version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 269
start: 4 8 119 16 52 53
data:
$ID,574
$MISSION,3
$DIVE,269
$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,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,35
$R_STBD_OVSHOOT,52
$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
$GPS1,080419,164552,-3137.0933,2942.4517,6,0.8,14,-26.4,2.4,228.6,10,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-71.6
$GPS2,080419,165229,-3137.3972,2942.0574,6,0.8,13,-26.5,2.6,237.5,10,10.0
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3129.761,2933.102
$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,341.5,20000,-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,-92.5,69,1793,623,553,0.0,0.0,0,106,0.00,0.00,-81.47,0.000,16386,0.000,0.000,63,1794,2812,2781,2844,0,0,0,0,0,0,15.05,28.83,15.07
$GC,109,-0.88,-92.5,63,1794,2781,2844,3.6,-7.0,15,134,13.82,2.40,-4.57,0.000,18692,0.284,0.067,2456,3218,3081,3070,3092,0,0,0,0,0,0,14.64,13.75,14.92
$GC,589,-0.88,-92.5,2455,3219,3072,3089,82.3,-13.1,109,597,0.08,2.33,0.00,0.000,3078,0.264,0.040,2470,1805,3079,3072,3087,0,0,0,0,0,0,14.77,14.90,14.92
$GC,660,-0.88,-92.5,2470,1804,3073,3087,91.0,-11.1,122,667,0.00,2.33,0.00,0.000,2308,0.000,0.047,2462,3210,3080,3073,3087,0,0,0,0,0,0,15.18,14.90,15.18
$GC,810,-0.88,-92.5,2461,3210,3073,3087,109.0,-11.6,151,816,0.00,2.30,0.00,0.000,3078,0.000,0.041,2462,1804,3080,3073,3087,0,0,0,0,0,0,14.99,14.90,15.00
$GC,881,-0.88,-92.5,2461,1804,3073,3086,117.5,-11.5,164,886,0.00,0.00,0.00,0.000,2054,0.000,0.000,2462,1804,3080,3073,3087,0,0,0,0,0,0,15.19,15.19,15.19
$GC,953,-0.88,-92.5,2462,1804,3074,3087,126.5,-12.6,177,959,0.00,0.00,0.00,0.000,2054,0.000,0.000,2462,1804,3080,3073,3087,0,0,0,0,0,0,15.19,15.19,15.19
$GC,1021,-0.88,-92.5,2462,1804,3074,3087,135.5,-12.9,190,1028,0.00,2.33,0.00,0.000,2564,0.000,0.057,2462,408,3080,3074,3086,0,0,0,0,0,0,15.20,14.94,15.20
$STATE,1063,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1063,begin apogee
$GC,1070,-0.17,0.0,2452,1803,3074,3086,141.6,-13.6,198,1143,1.25,0.00,66.80,0.897,10246,0.168,0.000,2697,1808,2700,2716,2684,0,0,0,0,0,0,14.84,14.75,14.26
$STATE,1146,end apogee,CONTROL_FINISHED_OK
$STATE,1146,begin climb
$GC,1148,0.88,92.5,2697,1808,2716,2683,145.4,0.0,211,1226,1.52,0.00,72.62,0.897,10246,0.075,0.000,3031,1808,2322,2345,2299,0,0,0,0,0,0,14.72,14.59,14.19
$GC,1290,0.90,107.9,3030,1808,2342,2294,137.9,8.9,236,1309,0.00,2.42,13.10,0.806,10756,0.000,0.061,3040,392,2258,2284,2233,0,0,0,0,0,0,14.92,14.64,14.25
$GC,1392,0.90,107.9,3036,392,2280,2230,125.9,12.2,255,1399,0.00,2.28,0.00,0.000,3078,0.000,0.030,3039,1799,2254,2279,2229,0,0,0,0,0,0,14.90,14.83,14.91
