version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 271
start: 4 8 119 19 29 41
data:
$ID,574
$MISSION,3
$DIVE,271
$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,32
$R_STBD_OVSHOOT,53
$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
$GPS1,080419,191625,-3138.6353,2939.4512,6,1.0,13,-26.5,2.1,214.9,8,9.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-69.1
$GPS2,080419,192916,-3139.1372,2938.8289,5,1.0,16,-26.5,2.2,242.6,8,9.3
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3131.501,2929.871
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.88,-92.5,56,1817,616,559,0.0,0.0,0,110,0.00,0.00,-86.95,0.000,16386,0.000,0.000,54,1817,2900,2872,2929,0,0,0,0,0,0,15.04,28.83,15.06
$GC,115,-0.88,-92.5,54,1817,2872,2930,3.5,-6.8,16,139,13.80,2.30,-3.12,0.000,18692,0.278,0.063,2459,3211,3078,3067,3089,0,0,0,0,0,0,14.66,14.06,14.90
$GC,484,-0.88,-92.5,2457,3211,3071,3086,68.0,-14.9,88,491,0.08,2.33,0.00,0.000,3078,0.266,0.043,2471,1801,3079,3072,3086,0,0,0,0,0,0,14.74,14.86,14.90
$GC,554,-0.88,-92.5,2471,1800,3070,3086,78.6,-14.4,101,560,0.00,0.00,0.00,0.000,2054,0.000,0.000,2471,1800,3078,3072,3085,0,0,0,0,0,0,15.16,15.17,15.17
$GC,621,-0.88,-92.5,2471,1800,3072,3086,87.9,-12.5,114,629,0.00,2.35,0.00,0.000,2308,0.000,0.050,2463,3209,3079,3073,3085,0,0,0,0,0,0,15.17,14.95,15.18
$GC,675,-0.88,-92.5,2463,3209,3072,3085,94.1,-11.3,124,682,0.00,2.30,0.00,0.000,3078,0.000,0.041,2463,1810,3079,3073,3085,0,0,0,0,0,0,15.02,14.92,15.03
$GC,746,-0.88,-92.5,2463,1810,3072,3085,102.7,-13.1,137,752,0.00,2.33,0.00,0.000,2308,0.000,0.053,2453,3207,3082,3073,3091,0,0,0,0,0,0,15.19,14.95,15.19
$GC,921,-0.88,-92.5,2453,3210,3073,3085,126.5,-10.4,171,928,0.10,2.30,0.00,0.000,3078,0.246,0.041,2472,1806,3079,3073,3085,0,0,0,0,0,0,14.83,14.97,15.01
$GC,991,-0.88,-92.5,2472,1803,3073,3084,131.3,-6.8,184,998,0.00,2.35,0.00,0.000,2564,0.000,0.059,2473,401,3079,3074,3084,0,0,0,0,0,0,15.19,14.96,15.19
$GC,1142,-0.88,-92.5,2472,401,3073,3084,148.8,-9.4,213,1148,0.00,2.28,0.00,0.000,3078,0.000,0.032,2464,1812,3078,3073,3084,0,0,0,0,0,0,15.08,15.00,15.09
$GC,1213,-0.88,-92.5,2464,1815,3073,3084,155.0,-9.2,226,1219,0.00,0.00,0.00,0.000,2054,0.000,0.000,2464,1815,3078,3073,3084,0,0,0,0,0,0,15.19,15.20,15.20
$GC,1284,-0.88,-92.5,2464,1815,3073,3083,162.8,-12.2,239,1290,0.00,0.00,0.00,0.000,2054,0.000,0.000,2464,1815,3078,3073,3083,0,0,0,0,0,0,15.20,15.20,15.21
$GC,1357,-0.88,-92.5,2464,1815,3073,3083,172.1,-14.1,252,1363,0.00,2.28,0.00,0.000,2308,0.000,0.044,2454,3214,3077,3073,3082,0,0,0,0,0,0,15.19,14.97,15.19
$STATE,1414,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1415,begin apogee
$GC,1423,-0.17,0.0,2454,1796,3073,3082,181.5,-14.6,263,1495,1.25,0.00,68.10,0.966,10246,0.165,0.000,2698,1794,2700,2717,2683,0,0,0,0,0,0,14.83,14.73,14.30
$STATE,1498,end apogee,CONTROL_FINISHED_OK
$STATE,1498,begin climb
$GC,1500,0.88,92.5,2699,1793,2716,2681,185.7,0.0,276,1579,1.52,0.00,73.20,0.964,10246,0.086,0.000,3027,1792,2322,2346,2298,0,0,0,0,0,0,14.70,14.57,14.12
$GC,1643,0.88,92.5,3027,1793,2342,2293,176.4,10.4,301,1648,0.00,0.00,0.00,0.000,2054,0.000,0.000,3028,1794,2318,2342,2294,0,0,0,0,0,0,14.91,14.91,14.91
