version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 381
start: 4 15 119 11 58 58
data:
$ID,574
$MISSION,3
$DIVE,381
$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,29
$R_STBD_OVSHOOT,41
$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
$GPS1,150419,114901,-3422.0605,2555.7834,6,1.0,31,-28.1,0.5,236.8,8,4.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-63.1
$GPS2,150419,115833,-3422.0771,2555.6533,6,0.9,15,-28.1,0.0,206.0,8,10.0
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,-3414.441,2546.416
$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,-194.6,53,1804,626,543,0.0,0.0,0,123,0.00,0.00,-97.93,0.000,16386,0.000,0.000,53,1805,3031,3000,3062,0,0,0,0,0,0,14.98,28.83,14.99
$GC,128,-0.76,-194.6,53,1805,3005,3062,3.6,-8.6,18,158,14.48,2.40,-8.00,0.000,18948,0.301,0.081,2507,398,3496,3509,3483,0,0,0,0,0,0,14.56,14.00,14.81
$GC,304,-0.76,-194.6,2506,398,3510,3482,42.6,-16.5,51,310,0.00,2.35,0.00,0.000,3078,0.000,0.039,2504,1813,3496,3510,3482,0,0,0,0,0,0,14.94,14.85,14.96
$GC,375,-0.76,-194.6,2505,1816,3510,3482,53.8,-15.4,64,381,0.00,2.38,0.00,0.000,2308,0.000,0.057,2505,3221,3496,3510,3482,0,0,0,0,0,0,15.07,14.75,15.08
$GC,434,-0.76,-194.6,2504,3221,3511,3482,61.6,-12.5,75,441,0.00,2.40,0.00,0.000,3078,0.000,0.045,2504,1801,3496,3511,3481,0,0,0,0,0,0,14.88,14.82,14.89
$GC,505,-0.76,-194.6,2504,1800,3510,3481,70.6,-12.0,88,510,0.00,0.00,0.00,0.000,2054,0.000,0.000,2505,1801,3496,3511,3481,0,0,0,0,0,0,15.09,15.09,15.09
$GC,573,-0.76,-194.6,2504,1801,3511,3481,79.0,-12.2,101,580,0.00,2.40,0.00,0.000,2308,0.000,0.054,2501,3217,3496,3511,3481,0,0,0,0,0,0,15.10,14.86,15.10
$GC,607,-0.76,-194.6,2501,3218,3512,3481,82.5,-10.6,107,614,0.00,2.35,0.00,0.000,3078,0.000,0.044,2501,1811,3496,3512,3481,0,0,0,0,0,0,14.97,14.88,14.99
$GC,680,-0.76,-194.6,2501,1811,3512,3481,91.0,-11.7,120,686,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1811,3496,3512,3481,0,0,0,0,0,0,15.11,15.11,15.11
$GC,750,-0.76,-194.6,2501,1811,3512,3481,99.5,-11.0,133,760,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1811,3496,3512,3481,0,0,0,0,0,0,15.11,15.11,15.11
$GC,824,-0.76,-194.6,2501,1812,3512,3480,108.2,-11.9,146,830,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1812,3496,3512,3480,0,0,0,0,0,0,15.11,15.11,15.11
$GC,893,-0.76,-194.6,2501,1811,3512,3481,116.5,-10.7,159,899,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1811,3496,3512,3481,0,0,0,0,0,0,15.11,15.12,15.12
$STATE,933,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,934,begin apogee
$GC,939,-0.17,0.0,2500,1809,3512,3481,120.6,-9.7,167,1089,1.00,0.00,144.60,1.088,10246,0.153,0.000,2700,1809,2700,2731,2670,0,0,0,0,0,0,14.75,14.41,13.94
$STATE,1091,end apogee,CONTROL_FINISHED_OK
$STATE,1091,begin climb
$GC,1093,0.76,194.6,2700,1809,2728,2668,128.0,0.0,194,1251,1.35,2.47,148.25,1.082,11012,0.056,0.045,3008,3209,1906,1942,1871,0,0,0,0,0,0,14.47,14.36,13.93
$GC,1279,0.76,194.6,3007,3210,1937,1869,118.6,14.6,226,1286,0.00,2.45,0.00,0.000,5126,0.000,0.050,3016,1800,1902,1937,1868,0,0,0,0,0,0,14.56,14.47,14.57
$GC,1351,0.76,194.6,3015,1799,1936,1866,108.9,13.9,239,1357,0.00,2.47,0.00,0.000,4612,0.000,0.070,3020,391,1900,1935,1865,0,0,0,0,0,0,14.83,14.61,14.83
