version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 289
start: 4 9 119 20 32 21
data:
$ID,574
$MISSION,3
$DIVE,289
$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,80
$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
$GPS1,090419,202443,-3201.1284,2914.7058,6,1.0,16,-26.7,1.8,226.8,9,8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-71.0
$GPS2,090419,203156,-3201.4968,2914.3083,5,1.1,16,-26.7,2.1,226.9,9,8.0
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3209.770,2922.508
$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,22,-0.88,-92.5,93,1840,619,559,0.0,0.0,0,106,0.00,0.00,-81.88,0.000,16386,0.000,0.000,88,1840,2830,2796,2864,0,0,0,0,0,0,15.14,28.83,15.14
$GC,109,-0.88,-92.5,87,1840,2797,2864,3.6,-7.0,15,134,13.40,2.42,-4.38,0.000,18948,0.269,0.080,2469,400,3079,3067,3091,0,0,0,0,0,0,14.73,14.17,14.96
$GC,397,-0.88,-92.5,2469,400,3069,3090,60.4,-19.0,70,403,0.00,2.22,0.00,0.000,3078,0.000,0.032,2460,1790,3079,3069,3089,0,0,0,0,0,0,15.11,15.02,15.11
$GC,467,-0.88,-92.5,2460,1793,3072,3087,70.5,-9.5,83,474,0.00,2.30,0.00,0.000,2564,0.000,0.056,2460,408,3079,3072,3087,0,0,0,0,0,0,15.21,15.00,15.21
$GC,502,-0.88,-92.5,2459,408,3072,3087,75.0,-14.3,89,509,0.10,2.25,0.00,0.000,3078,0.262,0.031,2469,1822,3078,3073,3084,0,0,0,0,0,0,14.90,15.04,15.05
$STATE,571,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,571,begin apogee
$GC,576,-0.17,0.0,2469,1825,3073,3086,85.1,-14.0,102,649,1.15,0.00,66.55,0.815,10246,0.172,0.000,2695,1825,2699,2716,2683,0,0,0,0,0,0,14.82,14.82,14.34
$STATE,652,end apogee,CONTROL_FINISHED_OK
$STATE,652,begin climb
$GC,654,0.88,92.5,2696,1825,2716,2682,90.0,0.0,115,735,1.55,2.47,71.55,0.813,11012,0.086,0.057,3033,398,2322,2345,2299,0,0,0,0,0,0,14.78,14.67,14.21
$GC,807,0.94,141.2,3033,398,2341,2295,81.2,6.5,142,853,0.00,2.25,37.97,0.789,11270,0.000,0.032,3033,1796,2123,2154,2093,0,0,0,0,0,0,14.92,14.85,14.38
$GC,915,0.94,141.2,3033,1797,2151,2088,69.7,14.0,162,922,0.00,2.28,0.00,0.000,2308,0.000,0.037,3033,3201,2119,2150,2088,0,0,0,0,0,0,15.03,14.82,15.04
$GC,929,0.94,141.2,3034,3201,2149,2088,68.0,13.2,164,935,0.00,2.33,0.00,0.000,3078,0.000,0.043,3037,1794,2118,2148,2088,0,0,0,0,0,0,14.95,14.85,14.95
$GC,999,0.94,141.2,3036,1793,2148,2087,58.9,15.6,177,1006,0.00,2.35,0.00,0.000,2564,0.000,0.064,3037,395,2117,2148,2087,0,0,0,0,0,0,15.11,14.82,15.11
$GC,1088,0.94,141.2,3039,395,2145,2085,47.9,12.9,194,1095,0.00,2.25,0.00,0.000,3078,0.000,0.030,3037,1802,2115,2145,2085,0,0,0,0,0,0,15.05,14.97,15.06
$GC,1159,0.95,148.1,3037,1802,2145,2084,40.9,9.5,207,1172,0.00,2.38,5.45,0.588,10756,0.000,0.060,3040,393,2095,2127,2064,0,0,0,0,0,0,15.17,14.85,14.46
$STATE,1643,end climb,NO_VERTICAL_VELOCITY
$STATE,1645,begin surface
$SM_CCo,1648,212.57,0.822,0,0,598,515.37
$SM_GC,0.95,13.52,2.35,0.00,0.034,0.030,0.000,122,1805,591,-8.18,-1.58,517.57,0,0,0,0,0,0,14.80,14.77,14.86
$IRIDIUM_FIX,-3145.55,2917.59,090419,194556
$TT8_MAMPS,0.020972,0.939995
$HUMID,42.08
$INTERNAL_PRESSURE,9.58576
$TCM_TEMP,23.20
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,60.4,34.0
$SC_FREEKB,3769376
$24V_AH,14.17,102.124
$10V_AH,13.83,0.000
$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,29.725,27.850,181.525,212.575,0.000,23.811,53.782,163.865,3.000,0.000,20.084,648.921,379.434,471.668,803.139,121.118,0.000,761.809,0.000,472.697,0.000,8.587,0.000
$DEVICE_MAMPS,269.280,79.560,815.490,822.375,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1682.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.024,0.000,0.000,0.000
$MEM,340928
$DATA_FILE_SIZE,6805,303
$CAP_FILE_SIZE,55954,0
$CFSIZE,2097086464,2037252096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,090419,210613,-3202.640,2913.240,6,1.0,18,-26.8,2.1,238.4,8,9.4