version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 336
start: 4 12 119 11 23 36
data:
$ID,574
$MISSION,3
$DIVE,336
$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,300
$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,32
$R_STBD_OVSHOOT,56
$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
$GPS1,120419,111419,-3353.4355,2706.4607,7,1.0,41,-28.1,1.4,208.7,8,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-65.4
$GPS2,120419,112311,-3353.6516,2706.1804,7,1.1,47,-28.1,0.7,226.6,7,4.4
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3348.252,2654.925
$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,328.1,20000,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-0.88,-92.5,63,1791,622,554,0.0,0.0,0,123,0.00,0.00,-97.72,0.000,16386,0.000,0.000,57,1791,3016,2984,3048,0,0,0,0,0,0,15.02,28.83,15.03
$GC,128,-0.88,-92.5,57,1791,2985,3048,3.1,-6.0,18,153,14.00,2.40,-1.17,0.000,18692,0.290,0.071,2458,3210,3079,3060,3099,0,0,0,0,0,0,14.57,13.69,14.81
$GC,529,-0.88,-92.5,2457,3210,3066,3093,78.5,-15.1,96,536,0.05,2.35,0.00,0.000,3078,0.320,0.047,2467,1802,3079,3067,3092,0,0,0,0,0,0,14.73,14.89,14.87
$GC,600,-0.88,-92.5,2467,1802,3067,3092,89.7,-16.7,109,606,0.00,0.00,0.00,0.000,2054,0.000,0.000,2468,1802,3079,3067,3091,0,0,0,0,0,0,15.13,15.13,15.13
$GC,672,-0.88,-92.5,2468,1802,3068,3091,100.5,-13.6,122,679,0.00,2.38,0.00,0.000,2308,0.000,0.054,2459,3204,3076,3062,3091,0,0,0,0,0,0,15.13,14.90,15.13
$GC,874,-0.88,-92.5,2459,3204,3068,3090,125.5,-11.9,161,881,0.00,2.33,0.00,0.000,3078,0.000,0.047,2459,1810,3076,3063,3090,0,0,0,0,0,0,15.02,14.91,15.03
$GC,945,-0.88,-92.5,2459,1811,3068,3090,134.4,-13.1,174,953,0.05,2.33,0.00,0.000,2308,0.341,0.050,2460,3202,3079,3068,3090,0,0,0,0,0,0,14.78,14.81,14.92
$GC,980,-0.88,-92.5,2460,3203,3068,3090,138.7,-11.3,180,987,0.00,2.33,0.00,0.000,3078,0.000,0.047,2461,1811,3079,3069,3090,0,0,0,0,0,0,14.94,14.85,14.95
$GC,1053,-0.88,-92.5,2460,1811,3069,3089,148.9,-15.8,193,1059,0.00,0.00,0.00,0.000,2054,0.000,0.000,2461,1811,3079,3069,3089,0,0,0,0,0,0,15.14,15.15,15.14
$GC,1121,-0.88,-92.5,2460,1811,3069,3089,161.4,-23.3,206,1127,0.00,0.00,0.00,0.000,2054,0.000,0.000,2460,1809,3079,3070,3088,0,0,0,0,0,0,15.14,15.15,15.15
$STATE,1158,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1158,begin apogee
$GC,1163,-0.17,0.0,2461,1809,3070,3088,165.8,-7.9,213,1241,1.20,0.00,68.90,0.958,10246,0.148,0.000,2699,1809,2700,2712,2689,0,0,0,0,0,0,14.78,14.56,14.19
$STATE,1244,end apogee,CONTROL_FINISHED_OK
$STATE,1244,begin climb
$GC,1246,0.88,92.5,2699,1809,2711,2688,166.2,0.0,227,1333,1.55,2.35,74.07,0.959,10500,0.041,0.048,3064,3193,2320,2337,2304,0,0,0,0,0,0,14.71,14.50,14.10
$GC,1351,0.92,123.6,3064,3193,2336,2304,163.4,7.8,244,1386,0.08,2.38,25.83,0.908,13318,0.316,0.044,3061,1798,2193,2219,2167,0,0,0,0,0,0,14.46,14.59,14.07
$GC,1450,1.01,197.0,3060,1798,2217,2166,158.1,4.7,262,1517,0.00,2.47,57.83,0.942,10756,0.000,0.067,3069,399,1893,1923,1864,0,0,0,0,0,0,14.87,14.50,14.05
$GC,1585,1.01,197.0,3069,399,1921,1860,140.0,19.1,287,1592,0.00,2.30,0.00,0.000,3078,0.000,0.034,3069,1793,1889,1921,1858,0,0,0,0,0,0,14.78,14.71,14.79
$GC,1656,1.01,197.0,3069,1795,1918,1856,126.9,19.2,300,1662,0.00,0.00,0.00,0.000,2054,0.000,0.000,3069,1796,1888,1920,1856,0,0,0,0,0,0,14.95,14.96,14.92
