version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 302
start: 4 10 119 5 41 4
data:
$ID,574
$MISSION,3
$DIVE,302
$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,125
$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,44
$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,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
$GPS1,100419,053311,-3223.3633,2855.7405,6,1.2,20,-27.1,2.5,203.3,9,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-68.2
$GPS2,100419,054040,-3223.8047,2855.3391,6,1.1,17,-27.1,2.3,212.7,10,9.8
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3229.999,2905.828
$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,152.1,20000,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.88,-92.5,67,1790,621,552,0.0,0.0,0,106,0.00,0.00,-82.38,0.000,16386,0.000,0.000,60,1790,2806,2775,2838,0,0,0,0,0,0,15.14,28.83,15.14
$GC,109,-0.88,-92.5,60,1790,2776,2838,3.1,-4.8,15,134,13.60,2.35,-4.93,0.000,18948,0.272,0.081,2467,411,3081,3069,3093,0,0,0,0,0,0,14.76,13.81,14.99
$GC,433,-0.88,-92.5,2467,409,3072,3092,68.1,-15.0,78,441,0.05,2.28,0.00,0.000,3078,0.349,0.031,2467,1842,3080,3072,3089,0,0,0,0,0,0,14.78,14.97,14.96
$GC,506,-0.88,-92.5,2467,1845,3073,3087,78.0,-14.8,91,513,0.00,2.38,0.00,0.000,2564,0.000,0.054,2468,412,3080,3073,3088,0,0,0,0,0,0,15.23,15.01,15.24
$GC,540,-0.88,-92.5,2468,412,3072,3087,84.1,-19.1,97,546,0.00,2.22,0.00,0.000,3078,0.000,0.033,2460,1802,3080,3073,3088,0,0,0,0,0,0,15.06,15.00,15.09
$GC,610,-0.88,-92.5,2459,1805,3073,3085,93.9,-17.6,110,616,0.03,0.00,0.00,0.000,2054,0.528,0.000,2467,1805,3080,3074,3087,0,0,0,0,0,0,14.88,15.08,15.05
$STATE,621,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,621,begin apogee
$GC,626,-0.17,0.0,2467,1805,3073,3087,96.2,-15.1,112,699,1.15,0.00,67.45,0.962,10246,0.160,0.000,2697,1806,2699,2716,2683,0,0,0,0,0,0,14.85,14.75,14.31
$STATE,702,end apogee,CONTROL_FINISHED_OK
$STATE,702,begin climb
$GC,704,0.88,92.5,2697,1806,2717,2682,100.0,0.0,125,790,1.52,2.35,72.32,0.968,10500,0.070,0.044,3034,3207,2320,2343,2297,0,0,0,0,0,0,14.77,14.64,14.22
$GC,797,0.95,146.4,3033,3206,2339,2296,96.5,6.1,140,848,0.00,2.35,42.40,0.953,11270,0.000,0.042,3041,1797,2102,2133,2071,0,0,0,0,0,0,14.78,14.71,14.21
$GC,911,0.99,178.2,3039,1796,2128,2066,85.1,7.7,161,946,0.08,2.40,24.80,0.937,10756,0.181,0.060,3095,398,1971,2003,1939,0,0,0,0,0,0,14.79,14.70,14.27
$GC,1029,0.99,178.2,3095,398,1997,1935,66.0,20.7,183,1037,0.08,2.28,0.00,0.000,5126,0.291,0.031,3082,1823,1965,1997,1934,0,0,0,0,0,0,14.69,14.88,14.86
$GC,1101,0.99,178.2,3081,1826,1997,1932,54.1,15.9,196,1107,0.00,2.42,0.00,0.000,4612,0.000,0.062,3091,392,1964,1997,1932,0,0,0,0,0,0,15.11,14.87,15.12
$GC,1120,0.99,178.2,3091,392,1997,1932,50.1,19.0,199,1127,0.05,2.25,0.00,0.000,5126,0.343,0.031,3082,1800,1964,1996,1932,0,0,0,0,0,0,14.71,14.92,14.90
$GC,1190,0.99,178.2,3082,1803,1996,1930,40.0,11.7,212,1197,0.00,2.35,0.00,0.000,4612,0.000,0.057,3090,395,1963,1996,1930,0,0,0,0,0,0,15.18,14.89,15.16
$GC,1704,1.09,260.0,3090,395,1993,1928,14.8,4.1,313,1755,0.00,2.22,45.15,0.806,11270,0.000,0.031,3090,1805,1637,1678,1597,0,0,0,0,0,0,15.14,15.07,14.48
$GC,1818,1.09,260.0,3089,1805,1675,1593,5.9,10.6,334,1824,0.00,2.40,0.00,0.000,2564,0.000,0.063,3101,389,1633,1675,1592,0,0,0,0,0,0,15.11,14.90,15.12
$STATE,1840,end climb,SURFACE_DEPTH_REACHED
$STATE,1840,begin surface coast
$FINISH,0.2,1.023587
$STATE,1861,end surface coast,CONTROL_FINISHED_OK
$STATE,1861,begin surface
$SM_CCo,1888,140.40,0.726,0,0,598,515.37
$SM_GC,0.95,13.75,2.30,140.40,0.046,0.030,0.726,119,1782,598,-8.18,-1.95,515.37,0,0,0,0,0,0,14.98,14.98,14.35
$IRIDIUM_FIX,-3208.42,2856.58,100419,044806
$TT8_MAMPS,0.020972,0.92876
$HUMID,41.84
$INTERNAL_PRESSURE,9.61506
$TCM_TEMP,23.10
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,70.0,34.2
$SC_FREEKB,3762720
$24V_AH,13.81,103.899
$10V_AH,14.00,0.000
$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,30.300,32.550,252.125,140.400,0.000,24.307,46.081,177.768,2.500,0.000,18.483,710.694,308.744,466.121,871.315,135.937,0.000,798.472,0.000,532.340,0.000,11.632,0.000
$DEVICE_MAMPS,527.850,81.090,968.490,725.985,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1906.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.179,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,10122,342
$CAP_FILE_SIZE,62966,0
$CFSIZE,2097086464,2035122176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,100419,061551,-3225.175,2854.269,6,1.4,17,-27.1,2.5,231.2,8,9.9