version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 380
start: 4 15 119 11 7 20
data:
$ID,574
$MISSION,3
$DIVE,380
$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,200
$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,315
$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,55
$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
$GPS1,150419,105855,-3422.1089,2556.0298,6,1.0,39,-28.1,1.3,319.4,8,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-70.4
$GPS2,150419,110655,-3422.1045,2555.9419,6,1.1,45,-28.1,0.8,223.5,7,4.5
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,-3414.468,2546.705
$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,343.1,20000,-15.7,-10.010,-18.71,2973
$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,23,-0.76,-194.6,53,1804,625,544,0.0,0.0,0,123,0.00,0.00,-97.30,0.000,16386,0.000,0.000,53,1806,3029,2999,3059,0,0,0,0,0,0,14.99,28.83,15.00
$GC,128,-0.76,-194.6,53,1805,2999,3066,3.5,-8.3,18,158,14.48,2.42,-7.93,0.000,19204,0.302,0.081,2504,393,3494,3508,3481,0,0,0,0,0,0,14.53,14.02,14.78
$GC,318,-0.76,-194.6,2504,392,3508,3481,44.2,-13.2,54,325,0.00,2.33,0.00,0.000,3078,0.000,0.037,2502,1798,3497,3508,3486,0,0,0,0,0,0,14.95,14.85,14.96
$GC,389,-0.76,-194.6,2501,1801,3508,3482,52.5,-12.7,67,396,0.00,2.40,0.00,0.000,2308,0.000,0.055,2501,3213,3495,3509,3481,0,0,0,0,0,0,15.08,14.76,15.08
$GC,479,-0.76,-194.6,2501,3213,3510,3480,62.2,-10.3,84,485,0.00,2.35,0.00,0.000,3078,0.000,0.043,2501,1805,3495,3510,3480,0,0,0,0,0,0,14.97,14.87,14.98
$GC,551,-0.76,-194.6,2502,1804,3510,3480,69.7,-11.6,97,558,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1804,3497,3515,3480,0,0,0,0,0,0,15.10,15.10,15.10
$GC,624,-0.76,-194.6,2508,1805,3510,3480,78.1,-11.8,110,629,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1805,3494,3510,3479,0,0,0,0,0,0,15.09,15.09,15.09
$GC,692,-0.76,-194.6,2501,1804,3510,3480,85.9,-11.7,123,698,0.00,2.40,0.00,0.000,2308,0.000,0.054,2501,3216,3495,3510,3480,0,0,0,0,0,0,15.11,14.87,15.11
$GC,763,-0.76,-194.6,2500,3217,3511,3480,93.3,-10.4,136,770,0.00,2.35,0.00,0.000,3078,0.000,0.042,2501,1813,3495,3510,3480,0,0,0,0,0,0,14.99,14.89,15.00
$GC,835,-0.76,-194.6,2501,1813,3511,3479,102.4,-12.8,149,842,0.00,2.42,0.00,0.000,2564,0.000,0.063,2501,401,3495,3511,3479,0,0,0,0,0,0,15.11,14.78,15.11
$GC,880,-0.76,-194.6,2501,399,3510,3479,108.3,-13.4,157,887,0.00,2.33,0.00,0.000,3078,0.000,0.034,2501,1813,3494,3510,3479,0,0,0,0,0,0,14.90,14.81,14.90
$GC,950,-0.76,-194.6,2501,1816,3510,3478,117.1,-13.9,170,956,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1816,3495,3511,3479,0,0,0,0,0,0,15.12,15.12,15.13
$STATE,982,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,982,begin apogee
$GC,987,-0.17,0.0,2502,1816,3510,3479,121.6,-12.7,176,1137,1.00,0.00,144.65,1.089,10246,0.148,0.000,2700,1816,2700,2730,2670,0,0,0,0,0,0,14.73,14.45,13.97
$STATE,1139,end apogee,CONTROL_FINISHED_OK
$STATE,1139,begin climb
