version: 66.12
revision: DORADO
glider: 542
mission: 4
dive: 490
start: 3 12 119 4 49 45
data:
$ID,542
$MISSION,4
$DIVE,490
$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,37
$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,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
$GPS1,120319,044310,-4304.0815,750.2110,19,1.0,20,-24.8,0.6,253.2,10,8.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-69.0
$GPS2,120319,044921,-4304.1074,750.1998,21,0.9,26,-24.8,0.5,300.3,11,8.5
$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,23.9,905,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.02,-73.0,178,1995,1654,1465,0.0,0.0,0,76,0.00,0.00,-48.38,0.000,16390,0.000,0.000,180,1996,2607,2590,2624,0,0,0,0,0,0,14.99,12.83,14.97
$GC,80,-1.02,-73.0,180,1996,2591,2624,3.5,-8.9,9,99,12.27,2.55,0.00,0.000,2308,0.373,0.070,2084,3417,2609,2594,2624,0,0,0,0,0,0,14.16,14.57,14.50
$GC,127,-1.02,-73.0,2083,3417,2595,2622,15.3,-17.1,17,134,0.00,2.40,0.00,0.000,3078,0.000,0.052,2084,2028,2608,2595,2622,0,0,0,0,0,0,14.82,14.67,14.83
$GC,166,-1.02,-73.0,2084,2028,2599,2619,21.5,-16.2,24,173,0.00,2.53,0.00,0.000,2564,0.000,0.075,2084,617,2609,2599,2619,0,0,0,0,0,0,15.01,14.55,15.01
$GC,206,-1.02,-73.0,2083,617,2600,2618,28.0,-16.2,31,213,0.00,2.38,0.00,0.000,3078,0.000,0.050,2084,2015,2609,2600,2618,0,0,0,0,0,0,14.74,14.62,14.76
$GC,246,-1.02,-73.0,2084,2015,2602,2617,34.3,-15.3,38,252,0.00,0.00,0.00,0.000,2054,0.000,0.000,2084,2015,2609,2601,2617,0,0,0,0,0,0,15.02,15.02,15.02
$GC,285,-1.02,-73.0,2084,2022,2602,2617,40.6,-15.6,45,291,0.00,0.00,0.00,0.000,2054,0.000,0.000,2084,2015,2609,2602,2617,0,0,0,0,0,0,15.04,15.05,15.04
$STATE,317,end dive,TARGET_DEPTH_EXCEEDED
$STATE,317,begin apogee
$GC,323,-0.18,0.0,2085,2015,2601,2617,45.4,-14.1,51,394,1.50,0.00,65.12,1.270,10246,0.258,0.000,2354,2015,2306,2358,2254,0,0,0,0,0,0,14.32,14.47,13.69
$STATE,398,end apogee,CONTROL_FINISHED_OK
$STATE,398,begin climb
$GC,401,1.02,73.0,2353,2015,2357,2253,50.6,0.0,63,477,1.85,0.00,66.07,1.250,10758,0.138,0.000,2727,2016,2006,2091,1922,0,0,0,0,0,0,14.44,14.12,13.57
$GC,511,1.13,163.7,2727,2016,2089,1919,50.4,1.7,81,599,0.12,0.00,81.22,1.237,10246,0.138,0.000,2770,2016,1637,1755,1519,0,0,0,0,0,0,14.47,14.26,13.55
$GC,634,1.13,163.7,2769,2016,1752,1517,40.2,12.2,102,640,0.00,0.00,0.00,0.000,2054,0.000,0.000,2770,2016,1634,1752,1517,0,0,0,0,0,0,14.71,14.71,14.71
$GC,673,1.13,163.7,2769,2016,1751,1517,35.2,12.8,109,679,0.00,0.00,0.00,0.000,2054,0.000,0.000,2770,2016,1633,1751,1515,0,0,0,0,0,0,14.80,14.81,14.81
$GC,711,1.13,163.7,2769,2016,1750,1515,30.3,12.7,116,717,0.00,0.00,0.00,0.000,2054,0.000,0.000,2770,2016,1633,1750,1516,0,0,0,0,0,0,14.86,14.87,14.87
$GC,751,1.13,163.7,2773,2016,1749,1512,24.9,13.5,123,756,0.00,0.00,0.00,0.000,2054,0.000,0.000,2770,2016,1632,1749,1515,0,0,0,0,0,0,14.92,14.92,14.92
$GC,789,1.13,163.7,2769,2016,1758,1515,19.9,13.1,130,796,0.00,2.58,0.00,0.000,2564,0.000,0.083,2771,582,1631,1749,1514,0,0,0,0,0,0,14.92,14.59,14.92
$GC,829,1.13,163.7,2771,582,1748,1515,14.7,12.8,137,836,0.00,2.38,0.00,0.000,3078,0.000,0.044,2771,2000,1631,1747,1515,0,0,0,0,0,0,14.80,14.69,14.82
$GC,868,1.13,163.7,2770,2000,1747,1515,9.8,11.8,144,874,0.00,0.00,0.00,0.000,2054,0.000,0.000,2770,2001,1630,1747,1514,0,0,0,0,0,0,14.96,14.97,14.96
$GC,907,1.13,163.7,2770,2000,1747,1514,5.0,11.8,151,914,0.00,2.55,0.00,0.000,2564,0.000,0.083,2771,582,1630,1747,1514,0,0,0,0,0,0,14.98,14.62,14.99
$STATE,924,end climb,SURFACE_DEPTH_REACHED
$STATE,925,begin surface coast
$FINISH,0.2,1.026119
$STATE,946,end surface coast,CONTROL_FINISHED_OK
$STATE,946,begin surface
$SM_CCo,972,7.97,0.916,0,0,1572,180.05
$SM_GC,2.17,12.23,2.45,7.97,0.061,0.044,0.916,183,2015,1572,-6.91,-1.10,180.05,0,0,0,0,0,0,14.78,14.75,13.78
$IRIDIUM_FIX,-4247.91,750.29,120319,042139
$TT8_MAMPS,0.019474,0.890561
$HUMID,47.87
$INTERNAL_PRESSURE,8.88279
$TCM_TEMP,20.00
$XPDR_PINGS,0
$SC_FREEKB,3591552
$24V_AH,12.83,211.155
$10V_AH,12.84,0.000
$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,27.975,19.800,212.425,7.975,0.000,25.233,17.068,119.034,0.000,0.000,27.770,346.296,93.700,286.290,485.104,154.652,0.000,496.038,0.000,249.417,0.000,1.014,0.000
$DEVICE_MAMPS,373.320,83.385,1269.900,916.470,0.000,28.300,160.000,223.000,420.000,0.000,23.220,9.170,2.190,9.170,30.140,42.880,0.000,11.800,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,973.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.494,0.000,0.000,0.000
$MEM,338704
$DATA_FILE_SIZE,3502,158
$CAP_FILE_SIZE,39370,0
$CFSIZE,1023623168,917733376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.095,236.53,1
$GPS,120319,050743,-4304.046,750.145,29,0.9,55,-24.8,0.4,98.3,9,9.4