version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 282
start: 4 9 119 14 46 52
data:
$ID,574
$MISSION,3
$DIVE,282
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$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,333
$T_MISSION,343
$T_ABORT,358
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,310
$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,28
$R_STBD_OVSHOOT,50
$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,3
$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
$GPS1,090419,143501,-3150.9045,2929.3757,6,1.0,37,-26.6,2.1,237.2,8,5.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-70.8
$GPS2,090419,144629,-3151.3833,2928.6509,6,1.0,15,-26.6,1.9,221.5,8,9.4
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3144.442,2918.923
$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,336.6,20000,-23.0,-10.010,-25.49,1417
$D_GRID,1000
$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,22,-0.88,-92.5,56,1797,618,562,0.0,0.0,0,106,0.00,0.00,-81.47,0.000,16386,0.000,0.000,54,1798,2803,2774,2833,0,0,0,0,0,0,14.97,28.83,14.98
$GC,110,-0.88,-92.5,54,1798,2774,2833,3.6,-6.7,15,136,14.10,2.40,-4.68,0.000,18692,0.291,0.067,2457,3212,3081,3071,3091,0,0,0,0,0,0,14.58,13.65,14.83
$GC,642,-0.88,-92.5,2456,3212,3073,3089,97.4,-14.0,119,650,0.08,2.33,0.00,0.000,3078,0.270,0.040,2470,1803,3080,3073,3088,0,0,0,0,0,0,14.76,14.90,14.94
$GC,714,-0.88,-92.5,2470,1802,3073,3087,107.7,-13.5,132,720,0.00,2.35,0.00,0.000,2308,0.000,0.049,2461,3214,3080,3073,3087,0,0,0,0,0,0,15.13,14.90,15.13
$GC,1091,-0.88,-92.5,2463,3215,3074,3086,154.3,-11.4,206,1098,0.00,2.33,0.00,0.000,3078,0.000,0.041,2461,1805,3080,3074,3087,0,0,0,0,0,0,14.99,14.90,15.00
$GC,1163,-0.88,-92.5,2462,1805,3074,3087,162.8,-12.9,219,1169,0.00,0.00,0.00,0.000,2054,0.000,0.000,2462,1805,3080,3074,3086,0,0,0,0,0,0,15.18,15.15,15.15
$GC,1231,-0.88,-92.5,2462,1805,3074,3086,170.9,-12.2,232,1237,0.00,0.00,0.00,0.000,2054,0.000,0.000,2462,1805,3080,3074,3086,0,0,0,0,0,0,15.16,15.16,15.16
$GC,1299,-0.88,-92.5,2462,1805,3074,3087,179.3,-12.8,245,1306,0.00,2.33,0.00,0.000,2308,0.000,0.047,2452,3211,3080,3074,3086,0,0,0,0,0,0,15.15,14.85,15.16
$STATE,1322,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1322,begin apogee
$GC,1329,-0.17,0.0,2452,1795,3075,3086,182.7,-14.5,249,1407,1.25,0.00,68.45,0.950,10246,0.172,0.000,2695,1792,2699,2716,2682,0,0,0,0,0,0,14.78,14.69,14.24
$STATE,1410,end apogee,CONTROL_FINISHED_OK
$STATE,1410,begin climb
$GC,1412,0.88,92.5,2695,1792,2716,2682,187.3,0.0,263,1497,1.55,2.42,73.22,0.951,10756,0.069,0.064,3039,389,2320,2343,2298,0,0,0,0,0,0,14.66,14.47,14.07
$GC,1581,0.88,92.5,3039,389,2341,2296,178.5,10.0,293,1587,0.00,2.33,0.00,0.000,1030,0.000,0.031,3039,1817,2318,2341,2295,0,0,0,0,0,0,14.78,14.71,14.79
$GC,1651,0.88,92.5,3039,1819,2340,2293,171.1,11.8,306,1657,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1819,2316,2340,2293,0,0,0,0,0,0,14.95,14.95,14.96
$GC,1720,0.90,111.1,3040,1819,2340,2292,164.4,8.7,319,1743,0.00,2.25,15.60,0.864,10500,0.000,0.044,3037,3190,2245,2269,2221,0,0,0,0,0,0,15.01,14.76,14.27