$GC,1142,0.76,194.6,2700,1816,2728,2667,130.6,0.0,203,1304,1.35,2.55,149.52,1.080,10756,0.067,0.067,3005,402,1902,1938,1866,0,0,0,0,0,0,14.46,14.34,13.90
$GC,1483,0.76,194.6,3004,401,1929,1861,97.5,14.5,266,1489,0.00,2.33,0.00,0.000,1030,0.000,0.034,3005,1803,1894,1929,1860,0,0,0,0,0,0,14.75,14.68,14.76
$GC,1554,0.76,194.6,3004,1805,1929,1859,87.9,13.7,279,1560,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1805,1894,1929,1859,0,0,0,0,0,0,14.98,14.98,14.98
$GC,1622,0.76,194.6,3004,1805,1929,1858,77.2,15.3,292,1629,0.00,2.33,0.00,0.000,260,0.000,0.049,3004,3202,1893,1928,1858,0,0,0,0,0,0,15.00,14.73,15.01
$GC,1703,0.76,194.6,3004,3202,1927,1858,65.3,14.9,307,1710,0.00,2.38,0.00,0.000,5126,0.000,0.050,3011,1803,1892,1927,1858,0,0,0,0,0,0,14.88,14.78,14.90
$GC,1774,0.76,194.6,3010,1803,1927,1858,55.5,13.0,320,1780,0.00,0.00,0.00,0.000,4102,0.000,0.000,3010,1803,1891,1927,1856,0,0,0,0,0,0,15.05,15.06,15.05
$GC,1843,0.76,194.6,3010,1802,1927,1857,46.9,11.1,333,1850,0.00,2.35,0.00,0.000,4356,0.000,0.048,3010,3204,1891,1927,1856,0,0,0,0,0,0,15.07,14.81,15.07
$GC,1907,0.76,194.6,3010,3204,1926,1856,40.3,10.2,345,1913,0.00,2.38,0.00,0.000,5126,0.000,0.050,3017,1798,1891,1926,1856,0,0,0,0,0,0,14.87,14.77,14.88
$GC,1978,0.90,306.2,3017,1798,1926,1856,35.0,6.2,358,2075,0.05,2.42,85.70,1.021,10500,0.258,0.046,3049,3206,1450,1496,1405,0,0,0,0,0,0,14.81,14.42,14.08
$GC,2103,0.90,306.2,3049,3206,1494,1401,21.8,13.9,380,2109,0.00,2.42,0.00,0.000,1030,0.000,0.052,3050,1801,1447,1494,1400,0,0,0,0,0,0,14.63,14.56,14.66
$GC,2174,0.90,306.2,3050,1801,1493,1398,12.7,13.7,393,2180,0.00,2.47,0.00,0.000,516,0.000,0.072,3050,385,1445,1492,1398,0,0,0,0,0,0,14.90,14.66,14.90
$GC,2218,0.90,306.2,3050,381,1490,1401,5.9,14.5,401,2225,0.00,2.35,0.00,0.000,1030,0.000,0.030,3050,1797,1443,1490,1397,0,0,0,0,0,0,14.80,14.73,14.81
$STATE,2245,end climb,SURFACE_DEPTH_REACHED
$STATE,2245,begin surface coast
$FINISH,0.1,1.025130
$STATE,2266,end surface coast,CONTROL_FINISHED_OK
$STATE,2268,begin surface
$SM_CCo,2292,134.70,0.789,0,0,597,515.37
$SM_GC,0.86,13.80,0.00,134.70,0.047,0.000,0.789,125,1800,597,-8.17,-0.34,515.37,0,0,0,0,0,0,14.80,15.00,14.13
$IRIDIUM_FIX,-3409.50,2556.54,150419,101105
$TT8_MAMPS,0.021721,0.944489
$HUMID,44.09
$INTERNAL_PRESSURE,9.31233
$TCM_TEMP,19.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.1,36.0
$SC_FREEKB,3721600
$24V_AH,13.90,121.609
$10V_AH,13.66,0.000
$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,30.675,42.975,379.875,134.700,0.000,23.256,15.919,196.858,2.750,0.000,46.423,803.144,345.981,595.346,987.440,189.282,0.000,1019.382,0.000,630.534,0.000,19.216,0.000
$DEVICE_MAMPS,302.175,81.090,1089.360,789.480,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2318.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.653,0.000,0.000,0.000
$MEM,340928
$DATA_FILE_SIZE,10098,410
$CAP_FILE_SIZE,76129,0
$CFSIZE,2097086464,2020442112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,150419,114901,-3422.061,2555.783,6,1.0,31,-28.1,0.5,236.8,8,4.7