version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 284
start: 4 9 119 16 48 20
data:
$ID,574
$MISSION,3
$DIVE,284
$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,310
$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,37
$R_STBD_OVSHOOT,60
$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
$GPS1,090419,163936,-3153.7312,2924.4546,6,0.8,14,-26.7,1.9,241.3,10,9.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-70.2
$GPS2,090419,164757,-3154.0813,2923.9395,6,0.8,14,-26.7,2.3,242.7,10,9.9
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3147.140,2914.207
$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,336.7,20000,-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,20,begin dive
$GC,22,-0.88,-92.5,79,1799,620,555,0.0,0.0,0,106,0.00,0.00,-81.65,0.000,16386,0.000,0.000,77,1799,2825,2793,2857,0,0,0,0,0,0,15.09,28.83,15.09
$GC,111,-0.88,-92.5,77,1799,2793,2858,3.4,-5.8,15,136,13.65,2.33,-4.38,0.000,18692,0.280,0.062,2457,3213,3079,3068,3091,0,0,0,0,0,0,14.70,14.14,14.93
$GC,344,-0.88,-92.5,2456,3214,3069,3089,54.6,-12.8,60,352,0.08,2.30,0.00,0.000,3078,0.269,0.041,2472,1810,3079,3070,3088,0,0,0,0,0,0,14.83,14.96,14.99
$GC,415,-0.88,-92.5,2471,1809,3070,3087,62.6,-10.2,73,421,0.00,0.00,0.00,0.000,2054,0.000,0.000,2472,1809,3078,3070,3087,0,0,0,0,0,0,15.17,15.17,15.17
$GC,487,-0.88,-92.5,2471,1809,3072,3087,72.6,-14.0,86,493,0.00,2.30,0.00,0.000,2308,0.000,0.047,2463,3201,3078,3071,3085,0,0,0,0,0,0,15.18,14.97,15.18
$STATE,724,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,724,begin apogee
$GC,732,-0.17,0.0,2463,1793,3071,3086,96.6,-12.0,133,804,1.20,0.00,66.43,0.822,10246,0.169,0.000,2697,1792,2701,2717,2685,0,0,0,0,0,0,14.78,14.78,14.36
$STATE,807,end apogee,CONTROL_FINISHED_OK
$STATE,807,begin climb
$GC,809,0.88,92.5,2697,1792,2716,2684,98.5,0.0,146,894,1.52,2.42,72.20,0.822,10756,0.068,0.059,3040,391,2321,2339,2303,0,0,0,0,0,0,14.75,14.61,14.19
$GC,967,0.88,92.5,3040,391,2336,2297,84.1,10.5,174,974,0.00,2.28,0.00,0.000,1030,0.000,0.028,3040,1808,2316,2336,2296,0,0,0,0,0,0,14.87,14.81,14.88
$GC,1037,0.88,92.5,3040,1811,2336,2294,76.8,10.6,187,1044,0.00,2.28,0.00,0.000,260,0.000,0.045,3040,3197,2314,2335,2294,0,0,0,0,0,0,15.02,14.84,15.03
$GC,1267,1.00,192.0,3039,3197,2333,2293,60.8,2.8,232,1352,0.08,2.30,75.00,0.791,11270,0.190,0.042,3082,1797,1916,1950,1882,0,0,0,0,0,0,14.91,14.95,14.35
$GC,1414,1.00,192.0,3082,1797,1943,1875,43.7,17.1,259,1421,0.00,2.38,0.00,0.000,516,0.000,0.062,3092,392,1909,1944,1875,0,0,0,0,0,0,15.00,14.73,15.00
$GC,1438,1.00,192.0,3092,391,1942,1874,39.8,15.9,263,1445,0.00,2.25,0.00,0.000,5126,0.000,0.028,3092,1798,1907,1942,1873,0,0,0,0,0,0,14.92,14.85,14.93
$GC,1509,1.02,201.1,3092,1801,1942,1872,32.4,9.3,276,1522,0.00,2.33,7.00,0.623,12548,0.000,0.042,3092,3193,1880,1917,1843,0,0,0,0,0,0,15.07,14.84,14.42
$GC,1917,1.08,256.6,3092,3193,1913,1838,11.4,6.0,356,1957,0.00,2.30,30.70,0.780,11270,0.000,0.043,3102,1792,1652,1692,1612,0,0,0,0,0,0,15.07,14.98,14.47
$STATE,2013,end climb,SURFACE_DEPTH_REACHED
$STATE,2013,begin surface coast
$FINISH,0.5,1.023450
$STATE,2034,end surface coast,CONTROL_FINISHED_OK
$STATE,2034,begin surface
$SM_CCo,2057,142.90,0.718,0,0,599,515.37
$SM_GC,0.90,13.80,0.00,142.90,0.042,0.000,0.718,125,1792,599,-8.18,-0.57,515.37,0,0,0,0,0,0,14.92,15.14,14.29
$IRIDIUM_FIX,-3140.47,2924.23,090419,164212
$TT8_MAMPS,0.020972,0.912282
$HUMID,40.23
$INTERNAL_PRESSURE,9.58576
$TCM_TEMP,23.20
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,70.3,36.0
$SC_FREEKB,3771936
$24V_AH,14.14,101.441
$10V_AH,13.85,0.000
$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,30.325,27.800,251.325,142.900,0.000,46.177,59.252,151.162,2.750,0.000,15.156,782.564,420.870,461.064,924.022,127.187,0.000,810.840,0.000,580.352,0.000,11.625,0.000
$DEVICE_MAMPS,279.990,61.965,822.375,718.335,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2070.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.426,0.000,0.000,0.000
$MEM,340888
$DATA_FILE_SIZE,10113,378
$CAP_FILE_SIZE,64166,0
$CFSIZE,2097086464,2038071296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,090419,172557,-3155.063,2922.176,6,1.0,15,-26.7,1.5,220.3,8,9.6