version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 287
start: 4 9 119 19 3 30
data:
$ID,574
$MISSION,3
$DIVE,287
$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,140
$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,39
$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
$GPS1,090419,185619,-3157.8325,2918.1628,6,0.9,15,-26.7,1.7,220.9,9,8.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-71.4
$GPS2,090419,190306,-3158.1592,2917.7527,6,0.9,13,-26.7,2.1,230.4,9,10.0
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3206.432,2925.948
$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,166.7,20000,-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,19,begin dive
$GC,21,-0.88,-92.5,91,1803,617,560,0.0,0.0,0,105,0.00,0.00,-81.60,0.000,16386,0.000,0.000,91,1804,2828,2795,2862,0,0,0,0,0,0,15.12,28.83,15.13
$GC,110,-0.88,-92.5,91,1804,2794,2862,3.7,-7.3,15,135,13.38,2.35,-4.30,0.000,18948,0.271,0.080,2466,409,3080,3069,3092,0,0,0,0,0,0,14.74,14.16,14.97
$GC,533,-0.88,-92.5,2465,409,3071,3091,77.7,-13.0,97,540,0.00,2.25,0.00,0.000,3078,0.000,0.034,2461,1813,3080,3073,3088,0,0,0,0,0,0,15.11,15.03,15.12
$STATE,545,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,545,begin apogee
$GC,550,-0.17,0.0,2461,1815,3072,3087,79.5,-13.5,99,622,1.20,0.00,66.47,0.804,10246,0.169,0.000,2696,1816,2699,2716,2683,0,0,0,0,0,0,14.83,14.82,14.41
$STATE,625,end apogee,CONTROL_FINISHED_OK
$STATE,625,begin climb
$GC,627,0.88,92.5,2696,1816,2716,2682,83.1,0.0,112,708,1.55,2.47,71.45,0.808,10756,0.094,0.059,3034,391,2321,2346,2297,0,0,0,0,0,0,14.77,14.66,14.26
$GC,1213,0.94,140.1,3033,391,2336,2291,42.0,6.6,225,1258,0.00,2.28,36.33,0.763,11270,0.000,0.030,3033,1813,2127,2158,2096,0,0,0,0,0,0,15.02,14.96,14.41
$GC,1322,0.96,156.4,3032,1813,2156,2092,33.4,8.8,245,1346,0.05,2.40,13.75,0.705,10756,0.254,0.060,3077,405,2059,2091,2027,0,0,0,0,0,0,14.88,14.85,14.47
$GC,1851,1.10,273.2,3076,405,2086,2020,15.7,1.5,349,1926,0.08,2.20,66.12,0.837,11270,0.184,0.030,3116,1816,1584,1629,1540,0,0,0,0,0,0,15.00,15.05,14.39
$GC,1988,1.11,274.5,3116,1814,1628,1533,6.6,9.9,374,1995,0.00,2.40,0.00,0.000,516,0.000,0.063,3126,394,1580,1627,1533,0,0,0,0,0,0,15.06,14.81,15.07
$STATE,2021,end climb,SURFACE_DEPTH_REACHED
$STATE,2021,begin surface coast
$FINISH,0.2,1.023479
$STATE,2043,end surface coast,CONTROL_FINISHED_OK
$STATE,2043,begin surface
$SM_CCo,2069,133.90,0.724,0,0,599,515.37
$SM_GC,0.93,13.88,2.30,133.90,0.041,0.031,0.724,118,1802,599,-8.18,-1.95,515.37,0,0,0,0,0,0,14.94,14.93,14.33
$IRIDIUM_FIX,-3143.01,2919.80,090419,181241
$TT8_MAMPS,0.020972,0.870338
$HUMID,41.02
$INTERNAL_PRESSURE,9.59553
$TCM_TEMP,23.10
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,55.3,34.1
$SC_FREEKB,3770400
$24V_AH,14.16,101.851
$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,30.125,18.650,254.125,133.900,0.000,22.648,20.586,170.845,1.750,0.000,14.160,791.482,381.092,434.029,894.698,124.102,0.000,776.088,0.000,591.983,0.000,8.349,0.000
$DEVICE_MAMPS,270.810,80.325,836.910,724.455,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2086.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.509,0.000,0.000,0.000
$MEM,340928
$DATA_FILE_SIZE,10109,384
$CAP_FILE_SIZE,60079,0
$CFSIZE,2097086464,2037579776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,090419,194110,-3159.458,2916.354,6,1.0,16,-26.7,2.2,236.9,8,10.0