version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 265
start: 4 8 119 9 12 7
data:
$ID,574
$MISSION,3
$DIVE,265
$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,31
$R_STBD_OVSHOOT,57
$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
$GPS1,080419,090349,-3132.0686,2952.5366,6,0.9,40,-26.4,1.3,220.8,9,4.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-71.4
$GPS2,080419,091143,-3132.4019,2952.1572,5,0.9,13,-26.4,2.6,209.7,9,9.4
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3128.708,2940.258
$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,21,-0.88,-92.5,61,1789,616,558,0.0,0.0,0,106,0.00,0.00,-82.22,0.000,16386,0.000,0.000,56,1790,2838,2807,2869,0,0,0,0,0,0,15.05,28.83,15.06
$GC,109,-0.88,-92.5,56,1790,2807,2869,3.7,-7.5,15,134,13.88,2.38,-4.12,0.000,18692,0.283,0.065,2458,3206,3081,3068,3094,0,0,0,0,0,0,14.67,13.76,14.91
$GC,379,-0.88,-92.5,2458,3207,3071,3092,65.7,-16.1,67,386,0.05,2.30,0.00,0.000,3078,0.321,0.042,2467,1806,3081,3072,3091,0,0,0,0,0,0,14.73,14.89,14.90
$GC,451,-0.88,-92.5,2467,1805,3073,3088,77.5,-15.3,80,457,0.00,0.00,0.00,0.000,2054,0.000,0.000,2467,1805,3081,3073,3090,0,0,0,0,0,0,15.16,15.16,15.16
$GC,519,-0.88,-92.5,2467,1805,3073,3090,87.8,-13.6,93,526,0.00,2.33,0.00,0.000,2308,0.000,0.050,2459,3202,3080,3072,3089,0,0,0,0,0,0,15.16,14.89,15.16
$STATE,965,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,965,begin apogee
$GC,972,-0.17,0.0,2459,1799,3073,3088,140.4,-12.2,181,1045,1.20,0.00,67.28,0.893,10246,0.161,0.000,2696,1799,2700,2715,2686,0,0,0,0,0,0,14.85,14.71,14.26
$STATE,1048,end apogee,CONTROL_FINISHED_OK
$STATE,1048,begin climb
$GC,1050,0.88,92.5,2695,1799,2715,2685,143.3,0.0,194,1135,1.60,2.42,72.43,0.895,10756,0.080,0.061,3045,402,2322,2342,2303,0,0,0,0,0,0,14.72,14.53,14.21
$GC,1178,0.88,92.5,3045,402,2338,2300,134.2,11.9,216,1185,0.00,2.30,0.00,0.000,5126,0.000,0.036,3045,1794,2318,2338,2298,0,0,0,0,0,0,14.80,14.72,14.81
$GC,1249,0.91,117.2,3045,1796,2337,2296,127.3,8.2,229,1278,0.00,2.38,19.95,0.839,10500,0.000,0.047,3045,3206,2222,2245,2199,0,0,0,0,0,0,14.98,14.72,14.32
$GC,1783,1.02,205.7,3045,3207,2240,2193,80.1,3.6,334,1859,0.08,2.33,67.30,0.852,11270,0.193,0.045,3085,1802,1860,1895,1825,0,0,0,0,0,0,14.93,14.97,14.25
$GC,1921,1.02,205.7,3084,1802,1890,1821,67.3,11.2,359,1927,0.00,2.33,0.00,0.000,260,0.000,0.045,3085,3209,1855,1889,1821,0,0,0,0,0,0,14.99,14.75,15.00
$GC,1949,1.02,205.7,3085,3209,1890,1819,63.6,13.3,364,1956,0.00,2.38,0.00,0.000,5126,0.000,0.050,3091,1805,1854,1889,1819,0,0,0,0,0,0,14.91,14.81,14.92
$GC,2020,1.02,205.7,3090,1804,1889,1817,54.1,12.9,377,2027,0.00,2.40,0.00,0.000,4612,0.000,0.069,3090,394,1852,1888,1816,0,0,0,0,0,0,15.07,14.78,15.07
$GC,2063,1.02,205.7,3090,391,1886,1816,48.9,12.0,385,2070,0.00,2.30,0.00,0.000,5126,0.000,0.034,3090,1813,1850,1886,1815,0,0,0,0,0,0,14.98,14.90,15.00
$GC,2134,1.06,235.5,3091,1816,1886,1812,42.1,7.8,398,2162,0.00,0.00,22.92,0.788,10758,0.000,0.000,3091,1816,1736,1776,1697,0,0,0,0,0,0,15.11,14.81,14.41
$GC,2225,1.11,279.5,3090,1816,1775,1692,34.7,6.8,415,2265,0.00,0.00,34.47,0.786,10246,0.000,0.000,3091,1816,1558,1601,1516,0,0,0,0,0,0,15.07,14.78,14.38
$GC,2327,1.11,279.5,3090,1816,1599,1512,26.0,11.3,434,2334,0.00,2.45,0.00,0.000,2564,0.000,0.068,3099,394,1555,1599,1511,0,0,0,0,0,0,15.02,14.80,15.02
$GC,2362,1.11,279.5,3099,393,1598,1509,21.9,12.3,440,2368,0.00,2.30,0.00,0.000,3078,0.000,0.034,3099,1811,1549,1591,1508,0,0,0,0,0,0,14.91,14.84,14.92
$GC,2432,1.11,279.5,3098,1813,1598,1506,13.7,11.3,453,2439,0.00,2.28,0.00,0.000,2308,0.000,0.047,3099,3200,1551,1598,1505,0,0,0,0,0,0,15.08,14.88,15.09
$GC,2471,1.11,279.5,3098,3199,1597,1505,9.1,11.7,460,2478,0.00,2.35,0.00,0.000,3078,0.000,0.049,3100,1794,1550,1597,1504,0,0,0,0,0,0,14.95,14.86,14.97
$STATE,2528,end climb,SURFACE_DEPTH_REACHED
$STATE,2528,begin surface coast
$FINISH,0.2,1.023472
$STATE,2554,end surface coast,CONTROL_FINISHED_OK
$STATE,2554,begin surface
$SM_CCo,2577,134.85,0.758,0,0,598,515.37
$SM_GC,0.88,13.80,0.00,134.85,0.040,0.000,0.758,122,1792,598,-8.19,-0.57,515.37,0,0,0,0,0,0,14.95,15.15,14.27
$IRIDIUM_FIX,-3117.71,2954.10,080419,081726
$TT8_MAMPS,0.020972,0.694323
$HUMID,41.49
$INTERNAL_PRESSURE,9.52717
$TCM_TEMP,22.10
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,115.3,34.9
$SC_FREEKB,3782016
$24V_AH,13.76,97.532
$10V_AH,13.44,0.000
$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,30.600,37.550,284.350,134.850,0.000,25.663,46.881,206.506,6.500,0.000,15.152,994.244,459.206,495.345,1107.785,144.770,0.000,924.038,0.000,726.313,0.000,26.498,0.000
$DEVICE_MAMPS,321.300,68.850,895.050,758.115,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2601.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.485,0.000,0.000,0.000
$MEM,340928
$DATA_FILE_SIZE,13400,476
$CAP_FILE_SIZE,80715,0
$CFSIZE,2097086464,2041675776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,080419,095822,-3133.740,2950.211,9,0.9,22,-26.4,1.8,207.9,8,10.0