$GC,1725,1.01,197.0,3069,1795,1921,1854,113.6,18.2,313,1731,0.00,2.35,0.00,0.000,2308,0.000,0.048,3069,3208,1886,1919,1854,0,0,0,0,0,0,15.00,14.79,15.00
$GC,1815,1.01,197.0,3069,3208,1917,1854,98.5,16.7,330,1821,0.00,2.38,0.00,0.000,3078,0.000,0.050,3077,1801,1884,1916,1853,0,0,0,0,0,0,14.92,14.83,14.95
$GC,1885,1.01,197.0,3077,1801,1917,1854,87.5,14.9,343,1891,0.00,2.33,0.00,0.000,2308,0.000,0.047,3077,3204,1885,1917,1854,0,0,0,0,0,0,15.07,14.85,15.07
$GC,1939,1.01,197.0,3077,3204,1916,1853,79.6,14.1,353,1946,0.00,2.38,0.00,0.000,3078,0.000,0.053,3077,1802,1884,1916,1853,0,0,0,0,0,0,14.96,14.86,14.98
$GC,2010,1.01,197.0,3077,1801,1917,1853,69.6,13.9,366,2016,0.00,2.33,0.00,0.000,2308,0.000,0.049,3077,3197,1884,1916,1853,0,0,0,0,0,0,15.09,14.88,15.09
$GC,2044,1.01,197.0,3077,3198,1916,1852,64.5,14.6,372,2050,0.00,2.38,0.00,0.000,1030,0.000,0.050,3084,1792,1884,1916,1853,0,0,0,0,0,0,14.97,14.87,14.99
$GC,2115,1.01,197.0,3084,1792,1916,1852,54.9,13.1,385,2121,0.00,2.35,0.00,0.000,260,0.000,0.050,3084,3200,1884,1916,1852,0,0,0,0,0,0,15.09,14.89,15.10
$GC,2234,1.01,197.0,3080,3200,1915,1853,40.5,12.0,408,2241,0.00,2.38,0.00,0.000,1030,0.000,0.053,3089,1794,1884,1915,1853,0,0,0,0,0,0,14.99,14.90,15.01
$GC,2305,1.01,197.0,3084,1793,1915,1851,31.6,12.9,421,2311,0.00,2.35,0.00,0.000,260,0.000,0.049,3084,3205,1882,1913,1852,0,0,0,0,0,0,15.11,14.90,15.11
$GC,2334,1.01,197.0,3084,3205,1915,1851,27.5,14.3,426,2340,0.00,2.38,0.00,0.000,5126,0.000,0.050,3090,1798,1883,1915,1851,0,0,0,0,0,0,15.00,14.90,15.02
$GC,2404,1.01,197.0,3090,1798,1915,1851,18.2,13.4,439,2410,0.00,0.00,0.00,0.000,4102,0.000,0.000,3091,1798,1882,1915,1850,0,0,0,0,0,0,15.12,15.12,15.12
$GC,2473,1.01,197.0,3090,1798,1915,1850,9.4,12.7,452,2480,0.00,2.35,0.00,0.000,4356,0.000,0.048,3091,3208,1882,1915,1850,0,0,0,0,0,0,15.14,14.88,15.14
$GC,2512,1.01,197.0,3090,3208,1914,1850,3.5,15.7,459,2519,0.00,2.40,0.00,0.000,5126,0.000,0.057,3091,1798,1882,1914,1850,0,0,0,0,0,0,14.93,14.83,14.95
$STATE,2523,end climb,SURFACE_DEPTH_REACHED
$STATE,2524,begin surface coast
$FINISH,0.2,1.025700
$STATE,2546,end surface coast,CONTROL_FINISHED_OK
$STATE,2546,begin surface
$SM_CCo,2570,190.18,0.783,0,0,600,515.37
$SM_GC,0.74,13.82,0.00,190.18,0.046,0.000,0.783,123,1794,600,-8.17,-0.54,515.37,0,0,0,0,0,0,14.95,15.16,14.16
$IRIDIUM_FIX,-3340.91,2708.74,120419,101058
$TT8_MAMPS,0.021721,0.793191
$HUMID,43.77
$INTERNAL_PRESSURE,9.35139
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,145.4,30.4
$SC_FREEKB,3744736
$24V_AH,13.69,110.843
$10V_AH,13.84,0.000
$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,30.750,51.925,226.625,190.175,0.000,23.778,16.626,236.855,5.250,0.000,48.814,993.006,434.086,554.745,1129.929,190.966,0.000,994.786,0.000,709.571,0.000,34.417,0.000
$DEVICE_MAMPS,341.190,71.145,958.545,782.595,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2604.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.252,0.000,0.000,0.000
$MEM,340928
$DATA_FILE_SIZE,10127,465
$CAP_FILE_SIZE,88606,0
$CFSIZE,2097086464,2028634112
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,1819.66,0x2131c2,1,24
$GPS,120419,121031,-3353.930,2705.367,6,0.9,15,-28.1,1.5,232.5,8,8.8