version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 264
start: 4 8 119 8 20 59
data:
$ID,574
$MISSION,3
$DIVE,264
$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,30
$R_STBD_OVSHOOT,48
$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
$GPS1,080419,080534,-3130.0383,2954.9851,6,1.1,15,-26.4,1.8,215.4,8,9.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-69.9
$GPS2,080419,082036,-3130.6855,2954.2866,6,1.0,17,-26.4,1.9,219.1,8,9.5
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3126.992,2942.391
$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,-92.5,53,1803,617,562,0.0,0.0,0,106,0.00,0.00,-81.80,0.000,16386,0.000,0.000,54,1804,2822,2791,2854,0,0,0,0,0,0,15.04,28.83,15.06
$GC,109,-0.88,-92.5,52,1803,2791,2854,3.4,-6.3,15,135,13.93,2.38,-4.45,0.000,18692,0.285,0.067,2455,3215,3080,3068,3093,0,0,0,0,0,0,14.62,13.73,14.86
$GC,345,-0.88,-92.5,2456,3215,3071,3090,61.6,-14.9,60,352,0.08,2.33,0.00,0.000,3078,0.269,0.044,2469,1804,3080,3072,3089,0,0,0,0,0,0,14.71,14.83,14.87
$GC,415,-0.88,-92.5,2470,1804,3073,3088,73.9,-16.3,73,421,0.00,0.00,0.00,0.000,2054,0.000,0.000,2471,1802,3080,3073,3088,0,0,0,0,0,0,15.12,15.13,15.12
$GC,484,-0.88,-92.5,2470,1802,3073,3087,83.0,-11.9,86,490,0.00,2.35,0.00,0.000,2308,0.000,0.048,2462,3221,3080,3073,3087,0,0,0,0,0,0,15.14,14.92,15.14
$STATE,900,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,900,begin apogee
$GC,907,-0.17,0.0,2462,1799,3073,3086,133.5,-8.8,168,980,1.20,0.00,66.95,0.886,10246,0.171,0.000,2695,1799,2699,2715,2683,0,0,0,0,0,0,14.81,14.72,14.27
$STATE,983,end apogee,CONTROL_FINISHED_OK
$STATE,983,begin climb
$GC,985,0.88,92.5,2695,1799,2714,2686,137.1,0.0,181,1070,1.58,2.47,72.90,0.884,10756,0.099,0.069,3026,398,2320,2342,2299,0,0,0,0,0,0,14.68,14.49,14.15
$GC,1218,0.88,92.5,3026,397,2336,2293,113.0,14.2,224,1225,0.00,2.30,0.00,0.000,3078,0.000,0.031,3027,1822,2315,2336,2294,0,0,0,0,0,0,14.89,14.82,14.90
$GC,1289,0.89,95.8,3026,1823,2336,2292,105.3,9.8,237,1295,0.00,2.25,0.00,0.000,2308,0.000,0.044,3026,3193,2313,2334,2292,0,0,0,0,0,0,15.03,14.82,15.03
$GC,1549,0.98,170.9,3026,3193,2332,2291,86.4,4.6,288,1616,0.10,2.30,59.90,0.844,11270,0.151,0.044,3076,1795,2000,2031,1970,0,0,0,0,0,0,14.91,14.92,14.29
$GC,1680,0.98,170.9,3075,1795,2027,1966,73.0,12.8,312,1687,0.00,2.33,0.00,0.000,260,0.000,0.047,3076,3189,1996,2027,1966,0,0,0,0,0,0,14.97,14.73,14.97
$GC,1724,0.98,170.9,3075,3186,2025,1966,67.0,13.5,320,1731,0.00,2.33,0.00,0.000,5126,0.000,0.048,3084,1801,1994,2024,1965,0,0,0,0,0,0,14.90,14.81,14.92
$GC,1794,0.98,170.9,3083,1801,2025,1963,58.3,12.9,333,1801,0.00,2.40,0.00,0.000,4612,0.000,0.069,3084,392,1993,2024,1963,0,0,0,0,0,0,15.05,14.77,15.06
$GC,1860,1.01,196.9,3083,391,2021,1962,52.0,8.1,345,1889,0.00,2.28,19.95,0.775,9222,0.000,0.033,3084,1805,1894,1929,1860,0,0,0,0,0,0,14.88,14.82,14.31
$GC,1951,1.04,221.3,3083,1804,1928,1858,44.1,8.2,362,1980,0.00,2.45,19.42,0.767,10756,0.000,0.064,3091,399,1795,1833,1758,0,0,0,0,0,0,15.04,14.72,14.29
$GC,1992,1.04,221.3,3090,399,1833,1758,40.6,10.4,369,1999,0.00,2.28,0.00,0.000,1030,0.000,0.033,3090,1801,1797,1838,1757,0,0,0,0,0,0,14.88,14.82,14.90
$GC,2063,1.14,304.9,3090,1801,1833,1754,37.1,3.9,382,2137,0.08,2.33,64.40,0.789,10500,0.181,0.045,3133,3195,1454,1500,1408,0,0,0,0,0,0,14.81,14.57,14.24
$GC,2164,1.14,304.9,3132,3195,1499,1406,27.1,14.4,400,2171,0.00,2.38,0.00,0.000,5126,0.000,0.050,3135,1795,1452,1499,1406,0,0,0,0,0,0,14.81,14.71,14.81
$GC,2234,1.14,304.9,3134,1795,1499,1405,17.4,14.6,413,2240,0.00,0.00,0.00,0.000,4102,0.000,0.000,3134,1795,1451,1499,1404,0,0,0,0,0,0,14.98,14.98,14.98
$GC,2303,1.14,304.9,3134,1795,1498,1404,6.8,15.0,426,2308,0.00,0.00,0.00,0.000,4102,0.000,0.000,3134,1795,1451,1498,1404,0,0,0,0,0,0,15.04,15.04,15.04
$STATE,2329,end climb,SURFACE_DEPTH_REACHED
$STATE,2329,begin surface coast
$FINISH,0.6,1.023470
$STATE,2344,end surface coast,CONTROL_FINISHED_OK
$STATE,2344,begin surface
$SM_CCo,2368,120.07,0.750,0,0,597,515.37
$SM_GC,0.87,14.02,0.00,120.07,0.044,0.000,0.750,127,1795,597,-8.17,-0.48,515.37,0,0,0,0,0,0,14.88,15.08,14.23
$IRIDIUM_FIX,-3117.71,2954.10,080419,081452
$TT8_MAMPS,0.021721,0.897302
$HUMID,40.82
$INTERNAL_PRESSURE,9.52717
$TCM_TEMP,22.30
$XPDR_PINGS,13
$ALTIM_BOTTOM_PING,110.2,33.0
$SC_FREEKB,3782528
$24V_AH,13.73,97.370
$10V_AH,14.00,0.000
$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,30.975,37.525,303.525,120.075,0.000,97.443,113.328,270.009,6.750,0.000,18.139,892.009,583.144,499.387,1279.345,149.403,0.000,905.191,0.000,663.265,0.000,23.807,0.000
$DEVICE_MAMPS,284.580,68.850,885.870,750.465,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2389.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.473,0.000,0.000,0.000
$MEM,340888
$DATA_FILE_SIZE,10132,434
$CAP_FILE_SIZE,80697,0
$CFSIZE,2097086464,2041839616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,080419,090349,-3132.069,2952.537,6,0.9,40,-26.4,1.3,220.8,9,4.3