version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 337
start: 4 12 119 12 21 7
data:
$ID,574
$MISSION,3
$DIVE,337
$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,26
$R_STBD_OVSHOOT,49
$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
$GPS1,120419,121031,-3353.9304,2705.3674,6,0.9,15,-28.1,1.5,232.5,8,8.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-66.3
$GPS2,120419,122042,-3354.1565,2705.0691,6,0.9,14,-28.1,1.5,211.8,8,9.9
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3348.757,2653.813
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-0.88,-92.5,54,1792,622,552,0.0,0.0,0,128,0.00,0.00,-100.05,0.000,16390,0.000,0.000,54,1792,3078,3048,3108,0,0,0,0,0,0,15.01,13.61,15.01
$GC,131,-0.88,-92.5,54,1792,3048,3108,4.0,-10.6,19,150,14.05,2.42,0.00,0.000,2308,0.290,0.048,2459,3214,3079,3053,3105,0,0,0,0,0,0,14.62,14.80,14.85
$GC,506,-0.88,-92.5,2458,3215,3063,3096,73.2,-13.5,92,513,0.05,2.38,0.00,0.000,3078,0.322,0.047,2468,1799,3079,3063,3095,0,0,0,0,0,0,14.73,14.88,14.92
$GC,577,-0.88,-92.5,2467,1798,3065,3094,84.0,-15.2,105,584,0.00,2.38,0.00,0.000,2308,0.000,0.053,2459,3210,3079,3065,3093,0,0,0,0,0,0,15.12,14.89,15.13
$GC,627,-0.88,-92.5,2459,3210,3064,3093,91.8,-15.4,114,633,0.00,2.35,0.00,0.000,3078,0.000,0.047,2460,1809,3079,3065,3093,0,0,0,0,0,0,15.00,14.90,15.02
$GC,697,-0.88,-92.5,2459,1808,3065,3093,103.0,-16.6,127,703,0.00,0.00,0.00,0.000,2054,0.000,0.000,2460,1809,3079,3065,3094,0,0,0,0,0,0,15.12,15.13,15.13
$GC,767,-0.88,-92.5,2455,1809,3065,3093,113.6,-13.7,140,774,0.00,2.38,0.00,0.000,2308,0.000,0.054,2454,3214,3079,3065,3093,0,0,0,0,0,0,15.12,14.93,15.12
$GC,955,-0.88,-92.5,2453,3214,3065,3093,139.0,-13.2,176,962,0.08,2.35,0.00,0.000,3078,0.263,0.048,2469,1813,3079,3066,3093,0,0,0,0,0,0,14.74,14.84,14.91
$STATE,967,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,967,begin apogee
$GC,973,-0.17,0.0,2468,1813,3066,3093,141.1,-14.3,178,1050,1.15,0.00,69.55,0.923,10246,0.167,0.000,2694,1813,2699,2710,2688,0,0,0,0,0,0,14.76,14.58,14.24
$STATE,1053,end apogee,CONTROL_FINISHED_OK
$STATE,1054,begin climb
$GC,1056,0.88,92.5,2694,1813,2709,2687,145.3,0.0,192,1135,1.55,0.00,73.70,0.925,10502,0.078,0.000,3029,1811,2322,2341,2304,0,0,0,0,0,0,14.66,14.53,14.05
$GC,1199,0.92,127.3,3029,1812,2338,2299,139.5,7.5,217,1232,0.00,0.00,28.67,0.883,10758,0.000,0.000,3029,1813,2179,2204,2154,0,0,0,0,0,0,14.85,14.60,14.14
$GC,1295,0.92,127.3,3029,1812,2201,2151,129.6,12.3,235,1301,0.00,0.00,0.00,0.000,2054,0.000,0.000,3029,1813,2176,2201,2151,0,0,0,0,0,0,14.89,14.90,14.89
$GC,1363,0.92,127.3,3028,1812,2200,2149,120.7,12.8,248,1369,0.00,2.35,0.00,0.000,2308,0.000,0.050,3029,3205,2174,2199,2149,0,0,0,0,0,0,14.97,14.76,14.97
$GC,1552,0.92,127.3,3029,3205,2196,2148,98.5,11.2,285,1559,0.00,2.38,0.00,0.000,3078,0.000,0.050,3033,1798,2172,2195,2149,0,0,0,0,0,0,14.91,14.81,14.92
