3,167.6,10,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-70.4
$GPS2,120319,042459,-4304.1304,750.2787,21,1.0,23,-24.8,0.3,125.8,9,8.3
$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,29.3,1002,-25.9,-10.000,-28.18,1121
$D_GRID,45
$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,21,begin dive
$GC,24,-1.02,-73.0,178,1996,1652,1467,0.0,0.0,0,76,0.00,0.00,-48.95,0.000,16390,0.000,0.000,178,1997,2606,2592,2620,0,0,0,0,0,0,14.99,12.81,14.95
$GC,80,-1.02,-73.0,178,1997,2592,2620,3.3,-6.3,9,100,12.27,2.47,0.00,0.000,2564,0.376,0.064,2076,612,2607,2595,2620,0,0,0,0,0,0,14.02,14.41,14.28
$GC,239,-1.02,-73.0,2075,612,2601,2616,33.0,-16.1,39,247,0.05,2.40,0.00,0.000,3078,0.418,0.050,2084,2024,2608,2602,2615,0,0,0,0,0,0,14.21,14.54,14.47
$GC,280,-1.02,-73.0,2083,2025,2602,2614,39.1,-14.7,46,286,0.00,0.00,0.00,0.000,2054,0.000,0.000,2084,2025,2608,2602,2614,0,0,0,0,0,0,15.02,15.02,15.02
$GC,318,-1.02,-73.0,2084,2025,2602,2614,44.4,-13.9,53,324,0.00,0.00,0.00,0.000,2054,0.000,0.000,2084,2025,2607,2603,2612,0,0,0,0,0,0,15.02,15.03,15.02
$STATE,329,end dive,TARGET_DEPTH_EXCEEDED
$STATE,329,begin apogee
$GC,336,-0.18,0.0,2084,1979,2603,2614,46.7,-15.6,55,406,1.52,0.00,64.85,1.272,10246,0.259,0.000,2348,1979,2305,2357,2254,0,0,0,0,0,0,14.12,14.44,13.68
$STATE,410,end apogee,CONTROL_FINISHED_OK
$STATE,410,begin climb
$GC,413,1.02,73.0,2348,1979,2357,2253,51.1,0.0,67,485,1.88,0.00,66.03,1.255,10246,0.144,0.000,2723,1979,2007,2092,1922,0,0,0,0,0,0,14.42,14.32,13.56
$GC,518,1.12,158.9,2723,1979,2089,1920,50.3,2.1,84,601,0.12,0.00,77.12,1.241,10246,0.132,0.000,2767,1979,1657,1773,1541,0,0,0,0,0,0,14.47,14.28,13.54
$GC,635,1.12,158.9,2767,1979,1770,1540,40.7,11.8,104,642,0.00,0.00,0.00,0.000,2054,0.000,0.000,2768,1979,1655,1770,1540,0,0,0,0,0,0,14.70,14.71,14.71
$GC,675,1.12,158.9,2767,1979,1769,1539,35.9,12.1,111,680,0.00,0.00,0.00,0.000,2054,0.000,0.000,2768,1979,1655,1769,1542,0,0,0,0,0,0,14.78,14.80,14.80
$GC,713,1.12,158.9,2767,1979,1767,1538,31.3,12.0,118,718,0.00,0.00,0.00,0.000,2054,0.000,0.000,2767,1979,1653,1768,1538,0,0,0,0,0,0,14.85,14.85,14.85
$GC,752,1.12,158.9,2767,1979,1768,1538,26.5,12.4,125,758,0.00,0.00,0.00,0.000,2054,0.000,0.000,2767,1979,1653,1768,1538,0,0,0,0,0,0,14.89,14.89,14.89
$GC,790,1.12,158.9,2767,1979,1767,1538,21.6,13.0,132,796,0.00,0.00,0.00,0.000,2054,0.000,0.000,2768,1979,1652,1767,1538,0,0,0,0,0,0,14.92,14.92,14.92
$GC,830,1.12,158.9,2767,1979,1767,1538,16.6,12.5,139,835,0.00,0.00,0.00,0.000,2054,0.000,0.000,2768,1979,1652,1767,1538,0,0,0,0,0,0,14.94,14.95,14.94
$GC,868,1.12,158.9,2767,1979,1764,1538,12.4,11.4,146,875,0.00,2.58,0.00,0.000,2564,0.000,0.083,2768,580,1652,1766,1538,0,0,0,0,0,0,14.98,14.46,14.98
$GC,923,1.12,158.9,2768,580,1765,1538,6.0,10.8,156,930,0.00,2.38,0.00,0.000,3078,0.000,0.047,2768,1994,1651,1764,1538,0,0,0,0,0,0,14.69,14.59,14.70
$STATE,945,end climb,SURFACE_DEPTH_REACHED
$STATE,946,begin surface coast
$FINISH,0.3,1.026141
$STATE,967,end surface coast,CONTROL_FINISHED_OK
$STATE,967,begin surface
$SM_CCo,992,11.35,0.965,0,0,1570,180.05
$SM_GC,2.30,12.38,0.00,11.35,0.076,0.000,0.965,181,1995,1570,-6.91,-0.76,180.05,0,0,0,0,0,0,14.73,15.02,13.81
$IRIDIUM_FIX,-4239.11,1109.36,120319,035619
$TT8_MAMPS,0.019474,0.888314
$HUMID,47.91
$INTERNAL_PRESSURE,8.88279
$TCM_TEMP,20.10
$XPDR_PINGS,0
$SC_FREEKB,3592064
$24V_AH,12.81,211.048
$10V_AH,12.86,0.000
$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,28.225,9.875,208.000,11.350,0.000,23.413,16.256,120.109,0.000,0.000,24.958,361.860,106.057,274.811,492.059,154.114,0.000,481.795,0.000,260.309,0.000,1.014,0.000
$DEVICE_MAMPS,417.690,186.660,1272.195,965.430,0.000,28.300,160.000,223.000,420.000,0.000,23.220,9.170,2.190,9.170,30.140,42.880,0.000,11.800,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,993.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.630,0.000,0.000,0.000
$MEM,338708
$DATA_FILE_SIZE,3501,164
$CAP_FILE_SIZE,38278,0
$CFSIZE,1023623168,917815296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.101,234.05,1
$GPS,120319,044310,-4304.082,750.211,19,1.0,20,-24.8,0.6,253.2,10,8.6