version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 80
start: 3 20 119 22 57 0
data:
$ID,574
$MISSION,3
$DIVE,80
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$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,167
$T_MISSION,182
$T_ABORT,197
$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,3
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,270
$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,39
$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,2
$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
$GPS1,200319,224416,-2952.1604,3112.4851,6,0.8,15,-24.9,1.3,27.1,10,9.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-64.1
$GPS2,200319,225637,-2952.0127,3112.5566,6,1.0,15,-24.9,0.7,20.8,9,10.0
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-2941.223,3112.042
$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,22.5,20000,-23.0,-9.980,-25.43,1422
$D_GRID,500
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.88,-92.5,57,1807,630,546,0.0,0.0,0,110,0.00,0.00,-87.93,0.000,16386,0.000,0.000,54,1808,2908,2876,2940,0,0,0,0,0,0,15.10,28.83,15.11
$GC,113,-0.88,-92.5,53,1808,2878,2940,3.2,-6.0,15,139,13.82,2.38,-3.20,0.000,18948,0.294,0.076,2469,397,3080,3071,3090,0,0,0,0,0,0,14.74,14.02,14.93
$GC,372,-0.88,-92.5,2468,396,3072,3087,58.8,-18.9,65,379,0.00,2.30,0.00,0.000,3078,0.000,0.039,2464,1813,3080,3074,3086,0,0,0,0,0,0,15.08,15.00,15.09
$GC,441,-0.88,-92.5,2464,1816,3076,3085,71.3,-21.0,78,448,0.00,2.33,0.00,0.000,2308,0.000,0.055,2464,3228,3080,3076,3085,0,0,0,0,0,0,15.20,15.00,15.19
$GC,506,-0.88,-92.5,2463,3227,3076,3085,83.4,-17.8,90,512,0.00,2.33,0.00,0.000,3078,0.000,0.044,2464,1805,3080,3077,3084,0,0,0,0,0,0,15.07,14.99,15.08
$GC,575,-0.88,-92.5,2463,1805,3077,3083,96.3,-19.0,103,581,0.00,2.35,0.00,0.000,2308,0.000,0.052,2455,3225,3080,3077,3084,0,0,0,0,0,0,15.20,14.97,15.21
$GC,705,-0.88,-92.5,2455,3226,3077,3085,117.2,-14.9,128,712,0.08,2.33,0.00,0.000,3078,0.267,0.045,2470,1807,3080,3076,3084,0,0,0,0,0,0,14.90,14.97,15.03
$GC,774,-0.88,-92.5,2470,1807,3078,3084,126.5,-13.1,141,781,0.00,0.00,0.00,0.000,2054,0.000,0.000,2469,1807,3080,3077,3084,0,0,0,0,0,0,15.22,15.22,15.22
$GC,843,-0.88,-92.5,2469,1806,3078,3084,134.0,-13.3,154,850,0.00,2.35,0.00,0.000,2308,0.000,0.055,2464,3218,3081,3078,3084,0,0,0,0,0,0,15.23,15.02,15.23
$GC,918,-0.88,-92.5,2463,3218,3078,3084,144.0,-13.4,168,925,0.00,2.33,0.00,0.000,3078,0.000,0.045,2464,1806,3080,3078,3083,0,0,0,0,0,0,15.12,15.03,15.14
$GC,986,-0.88,-92.5,2463,1806,3078,3083,154.5,-16.3,181,994,0.00,2.35,0.00,0.000,2308,0.000,0.052,2458,3228,3080,3077,3083,0,0,0,0,0,0,15.23,15.03,15.23
$STATE,1010,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1010,begin apogee
$GC,1016,-0.17,0.0,2458,1792,3080,3083,158.2,-14.5,185,1091,1.20,0.00,67.97,0.950,10246,0.171,0.000,2695,1792,2698,2713,2684,0,0,0,0,0,0,14.89,14.76,14.33
$STATE,1093,end apogee,CONTROL_FINISHED_OK
$STATE,1094,begin climb
$GC,1095,0.88,92.5,2695,1791,2712,2683,163.1,0.0,198,1177,1.52,2.45,72.47,0.953,11012,0.083,0.049,3027,3209,2322,2341,2303,0,0,0,0,0,0,14.74,14.55,14.20
$GC,1249,0.91,119.0,3026,3210,2336,2300,158.3,8.1,225,1282,0.00,2.38,21.95,0.897,11270,0.000,0.046,3030,1790,2211,2233,2189,0,0,0,0,0,0,14.85,14.76,14.27
$GC,1345,0.91,119.0,3030,1791,2231,2186,147.5,13.5,242,1351,0.00,2.38,0.00,0.000,2308,0.000,0.049,3030,3210,2209,2231,2187,0,0,0,0,0,0,14.99,14.76,14.99
$GC,1423,0.91,119.0,3030,3211,2228,2186,136.9,14.7,257,1430,0.00,2.35,0.00,0.000,3078,0.000,0.048,3033,1801,2206,2228,2185,0,0,0,0,0,0,14.96,14.88,14.97
