version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 200
start: 3 30 119 18 14 32
data:
$ID,574
$MISSION,3
$DIVE,200
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,1020
$D_NO_BLEED,29
$D_BOOST,0
$T_BOOST,0
$D_FINISH,20
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,167
$T_MISSION,182
$T_ABORT,197
$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,53998
$MASS_COMP,0
$NAV_MODE,3
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,270
$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,515.36688
$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,117
$PITCH_MAX,3869
$C_PITCH,2759
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,30
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,301
$ROLL_MAX,3936
$ROLL_DEG,40
$C_ROLL_DIVE,1812
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$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,2701
$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,-148.54955
$PRESSURE_SLOPE,0.0001058
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,50
$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,3.1600001
$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,0.0042907312
$SEABIRD_T_H,0.00061813911
$SEABIRD_T_I,2.1013675e-05
$SEABIRD_T_J,2.0586713e-06
$SEABIRD_C_G,-9.7689371
$SEABIRD_C_H,1.1415389
$SEABIRD_C_I,-0.0022330475
$SEABIRD_C_J,0.00024789109
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,300319,180631,-3000.5459,3103.9573,7,1.0,35,-25.0,0.6,112.2,9,5.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-70.2
$GPS2,300319,181409,-3000.5386,3104.0051,8,0.9,16,-25.0,0.0,183.2,9,9.2
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-2950.138,3107.358
$TGT_RADIUS,1852.000
$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,40.6,20000,-23.0,-9.980,-25.43,1422
$D_GRID,500
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.88,-92.5,54,1800,620,555,0.0,0.0,0,108,0.00,0.00,-84.47,0.000,16386,0.000,0.000,54,1801,2867,2839,2896,0,0,0,0,0,0,15.12,28.83,15.13
$GC,111,-0.88,-92.5,54,1801,2838,2895,3.3,-6.7,15,137,13.80,2.33,-3.80,0.000,19204,0.286,0.067,2459,3233,3079,3068,3090,0,0,0,0,0,0,14.76,13.90,14.98
$GC,144,-0.88,-92.5,2458,3233,3070,3088,16.2,-37.6,20,151,0.08,2.35,0.00,0.000,3078,0.286,0.044,2472,1803,3079,3071,3088,0,0,0,0,0,0,14.82,14.95,14.98
$GC,214,-0.88,-92.5,2472,1803,3072,3086,31.6,-22.7,33,222,0.00,2.33,0.00,0.000,2564,0.000,0.060,2472,408,3081,3076,3086,0,0,0,0,0,0,15.16,14.90,15.17
$GC,234,-0.88,-92.5,2471,408,3073,3086,36.4,-24.3,36,240,0.00,2.28,0.00,0.000,3078,0.000,0.034,2464,1824,3079,3073,3086,0,0,0,0,0,0,15.05,15.00,15.08
$GC,303,-0.88,-92.5,2464,1827,3073,3086,48.7,-18.6,49,313,0.00,2.38,0.00,0.000,2564,0.000,0.061,2464,410,3079,3073,3086,0,0,0,0,0,0,15.19,14.97,15.19
