version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 263
start: 4 8 119 7 25 7
data:
$ID,574
$MISSION,3
$DIVE,263
$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,290
$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,27
$R_STBD_OVSHOOT,51
$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
$GPS1,080419,071059,-3128.1150,2957.4324,39,0.8,44,-26.4,2.3,236.7,10,8.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-71.8
$GPS2,080419,072443,-3128.7114,2956.6541,6,0.9,16,-26.4,1.9,222.0,9,9.0
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3125.018,2944.763
$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,316.4,20000,-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,19,begin dive
$GC,22,-0.88,-92.5,57,1790,614,569,0.0,0.0,0,106,0.00,0.00,-81.82,0.000,16386,0.000,0.000,53,1790,2797,2767,2828,0,0,0,0,0,0,14.95,28.83,14.94
$GC,109,-0.88,-92.5,53,1790,2768,2829,3.3,-6.0,15,134,14.20,2.42,-4.88,0.000,18692,0.291,0.067,2459,3217,3081,3071,3091,0,0,0,0,0,0,14.49,13.61,14.75
$GC,386,-0.88,-92.5,2459,3217,3072,3088,62.0,-9.7,68,393,0.03,2.38,0.00,0.000,3078,0.459,0.043,2467,1795,3079,3072,3087,0,0,0,0,0,0,14.63,14.78,14.82
$GC,456,-0.88,-92.5,2467,1790,3073,3087,74.0,-22.2,81,463,0.00,2.40,0.00,0.000,2308,0.000,0.058,2458,3205,3082,3078,3086,0,0,0,0,0,0,15.05,14.78,15.06
$GC,639,-0.88,-92.5,2458,3207,3075,3086,110.7,-16.5,116,647,0.08,2.30,0.00,0.000,3078,0.264,0.035,2472,1794,3081,3076,3086,0,0,0,0,0,0,14.64,14.80,14.81
$GC,713,-0.88,-92.5,2472,1791,3077,3086,120.9,-9.7,129,719,0.00,2.35,0.00,0.000,2308,0.000,0.045,2464,3211,3080,3076,3085,0,0,0,0,0,0,15.09,14.87,15.09
$STATE,865,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,866,begin apogee
$GC,873,-0.17,0.0,2464,1807,3077,3085,140.5,-13.3,159,945,1.20,0.00,66.65,0.913,10246,0.177,0.000,2694,1806,2701,2717,2686,0,0,0,0,0,0,14.71,14.62,14.14
$STATE,948,end apogee,CONTROL_FINISHED_OK
$STATE,948,begin climb
$GC,950,0.88,92.5,2694,1806,2717,2686,144.0,0.0,172,1036,1.55,2.42,73.78,0.907,10756,0.078,0.063,3033,403,2320,2342,2299,0,0,0,0,0,0,14.62,14.45,14.08
$GC,1078,0.90,109.9,3033,404,2338,2296,134.1,8.7,194,1102,0.00,2.33,14.57,0.818,11270,0.000,0.038,3033,1796,2249,2272,2227,0,0,0,0,0,0,14.69,14.62,14.12
$GC,1165,0.90,109.9,3032,1796,2270,2225,117.9,15.5,210,1172,0.00,2.42,0.00,0.000,2564,0.000,0.068,3037,403,2247,2270,2224,0,0,0,0,0,0,14.86,14.58,14.87
$GC,1245,0.91,117.9,3036,403,2268,2224,111.6,9.4,225,1259,0.00,2.30,6.55,0.694,11270,0.000,0.037,3037,1798,2219,2244,2194,0,0,0,0,0,0,14.75,14.68,14.14
$GC,1322,0.91,117.9,3036,1799,2244,2194,100.1,10.2,239,1328,0.00,2.33,0.00,0.000,2308,0.000,0.044,3037,3208,2218,2243,2194,0,0,0,0,0,0,14.97,14.74,14.97