$GC,1493,0.91,119.0,3032,1801,2228,2185,127.5,12.6,270,1500,0.00,2.33,0.00,0.000,2308,0.000,0.050,3030,3209,2206,2227,2185,0,0,0,0,0,0,15.09,14.90,15.10
$GC,1612,0.91,119.0,3033,3209,2226,2184,111.6,11.4,293,1619,0.00,2.35,0.00,0.000,3078,0.000,0.047,3033,1792,2204,2225,2184,0,0,0,0,0,0,15.02,14.93,15.03
$GC,1682,0.92,121.9,3033,1792,2226,2184,104.6,9.8,306,1689,0.00,2.35,0.00,0.000,2308,0.000,0.051,3033,3208,2205,2226,2184,0,0,0,0,0,0,15.16,14.97,15.17
$GC,1760,0.92,121.9,3033,3208,2225,2184,96.5,10.3,321,1768,0.00,2.33,0.00,0.000,3078,0.000,0.048,3037,1803,2204,2225,2183,0,0,0,0,0,0,15.02,14.94,15.03
$GC,1830,0.92,121.9,3036,1803,2224,2186,89.5,10.7,334,1836,0.00,0.00,0.00,0.000,2054,0.000,0.000,3037,1803,2204,2225,2183,0,0,0,0,0,0,15.19,15.19,15.19
$GC,1897,0.92,121.9,3036,1803,2224,2183,82.0,11.2,347,1904,0.00,2.33,0.00,0.000,2308,0.000,0.050,3037,3210,2203,2223,2183,0,0,0,0,0,0,15.20,15.00,15.21
$GC,1920,0.92,121.9,3036,3209,2223,2183,79.1,13.3,351,1927,0.00,2.35,0.00,0.000,3078,0.000,0.051,3033,1796,2204,2224,2184,0,0,0,0,0,0,15.04,14.95,15.05
$GC,1990,0.96,158.6,3035,1795,2224,2182,72.9,7.3,364,2025,0.00,0.00,30.42,0.861,10758,0.000,0.000,3037,1796,2052,2079,2025,0,0,0,0,0,0,15.21,14.90,14.49
$GC,2087,0.98,172.4,3036,1795,2075,2021,65.0,9.0,382,2106,0.08,2.40,11.95,0.778,10500,0.200,0.051,3070,3209,1994,2021,1967,0,0,0,0,0,0,14.88,14.87,14.48
$GC,2173,0.98,172.4,3069,3209,2018,1965,56.2,11.8,398,2180,0.00,2.35,0.00,0.000,1030,0.000,0.052,3074,1801,1991,2019,1964,0,0,0,0,0,0,15.00,14.92,15.01
$GC,2242,0.98,172.4,3073,1801,2017,1962,48.5,10.9,411,2249,0.00,2.38,0.00,0.000,516,0.000,0.070,3073,395,1989,2016,1962,0,0,0,0,0,0,15.14,14.92,15.14
$GC,2351,0.98,172.4,3073,395,2012,1965,35.6,11.8,432,2358,0.00,2.30,0.00,0.000,1030,0.000,0.036,3074,1812,1987,2012,1962,0,0,0,0,0,0,15.02,14.96,15.03
$GC,2419,0.98,172.4,3073,1814,2012,1966,27.7,11.4,445,2427,0.00,2.25,0.00,0.000,260,0.000,0.051,3074,3196,1986,2011,1961,0,0,0,0,0,0,15.17,14.98,15.19
$GC,2449,0.98,172.4,3073,3196,2011,1961,24.5,10.6,450,2456,0.00,2.33,0.00,0.000,1030,0.000,0.050,3074,1792,1986,2012,1961,0,0,0,0,0,0,15.07,14.99,15.09
$GC,2517,0.98,172.4,3073,1792,2011,1960,16.3,11.8,463,2524,0.00,2.35,0.00,0.000,516,0.000,0.070,3074,397,1986,2012,1960,0,0,0,0,0,0,15.19,14.97,15.20
$GC,2631,1.05,229.2,3073,396,2014,1960,7.9,5.9,485,2668,0.00,2.28,31.42,0.832,11270,0.000,0.035,3074,1813,1764,1797,1732,0,0,0,0,0,0,15.08,15.00,14.50
$STATE,2699,end climb,SURFACE_DEPTH_REACHED
$STATE,2699,begin surface coast
$FINISH,0.0,0.999630
$STATE,2730,end surface coast,CONTROL_FINISHED_OK
$STATE,2730,begin surface
$SM_CCo,2751,167.68,0.783,0,0,598,515.37
$SM_GC,0.78,13.73,0.00,167.68,0.052,0.000,0.783,129,1813,598,-8.17,0.03,515.37,0,0,0,0,0,0,14.92,15.13,14.26
$IRIDIUM_FIX,-2937.63,3113.17,200319,224851
$TT8_MAMPS,0.021721,0.834386
$HUMID,40.94
$INTERNAL_PRESSURE,9.50764
$TCM_TEMP,21.90
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,135.7,32.4
$SC_FREEKB,3881440
$24V_AH,14.02,50.173
$10V_AH,13.87,0.000
$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,30.425,65.625,236.200,167.675,0.000,70.939,125.125,236.866,9.500,0.000,16.775,1141.605,554.147,553.983,1336.744,84.908,0.000,1015.411,0.000,764.907,0.000,31.982,0.000
$DEVICE_MAMPS,293.760,75.735,953.190,783.360,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2775.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.585,0.000,0.000,0.000
$MEM,340904
$DATA_FILE_SIZE,13426,503
$CAP_FILE_SIZE,97637,0
$CFSIZE,2097086464,2079981568
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,1266.47,0x236098,1,24
$CURRENT,0.067,114.79,1
$GPS,200319,234655,-2951.791,3112.650,7,0.9,38,-24.9,0.9,33.3,9,5.2