$GC,1846,0.90,111.1,3038,3185,2268,2220,147.9,13.0,343,1853,0.00,2.35,0.00,0.000,3078,0.000,0.047,3040,1796,2244,2268,2220,0,0,0,0,0,0,14.91,14.82,14.92
$GC,1917,0.90,111.1,3040,1796,2268,2218,139.8,11.7,356,1923,0.00,0.00,0.00,0.000,2054,0.000,0.000,3040,1796,2243,2268,2219,0,0,0,0,0,0,15.05,15.05,15.04
$GC,1985,0.90,111.1,3040,1796,2267,2218,131.9,10.7,369,1991,0.00,0.00,0.00,0.000,2054,0.000,0.000,3040,1796,2242,2267,2217,0,0,0,0,0,0,15.08,15.08,15.08
$GC,2054,0.90,111.1,3040,1796,2267,2217,123.3,11.6,382,2060,0.00,2.33,0.00,0.000,2308,0.000,0.043,3041,3198,2241,2266,2217,0,0,0,0,0,0,15.09,14.88,15.09
$GC,2565,0.92,125.4,3040,3201,2263,2215,85.8,9.0,483,2584,0.00,2.33,12.40,0.818,11270,0.000,0.047,3040,1798,2186,2214,2159,0,0,0,0,0,0,15.03,14.93,14.43
$GC,2647,0.94,136.4,3040,1798,2211,2156,77.7,9.2,498,2665,0.00,2.35,9.77,0.763,10500,0.000,0.046,3040,3193,2142,2171,2113,0,0,0,0,0,0,15.11,14.81,14.39
$GC,2769,0.97,160.8,3040,3193,2170,2112,68.2,8.2,521,2798,0.00,2.35,20.77,0.832,11270,0.000,0.045,3044,1795,2041,2072,2010,0,0,0,0,0,0,14.97,14.86,14.40
$GC,2861,0.99,177.6,3043,1795,2070,2005,61.0,8.8,538,2880,0.05,2.38,13.25,0.799,10500,0.261,0.045,3071,3188,1975,2009,1942,0,0,0,0,0,0,14.76,14.78,14.34
$GC,3386,1.12,282.3,3071,3188,2005,1938,33.6,2.4,641,3476,0.08,2.33,79.07,0.825,11270,0.187,0.045,3114,1795,1548,1588,1509,0,0,0,0,0,0,14.90,14.92,14.17
$GC,3539,1.13,291.6,3114,1794,1590,1508,23.3,9.3,669,3552,0.00,2.35,5.82,0.774,10500,0.000,0.044,3114,3194,1511,1552,1470,0,0,0,0,0,0,14.94,14.60,14.25
$GC,3626,1.13,293.3,3114,3193,1552,1470,13.7,9.9,685,3632,0.00,2.35,0.00,0.000,1030,0.000,0.049,3124,1802,1512,1554,1471,0,0,0,0,0,0,14.87,14.79,14.88
$GC,3696,1.13,293.3,3123,1802,1554,1470,4.1,14.2,698,3702,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1802,1512,1554,1470,0,0,0,0,0,0,15.02,15.02,15.02
$STATE,3707,end climb,SURFACE_DEPTH_REACHED
$STATE,3707,begin surface coast
$FINISH,0.1,1.023472
$STATE,3729,end surface coast,CONTROL_FINISHED_OK
$STATE,3729,begin surface
$SM_CCo,3752,132.50,0.760,0,0,599,515.37
$SM_GC,0.90,14.07,0.00,132.50,0.048,0.000,0.760,127,1802,599,-8.17,-0.31,515.37,0,0,0,0,0,0,14.86,15.07,14.20
$IRIDIUM_FIX,-3137.94,2932.11,090419,122512
$TT8_MAMPS,0.021721,0.714546
$HUMID,42.16
$INTERNAL_PRESSURE,9.49787
$TCM_TEMP,21.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,155.9,36.1
$SC_FREEKB,3772960
$24V_AH,13.65,101.156
$10V_AH,13.93,0.000
$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,31.175,42.200,298.375,132.500,0.000,26.163,19.225,366.291,6.000,0.000,16.133,1493.423,720.364,524.235,1634.332,200.667,0.000,1106.327,0.000,1072.503,0.000,37.506,0.000
$DEVICE_MAMPS,290.700,67.320,950.895,759.645,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3822.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.393,0.000,0.000,0.000
$MEM,340952
$DATA_FILE_SIZE,16729,704
$CAP_FILE_SIZE,112193,0
$CFSIZE,2097086464,2038333440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,090419,155301,-3152.213,2926.838,6,0.9,42,-26.6,1.6,233.2,9,4.1