$GC,1441,0.98,170.9,3037,3211,2243,2194,93.2,6.2,262,1493,0.08,2.35,42.42,0.851,11270,0.194,0.044,3070,1795,2001,2034,1968,0,0,0,0,0,0,14.75,14.76,14.19
$GC,1555,0.98,170.9,3070,1793,2031,1968,75.7,25.8,283,1562,0.00,2.38,0.00,0.000,516,0.000,0.069,3073,405,1999,2031,1967,0,0,0,0,0,0,14.92,14.68,14.92
$GC,1629,0.98,170.9,3073,405,2028,1967,60.8,17.7,297,1636,0.00,2.30,0.00,0.000,1030,0.000,0.034,3074,1813,1997,2028,1966,0,0,0,0,0,0,14.86,14.78,14.88
$GC,1700,1.02,206.5,3073,1814,2028,1965,53.2,7.4,310,1735,0.00,2.47,27.88,0.800,10756,0.000,0.070,3074,395,1859,1895,1823,0,0,0,0,0,0,15.01,14.59,14.29
$GC,1817,1.02,206.5,3073,395,1889,1819,41.6,15.4,332,1824,0.00,2.30,0.00,0.000,3078,0.000,0.034,3073,1795,1854,1890,1818,0,0,0,0,0,0,14.85,14.76,14.87
$GC,1889,1.14,304.0,3073,1796,1889,1815,35.2,2.9,345,1967,0.12,0.00,73.68,0.807,10502,0.129,0.000,3125,1796,1461,1507,1416,0,0,0,0,0,0,14.75,14.57,14.18
$GC,2031,1.14,304.0,3125,1796,1507,1416,25.9,15.6,371,2037,0.00,2.33,0.00,0.000,260,0.000,0.047,3126,3198,1461,1507,1416,0,0,0,0,0,0,14.88,14.62,14.88
$GC,2055,1.14,304.0,3125,3198,1507,1414,22.3,14.7,375,2062,0.00,2.38,0.00,0.000,5126,0.000,0.053,3128,1809,1460,1507,1414,0,0,0,0,0,0,14.80,14.70,14.81
$GC,2125,1.14,304.0,3127,1809,1507,1413,13.1,13.3,388,2131,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1809,1460,1507,1413,0,0,0,0,0,0,14.95,14.97,14.97
$GC,2193,1.14,304.0,3127,1809,1507,1412,3.0,14.5,401,2199,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1809,1459,1507,1412,0,0,0,0,0,0,15.00,15.01,15.00
$STATE,2204,end climb,SURFACE_DEPTH_REACHED
$STATE,2204,begin surface coast
$FINISH,-0.0,1.023310
$STATE,2226,end surface coast,CONTROL_FINISHED_OK
$STATE,2226,begin surface
$SM_CCo,2249,123.90,0.761,0,0,599,515.37
$SM_GC,0.80,14.10,0.00,123.90,0.047,0.000,0.761,128,1806,599,-8.17,-0.17,515.37,0,0,0,0,0,0,14.82,15.04,14.17
$IRIDIUM_FIX,-3115.19,3001.93,080419,032159
$TT8_MAMPS,0.020972,0.897302
$HUMID,42.08
$INTERNAL_PRESSURE,9.47834
$TCM_TEMP,21.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,115.4,34.9
$SC_FREEKB,3783040
$24V_AH,13.61,97.202
$10V_AH,13.83,0.000
$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,31.350,42.500,305.525,123.900,0.000,23.308,20.688,457.127,3.750,0.000,17.367,843.940,362.447,506.795,1292.262,181.222,0.000,903.145,0.000,624.327,0.000,25.308,0.000
$DEVICE_MAMPS,459.000,69.615,912.645,761.175,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2359.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.175,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,10143,407
$CAP_FILE_SIZE,82789,0
$CFSIZE,2097086464,2042003456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,080419,080534,-3130.038,2954.985,6,1.1,15,-26.4,1.8,215.4,8,9.9