$GC,1462,0.90,107.9,3039,1801,2279,2228,118.0,11.5,268,1469,0.00,2.28,0.00,0.000,2308,0.000,0.044,3040,3196,2253,2279,2228,0,0,0,0,0,0,15.05,14.86,15.05
$GC,1481,0.90,107.9,3039,3197,2277,2228,115.3,12.2,271,1488,0.00,2.33,0.00,0.000,3078,0.000,0.044,3044,1796,2252,2277,2228,0,0,0,0,0,0,14.95,14.86,14.97
$GC,1552,0.90,107.9,3044,1796,2277,2228,106.5,12.3,284,1558,0.00,2.35,0.00,0.000,2564,0.000,0.062,3047,396,2252,2277,2228,0,0,0,0,0,0,15.09,14.88,15.09
$GC,1576,0.90,107.9,3046,397,2276,2228,103.5,12.2,288,1583,0.00,2.28,0.00,0.000,1030,0.000,0.031,3047,1802,2251,2276,2227,0,0,0,0,0,0,14.99,14.93,15.00
$GC,1646,0.90,107.9,3046,1805,2276,2227,95.4,11.1,301,1652,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1805,2251,2276,2227,0,0,0,0,0,0,15.11,15.11,15.11
$GC,1714,0.91,114.1,3046,1805,2276,2226,88.3,9.6,314,1727,0.00,2.28,5.22,0.620,10500,0.000,0.046,3047,3200,2233,2259,2208,0,0,0,0,0,0,15.14,14.90,14.43
$GC,2232,1.05,229.9,3046,3200,2255,2205,50.8,1.6,416,2328,0.10,2.33,87.57,0.838,11270,0.158,0.042,3092,1789,1761,1798,1725,0,0,0,0,0,0,14.97,14.99,14.23
$GC,2392,1.09,259.1,3093,1789,1798,1717,38.4,7.9,445,2424,0.00,2.38,22.65,0.779,10500,0.000,0.044,3094,3191,1642,1683,1601,0,0,0,0,0,0,14.97,14.70,14.27
$GC,2758,1.12,283.3,3093,3191,1677,1595,7.7,8.3,516,2776,0.00,2.30,13.02,0.766,11270,0.000,0.045,3098,1803,1543,1584,1502,0,0,0,0,0,0,15.02,14.93,14.44
$STATE,2807,end climb,SURFACE_DEPTH_REACHED
$STATE,2807,begin surface coast
$FINISH,-0.0,1.010757
$STATE,2833,end surface coast,CONTROL_FINISHED_OK
$STATE,2833,begin surface
$SM_CCo,2857,133.90,0.760,0,0,599,515.37
$SM_GC,0.78,13.85,0.00,133.90,0.044,0.000,0.760,123,1800,599,-8.17,-0.34,515.37,0,0,0,0,0,0,14.93,15.13,14.27
$IRIDIUM_FIX,-3122.76,2945.32,080419,160102
$TT8_MAMPS,0.021721,0.839629
$HUMID,42.00
$INTERNAL_PRESSURE,9.50764
$TCM_TEMP,21.50
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,120.6,30.7
$SC_FREEKB,3779840
$24V_AH,13.75,98.413
$10V_AH,14.06,0.000
$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,30.625,37.150,281.000,133.900,0.000,23.306,25.640,157.685,6.500,0.000,15.160,1117.062,525.383,491.234,1127.727,143.743,0.000,954.150,0.000,808.213,0.000,29.713,0.000
$DEVICE_MAMPS,283.815,66.555,896.580,759.645,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2872.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.575,0.000,0.000,0.000
$MEM,340928
$DATA_FILE_SIZE,13434,530
$CAP_FILE_SIZE,86065,0
$CFSIZE,2097086464,2040856576
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,2408.12,0x23609a,1,24
$GPS,080419,174343,-3137.982,2940.983,6,1.1,18,-26.5,1.9,221.5,8,9.3