$GC,320,-0.88,-92.5,2464,409,3073,3086,52.2,-18.6,51,327,0.08,2.28,0.00,0.000,3078,0.291,0.037,2469,1821,3079,3073,3085,0,0,0,0,0,0,14.82,14.94,14.97
$GC,390,-0.88,-92.5,2469,1818,3073,3085,65.4,-17.5,64,396,0.00,2.28,0.00,0.000,2308,0.000,0.049,2461,3213,3079,3073,3085,0,0,0,0,0,0,15.20,14.93,15.20
$GC,571,-0.88,-92.5,2461,3216,3074,3085,89.3,-12.3,99,581,0.00,2.30,0.00,0.000,3078,0.000,0.044,2461,1809,3079,3074,3085,0,0,0,0,0,0,15.11,15.02,15.13
$GC,645,-0.88,-92.5,2461,1809,3074,3085,100.1,-18.2,112,652,0.00,2.33,0.00,0.000,2564,0.000,0.060,2461,408,3079,3074,3084,0,0,0,0,0,0,15.23,14.97,15.23
$GC,659,-0.88,-92.5,2461,407,3074,3084,102.6,-16.6,114,667,0.05,2.25,0.00,0.000,3078,0.350,0.034,2470,1810,3079,3075,3084,0,0,0,0,0,0,14.83,14.99,15.00
$GC,729,-0.88,-92.5,2470,1809,3074,3084,109.2,-12.4,127,736,0.00,2.28,0.00,0.000,2308,0.000,0.050,2462,3214,3079,3074,3084,0,0,0,0,0,0,15.23,14.97,15.23
$GC,830,-0.88,-92.5,2462,3214,3074,3084,119.2,-9.9,146,837,0.00,2.30,0.00,0.000,3078,0.000,0.045,2462,1808,3079,3075,3084,0,0,0,0,0,0,15.07,14.99,15.08
$GC,899,-0.88,-92.5,2462,1808,3075,3084,124.2,-17.5,159,908,0.00,0.00,0.00,0.000,2054,0.000,0.000,2462,1808,3079,3075,3084,0,0,0,0,0,0,15.25,15.25,15.25
$GC,972,-0.88,-92.5,2463,1806,3074,3084,132.3,-16.1,172,978,0.00,2.30,0.00,0.000,2308,0.000,0.045,2453,3217,3077,3072,3083,0,0,0,0,0,0,15.24,15.04,15.25
$GC,1030,-0.88,-92.5,2452,3218,3075,3082,141.2,-12.3,182,1037,0.10,2.33,0.00,0.000,3078,0.240,0.050,2472,1809,3080,3075,3086,0,0,0,0,0,0,14.88,14.97,15.02
$GC,1100,-0.88,-92.5,2472,1806,3074,3083,151.8,-14.2,195,1105,0.00,0.00,0.00,0.000,2054,0.000,0.000,2472,1806,3079,3075,3083,0,0,0,0,0,0,15.25,15.25,15.25
$GC,1168,-0.88,-92.5,2472,1806,3075,3081,159.0,-11.3,208,1174,0.00,2.35,0.00,0.000,2564,0.000,0.060,2472,397,3078,3075,3082,0,0,0,0,0,0,15.26,15.03,15.26
$STATE,1195,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1195,begin apogee
$GC,1202,-0.17,0.0,2471,1806,3075,3082,162.4,-12.5,213,1277,1.12,0.00,67.53,0.928,10246,0.145,0.000,2698,1810,2699,2716,2683,0,0,0,0,0,0,14.91,14.81,14.40
$STATE,1279,end apogee,CONTROL_FINISHED_OK
$STATE,1279,begin climb
$GC,1281,0.88,92.5,2698,1811,2716,2682,164.6,0.0,226,1363,1.52,0.00,72.65,0.929,10758,0.083,0.000,3027,1810,2321,2343,2299,0,0,0,0,0,0,14.78,14.55,14.24
$GC,1426,0.88,95.3,3029,1810,2340,2294,154.0,9.8,251,1431,0.00,0.00,0.00,0.000,2054,0.000,0.000,3028,1810,2316,2338,2295,0,0,0,0,0,0,14.97,14.97,14.98
$GC,1493,0.88,95.3,3028,1810,2338,2293,146.8,11.9,264,1500,0.00,2.42,0.00,0.000,2564,0.000,0.065,3033,391,2315,2338,2293,0,0,0,0,0,0,15.07,14.84,15.07
$GC,1612,1.07,245.9,3033,391,2335,2291,136.6,-0.9,287,1739,0.22,2.28,115.85,0.903,11270,0.093,0.031,3099,1825,1695,1732,1659,0,0,0,0,0,0,14.92,14.92,14.24
$GC,1801,1.07,245.9,3098,1824,1729,1654,109.0,17.3,321,1808,0.00,2.45,0.00,0.000,516,0.000,0.070,3110,393,1691,1729,1653,0,0,0,0,0,0,14.96,14.71,14.97
