version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 275
start: 4 8 119 22 42 40
data:
$ID,574
$MISSION,3
$DIVE,275
$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,135
$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,55
$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,3
$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
$GPS1,080419,223555,-3140.6575,2936.3081,6,0.9,42,-26.5,0.9,231.2,9,5.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-71.7
$GPS2,080419,224217,-3140.7681,2936.1445,5,0.9,15,-26.5,1.3,262.5,9,9.6
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3148.404,2945.130
$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,161.5,20000,-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,-92.5,81,1812,620,559,0.0,0.0,0,111,0.00,0.00,-86.93,0.000,16386,0.000,0.000,74,1812,2873,2841,2905,0,0,0,0,0,0,15.09,28.83,15.09
$GC,116,-0.88,-92.5,74,1812,2841,2905,3.4,-6.5,16,141,13.70,2.30,-3.70,0.000,18692,0.282,0.070,2456,3207,3080,3068,3093,0,0,0,0,0,0,14.70,14.12,14.94
$GC,153,-0.88,-92.5,2456,3207,3068,3092,18.2,-37.1,22,160,0.08,2.33,0.00,0.000,3078,0.282,0.046,2470,1805,3081,3070,3092,0,0,0,0,0,0,14.75,14.90,14.94
$GC,224,-0.88,-92.5,2470,1805,3073,3088,32.6,-17.3,35,230,0.00,2.35,0.00,0.000,2564,0.000,0.060,2470,406,3080,3072,3088,0,0,0,0,0,0,15.12,14.91,15.13
$GC,443,-0.88,-92.5,2470,406,3072,3087,66.2,-14.0,78,450,0.00,2.28,0.00,0.000,3078,0.000,0.034,2461,1814,3080,3073,3087,0,0,0,0,0,0,15.07,14.99,15.07
$GC,515,-0.88,-92.5,2461,1816,3073,3086,75.0,-12.8,91,522,0.00,2.38,0.00,0.000,2564,0.000,0.059,2461,405,3083,3073,3093,0,0,0,0,0,0,15.18,14.92,15.19
$GC,544,-0.88,-92.5,2461,405,3073,3086,79.1,-14.5,96,552,0.08,2.28,0.00,0.000,3078,0.282,0.034,2469,1810,3079,3073,3086,0,0,0,0,0,0,14.78,14.92,14.93
$GC,615,-0.88,-92.5,2469,1814,3073,3086,87.5,-11.3,109,622,0.00,2.33,0.00,0.000,2308,0.000,0.049,2461,3222,3080,3074,3086,0,0,0,0,0,0,15.19,14.93,15.19
$STATE,684,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,684,begin apogee
$GC,691,-0.17,0.0,2461,1790,3074,3086,95.6,-12.3,122,764,1.20,0.00,66.97,0.851,10246,0.164,0.000,2696,1789,2700,2716,2684,0,0,0,0,0,0,14.79,14.76,14.29
$STATE,767,end apogee,CONTROL_FINISHED_OK
$STATE,767,begin climb
$GC,769,0.88,92.5,2696,1789,2715,2683,98.9,0.0,135,854,1.52,2.40,72.03,0.854,11012,0.076,0.044,3029,3200,2320,2342,2299,0,0,0,0,0,0,14.75,14.62,14.19
$GC,912,0.88,92.5,3029,3199,2340,2295,89.4,11.2,160,918,0.00,2.35,0.00,0.000,3078,0.000,0.046,3033,1799,2318,2340,2297,0,0,0,0,0,0,14.84,14.75,14.85
$GC,980,0.88,92.5,3033,1798,2339,2294,81.3,11.8,173,986,0.00,0.00,0.00,0.000,2054,0.000,0.000,3033,1798,2316,2338,2294,0,0,0,0,0,0,15.02,15.03,15.02
$GC,1048,0.88,92.5,3033,1798,2337,2293,73.4,12.0,186,1055,0.00,0.00,0.00,0.000,2054,0.000,0.000,3033,1799,2315,2338,2293,0,0,0,0,0,0,15.07,15.07,15.07
$GC,1117,0.88,92.5,3033,1797,2337,2291,66.4,10.2,199,1123,0.00,2.38,0.00,0.000,2564,0.000,0.064,3031,390,2314,2336,2293,0,0,0,0,0,0,15.10,14.88,15.11
$GC,1630,1.05,225.3,3033,390,2330,2290,41.3,0.4,300,1737,0.20,2.28,98.85,0.826,11270,0.102,0.032,3096,1818,1781,1816,1746,0,0,0,0,0,0,14.95,14.95,14.30
$GC,1801,1.05,225.3,3095,1821,1811,1737,28.2,10.7,331,1807,0.00,2.45,0.00,0.000,516,0.000,0.065,3106,394,1773,1810,1737,0,0,0,0,0,0,14.97,14.76,14.98
$GC,1990,1.05,225.3,3105,394,1804,1733,4.3,12.3,368,1997,0.00,2.28,0.00,0.000,5126,0.000,0.032,3106,1798,1768,1805,1732,0,0,0,0,0,0,14.97,14.90,14.98
$STATE,2002,end climb,SURFACE_DEPTH_REACHED
$STATE,2002,begin surface coast
$FINISH,0.1,1.024292
$STATE,2029,end surface coast,CONTROL_FINISHED_OK
$STATE,2029,begin surface
$SM_CCo,2053,165.32,0.763,0,0,597,515.37
$SM_GC,0.84,13.85,0.00,165.32,0.041,0.000,0.763,122,1800,597,-8.18,-0.34,515.37,0,0,0,0,0,0,14.95,15.14,14.24
$IRIDIUM_FIX,-3127.82,2930.57,080419,215724
$TT8_MAMPS,0.021721,0.73402
$HUMID,42.36
$INTERNAL_PRESSURE,9.46858
$TCM_TEMP,21.50
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,70.2,34.9
$SC_FREEKB,3776768
$24V_AH,14.12,99.379
$10V_AH,13.82,0.000
$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,30.625,32.750,237.850,165.325,0.000,22.205,25.731,155.769,4.250,0.000,16.139,782.034,356.284,486.259,866.188,127.846,0.000,840.448,0.000,577.967,0.000,11.627,0.000
$DEVICE_MAMPS,282.285,70.380,853.740,762.705,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2064.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.530,0.000,0.000,0.000
$MEM,340888
$DATA_FILE_SIZE,10124,375
$CAP_FILE_SIZE,65388,0
$CFSIZE,2097086464,2039873536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080419,232035,-3141.045,2935.921,6,0.9,13,-26.5,1.1,240.8,9,9.7