$GC,1380,0.76,194.6,3019,391,1933,1864,104.3,16.0,244,1388,0.05,2.38,0.00,0.000,5126,0.327,0.032,3010,1816,1897,1932,1863,0,0,0,0,0,0,14.52,14.69,14.72
$GC,1451,0.76,194.6,3010,1818,1932,1862,93.9,15.7,257,1457,0.00,2.30,0.00,0.000,4356,0.000,0.047,3010,3197,1896,1931,1862,0,0,0,0,0,0,14.94,14.73,14.95
$GC,1475,0.76,194.6,3010,3197,1931,1862,90.4,15.4,261,1481,0.00,2.38,0.00,0.000,5126,0.000,0.048,3017,1799,1896,1931,1862,0,0,0,0,0,0,14.81,14.71,14.83
$GC,1546,0.76,194.6,3018,1798,1931,1861,81.2,13.4,274,1551,0.00,0.00,0.00,0.000,4102,0.000,0.000,3017,1798,1897,1932,1862,0,0,0,0,0,0,15.00,15.00,15.00
$GC,1613,0.76,194.6,3016,1798,1931,1861,72.2,13.4,287,1619,0.00,0.00,0.00,0.000,4102,0.000,0.000,3017,1798,1896,1931,1861,0,0,0,0,0,0,15.02,15.03,15.03
$GC,1682,0.76,194.6,3017,1798,1931,1861,62.5,13.8,300,1688,0.00,2.35,0.00,0.000,4356,0.000,0.047,3017,3204,1895,1931,1860,0,0,0,0,0,0,15.04,14.83,15.04
$GC,1746,0.76,194.6,3017,3205,1930,1861,54.0,11.7,312,1752,0.00,2.40,0.00,0.000,5126,0.000,0.051,3018,1798,1895,1930,1860,0,0,0,0,0,0,14.95,14.84,14.96
$GC,1817,0.76,194.6,3017,1797,1930,1858,46.4,11.0,325,1823,0.00,2.35,0.00,0.000,4356,0.000,0.047,3013,3207,1894,1929,1860,0,0,0,0,0,0,15.05,14.85,15.06
$GC,1871,0.76,194.6,3017,3205,1929,1860,40.8,10.2,335,1878,0.05,2.38,0.00,0.000,5126,0.366,0.050,3010,1799,1894,1929,1860,0,0,0,0,0,0,14.69,14.85,14.91
$GC,1943,0.78,206.3,3010,1799,1929,1860,33.9,9.6,348,1961,0.00,2.38,9.23,0.836,8452,0.000,0.047,3010,3200,1857,1894,1821,0,0,0,0,0,0,15.08,14.83,14.28
$GC,2017,0.81,229.9,3009,3200,1893,1821,27.1,9.2,361,2041,0.00,2.38,18.12,0.957,9222,0.000,0.048,3017,1789,1762,1801,1723,0,0,0,0,0,0,14.94,14.85,14.28
$GC,2104,0.81,229.9,3016,1789,1798,1718,18.0,10.5,377,2110,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1789,1757,1798,1717,0,0,0,0,0,0,15.00,15.01,15.01
$GC,2173,0.82,238.9,3016,1788,1798,1715,11.5,9.7,390,2186,0.00,2.40,5.07,0.706,10756,0.000,0.070,3017,388,1724,1764,1684,0,0,0,0,0,0,15.04,14.73,14.28
$GC,2223,0.82,238.9,3017,388,1762,1682,6.2,11.0,399,2230,0.00,2.33,0.00,0.000,3078,0.000,0.032,3017,1813,1722,1762,1683,0,0,0,0,0,0,14.85,14.78,14.85
$STATE,2260,end climb,SURFACE_DEPTH_REACHED
$STATE,2261,begin surface coast
$FINISH,0.2,1.021143
$STATE,2298,end surface coast,CONTROL_FINISHED_OK
$STATE,2298,begin surface
$SM_CCo,2322,176.10,0.792,0,0,599,515.37
$SM_GC,0.81,13.62,0.00,176.10,0.048,0.000,0.792,110,1815,599,-8.21,0.06,515.37,0,0,0,0,0,0,14.87,15.08,14.12
$IRIDIUM_FIX,-3409.50,2556.54,150419,110203
$TT8_MAMPS,0.020972,0.889812
$HUMID,44.25
$INTERNAL_PRESSURE,9.32209
$TCM_TEMP,19.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.1,30.2
$SC_FREEKB,3721088
$24V_AH,13.93,121.806
$10V_AH,13.61,0.000
$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,30.550,47.675,325.275,176.100,0.000,47.795,58.670,187.615,3.000,0.000,16.459,842.060,412.288,611.984,1026.675,190.413,0.000,1042.534,0.000,626.015,0.000,20.724,0.000
$DEVICE_MAMPS,365.670,81.090,1087.830,791.775,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2347.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.344,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,10155,413
$CAP_FILE_SIZE,81894,0
$CFSIZE,2097086464,2020278272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,150419,124205,-3422.063,2555.418,6,1.0,47,-28.1,0.4,50.2,7,4.0