$GC,1711,0.90,108.0,3026,1794,2341,2292,170.3,8.9,314,1729,0.00,0.00,13.07,0.864,10246,0.000,0.000,3027,1794,2258,2284,2232,0,0,0,0,0,0,14.99,14.74,14.22
$GC,1792,0.90,108.0,3027,1793,2283,2230,161.6,11.9,329,1797,0.00,0.00,0.00,0.000,2054,0.000,0.000,3027,1794,2256,2283,2230,0,0,0,0,0,0,15.01,15.02,15.02
$GC,1860,0.91,118.3,3027,1794,2282,2229,154.4,9.3,342,1878,0.00,2.35,9.02,0.804,10500,0.000,0.044,3027,3195,2216,2243,2189,0,0,0,0,0,0,15.06,14.82,14.28
$GC,1886,0.94,136.8,3027,3195,2243,2190,152.2,8.7,346,1910,0.00,2.33,16.60,0.869,11270,0.000,0.041,3035,1789,2140,2169,2111,0,0,0,0,0,0,14.86,14.78,14.34
$GC,1973,0.94,136.8,3036,1789,2166,2107,144.3,12.6,362,1980,0.00,2.42,0.00,0.000,2564,0.000,0.077,3037,395,2136,2166,2107,0,0,0,0,0,0,15.04,14.80,15.04
$GC,2063,1.08,254.8,3037,395,2163,2106,138.0,1.5,379,2164,0.22,2.30,89.05,0.933,11270,0.096,0.031,3103,1819,1662,1700,1624,0,0,0,0,0,0,14.89,14.90,14.19
$GC,2228,1.08,254.8,3102,1819,1696,1619,112.1,22.2,409,2234,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,1819,1658,1696,1620,0,0,0,0,0,0,14.92,14.94,14.93
$GC,2296,1.08,254.8,3103,1822,1695,1617,94.8,23.1,422,2303,0.00,2.25,0.00,0.000,260,0.000,0.048,3103,3186,1656,1696,1617,0,0,0,0,0,0,15.00,14.74,15.01
$GC,2355,1.08,254.8,3103,3186,1692,1615,82.5,22.1,433,2362,0.00,2.35,0.00,0.000,5126,0.000,0.056,3112,1811,1653,1692,1615,0,0,0,0,0,0,14.93,14.83,14.95
$GC,2426,1.08,254.8,3112,1811,1692,1614,66.1,23.6,446,2431,0.00,0.00,0.00,0.000,4102,0.000,0.000,3112,1811,1653,1692,1614,0,0,0,0,0,0,15.08,15.09,15.09
$GC,2494,1.08,254.8,3112,1811,1691,1614,52.5,21.5,459,2501,0.00,2.30,0.00,0.000,4356,0.000,0.047,3112,3193,1652,1691,1613,0,0,0,0,0,0,15.11,14.90,15.11
$GC,2790,1.08,254.8,3112,3193,1689,1610,7.7,12.1,517,2797,0.05,2.35,0.00,0.000,5126,0.366,0.050,3113,1797,1650,1690,1610,0,0,0,0,0,0,14.78,14.95,15.00
$STATE,2833,end climb,SURFACE_DEPTH_REACHED
$STATE,2833,begin surface coast
$FINISH,0.4,1.024253
$STATE,2860,end surface coast,CONTROL_FINISHED_OK
$STATE,2860,begin surface
$SM_CCo,2883,154.35,0.784,0,0,598,515.37
$SM_GC,0.82,13.95,0.00,154.35,0.050,0.000,0.784,121,1796,598,-8.18,-0.45,515.37,0,0,0,0,0,0,14.98,15.19,14.24
$IRIDIUM_FIX,-3125.29,2939.67,080419,192003
$TT8_MAMPS,0.021721,0.910784
$HUMID,43.58
$INTERNAL_PRESSURE,9.41975
$TCM_TEMP,20.50
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,165.3,26.1
$SC_FREEKB,3778816
$24V_AH,14.06,98.810
$10V_AH,13.75,0.000
$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,30.975,41.825,269.050,154.350,0.000,47.717,63.315,338.867,8.250,0.000,17.911,1124.364,569.393,533.364,1407.524,179.807,0.000,1013.483,0.000,807.443,0.000,44.557,0.000
$DEVICE_MAMPS,365.670,77.265,966.195,784.125,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2938.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.412,0.000,0.000,0.000
$MEM,340888
$DATA_FILE_SIZE,13418,530
$CAP_FILE_SIZE,97527,0
$CFSIZE,2097086464,2040496128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,080419,202131,-3139.214,2938.130,5,0.8,31,-26.5,1.4,211.9,11,6.2