$GC,1861,1.07,245.9,3109,394,1726,1651,97.9,20.3,332,1867,0.00,2.25,0.00,0.000,5126,0.000,0.034,3109,1778,1688,1726,1651,0,0,0,0,0,0,14.95,14.87,14.96
$GC,1931,1.07,245.9,3109,1781,1726,1650,84.3,16.2,345,1938,0.00,2.33,0.00,0.000,4356,0.000,0.046,3109,3207,1687,1725,1649,0,0,0,0,0,0,15.09,14.90,15.09
$GC,1955,1.07,245.9,3113,3207,1724,1649,77.9,24.2,349,1963,0.00,2.38,0.00,0.000,5126,0.000,0.054,3111,1791,1686,1724,1648,0,0,0,0,0,0,15.00,14.90,15.02
$GC,2026,1.07,245.9,3110,1791,1724,1647,62.3,13.9,362,2032,0.00,0.00,0.00,0.000,4102,0.000,0.000,3111,1791,1685,1724,1647,0,0,0,0,0,0,15.14,15.15,15.15
$GC,2094,1.07,245.9,3111,1788,1724,1646,51.9,16.7,375,2100,0.00,2.33,0.00,0.000,4356,0.000,0.046,3115,3209,1685,1724,1646,0,0,0,0,0,0,15.17,14.97,15.18
$GC,2122,1.07,245.9,3111,3209,1723,1646,46.3,20.9,380,2130,0.08,2.35,0.00,0.000,5126,0.315,0.049,3107,1793,1684,1723,1646,0,0,0,0,0,0,14.82,14.95,15.00
$GC,2193,1.07,245.9,3107,1793,1723,1646,34.4,16.0,393,2201,0.00,2.35,0.00,0.000,4612,0.000,0.064,3116,394,1685,1724,1646,0,0,0,0,0,0,15.19,14.95,15.19
$GC,2217,1.07,245.9,3115,394,1723,1646,30.2,16.5,397,2225,0.05,2.28,0.00,0.000,5126,0.345,0.034,3107,1810,1684,1723,1646,0,0,0,0,0,0,14.82,14.96,15.02
$GC,2289,1.07,245.9,3106,1812,1723,1644,19.9,14.7,410,2295,0.00,0.00,0.00,0.000,4102,0.000,0.000,3106,1812,1683,1723,1644,0,0,0,0,0,0,15.21,15.21,15.21
$GC,2356,1.07,245.9,3106,1812,1723,1644,9.0,14.9,423,2363,0.00,2.40,0.00,0.000,4612,0.000,0.066,3115,388,1683,1723,1644,0,0,0,0,0,0,15.21,14.93,15.22
$STATE,2398,end climb,SURFACE_DEPTH_REACHED
$STATE,2398,begin surface coast
$FINISH,0.4,1.023528
$STATE,2420,end surface coast,CONTROL_FINISHED_OK
$STATE,2420,begin surface
$SM_CCo,2444,152.85,0.763,0,0,600,515.37
$SM_GC,0.79,13.75,2.33,152.85,0.044,0.035,0.763,124,1813,600,-8.18,-1.70,515.37,0,0,0,0,0,0,15.03,15.07,14.33
$IRIDIUM_FIX,-2950.05,3104.65,300319,171421
$TT8_MAMPS,0.021721,0.972951
$HUMID,42.36
$INTERNAL_PRESSURE,9.55647
$TCM_TEMP,22.00
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,135.1,37.1
$SC_FREEKB,3819264
$24V_AH,13.90,78.349
$10V_AH,13.88,0.000
$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,30.850,65.075,256.025,152.850,0.000,25.197,39.396,202.639,7.750,0.000,17.948,979.185,347.256,565.179,1043.913,132.858,0.000,997.292,0.000,665.025,0.000,31.403,0.000
$DEVICE_MAMPS,350.370,70.380,928.710,763.470,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2465.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.287,0.000,0.000,0.000
$MEM,340928
$DATA_FILE_SIZE,10139,435
$CAP_FILE_SIZE,89505,0
$CFSIZE,2097086464,2056847360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.019,44.74,1
$GPS,300319,185844,-3000.286,3104.164,8,1.0,15,-25.0,0.0,0.0,8,9.7