$GC,1624,0.93,128.2,3033,1798,2195,2148,91.6,9.9,298,1629,0.00,0.00,0.00,0.000,2054,0.000,0.000,3033,1798,2171,2194,2148,0,0,0,0,0,0,15.08,15.09,15.08
$GC,1692,0.94,139.3,3033,1798,2195,2148,84.9,9.2,311,1705,0.00,0.00,9.95,0.776,10246,0.000,0.000,3033,1798,2132,2158,2106,0,0,0,0,0,0,15.09,14.86,14.40
$GC,1769,0.94,139.3,3033,1798,2155,2103,77.5,10.0,325,1775,0.00,2.35,0.00,0.000,2308,0.000,0.050,3033,3198,2128,2154,2103,0,0,0,0,0,0,15.07,14.86,15.07
$GC,1833,0.94,139.3,3033,3198,2153,2107,70.8,10.2,337,1839,0.00,2.35,0.00,0.000,3078,0.000,0.050,3037,1800,2129,2152,2106,0,0,0,0,0,0,14.97,14.85,14.98
$GC,1903,0.94,139.3,3036,1800,2154,2101,63.7,10.8,350,1909,0.00,0.00,0.00,0.000,2054,0.000,0.000,3037,1800,2127,2153,2102,0,0,0,0,0,0,15.11,15.11,15.11
$GC,1971,0.95,150.4,3036,1801,2153,2101,56.8,9.2,363,1990,0.00,2.40,9.27,0.760,10500,0.000,0.049,3037,3203,2088,2115,2062,0,0,0,0,0,0,15.12,14.79,14.43
$GC,2200,1.01,194.4,3036,3202,2114,2060,38.8,6.8,407,2245,0.12,2.35,36.28,0.828,11270,0.131,0.050,3086,1798,1904,1935,1873,0,0,0,0,0,0,14.90,14.90,14.31
$GC,2308,1.01,194.4,3085,1798,1930,1869,26.7,14.5,427,2314,0.00,2.35,0.00,0.000,4356,0.000,0.049,3086,3198,1897,1926,1868,0,0,0,0,0,0,15.01,14.78,15.02
$GC,2337,1.01,194.4,3086,3198,1929,1868,22.6,13.8,432,2344,0.00,2.38,0.00,0.000,5126,0.000,0.050,3094,1802,1898,1929,1868,0,0,0,0,0,0,14.87,14.75,14.89
$GC,2408,1.01,194.4,3094,1802,1928,1866,12.9,14.4,445,2414,0.00,0.00,0.00,0.000,4102,0.000,0.000,3094,1802,1897,1928,1866,0,0,0,0,0,0,15.06,15.06,15.07
$GC,2476,1.01,194.4,3093,1802,1928,1866,3.7,12.8,458,2482,0.00,0.00,0.00,0.000,4102,0.000,0.000,3094,1802,1896,1928,1865,0,0,0,0,0,0,15.07,15.09,15.08
$STATE,2487,end climb,SURFACE_DEPTH_REACHED
$STATE,2487,begin surface coast
$FINISH,0.3,1.003626
$STATE,2509,end surface coast,CONTROL_FINISHED_OK
$STATE,2509,begin surface
$SM_CCo,2533,190.48,0.774,0,0,599,515.37
$SM_GC,0.78,13.90,0.00,190.48,0.047,0.000,0.774,120,1798,599,-8.18,-0.37,515.37,0,0,0,0,0,0,14.90,15.11,14.16
$IRIDIUM_FIX,-3340.91,2705.25,120419,121339
$TT8_MAMPS,0.020972,0.965461
$HUMID,43.34
$INTERNAL_PRESSURE,9.37092
$TCM_TEMP,20.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,115.7,33.3
$SC_FREEKB,3744224
$24V_AH,13.61,111.008
$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,30.900,33.150,227.425,190.475,0.000,50.320,62.054,225.639,3.750,0.000,15.337,987.028,501.390,531.362,1149.056,177.514,0.000,958.605,0.000,709.846,0.000,25.303,0.000
$DEVICE_MAMPS,322.065,54.315,924.885,774.180,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2560.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.419,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,10119,464
$CAP_FILE_SIZE,83504,0
$CFSIZE,2097086464,2028470272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,120419,130759,-3354.521,2704.232,6,1.0,46,-28.1,0.7,185.9,7,4.2