version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 290
start: 4 9 119 21 12 55
data:
$ID,574
$MISSION,3
$DIVE,290
$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,37
$R_STBD_OVSHOOT,44
$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
$GPS1,090419,210613,-3202.6399,2913.2402,6,1.0,18,-26.8,2.1,238.4,8,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-71.0
$GPS2,090419,211230,-3202.9536,2912.9172,6,0.9,21,-26.8,2.0,220.7,8,8.5
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3211.226,2921.119
$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,166.8,20000,-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,-92.5,88,1817,632,541,0.0,0.0,0,106,0.00,0.00,-81.68,0.000,16386,0.000,0.000,85,1818,2808,2780,2836,0,0,0,0,0,0,15.15,28.83,15.16
$GC,110,-0.88,-92.5,85,1817,2778,2837,3.5,-6.4,15,135,13.43,2.42,-4.72,0.000,18948,0.270,0.083,2468,403,3082,3069,3095,0,0,0,0,0,0,14.78,13.83,15.00
$GC,531,-0.88,-92.5,2467,402,3072,3094,85.1,-12.7,97,538,0.05,2.28,0.00,0.000,3078,0.348,0.035,2469,1812,3082,3072,3093,0,0,0,0,0,0,14.83,15.01,15.02
$STATE,549,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,549,begin apogee
$GC,554,-0.17,0.0,2469,1815,3072,3092,87.8,-13.7,100,626,1.12,0.00,67.43,0.815,10246,0.160,0.000,2695,1817,2699,2716,2683,0,0,0,0,0,0,14.90,14.81,14.40
$STATE,629,end apogee,CONTROL_FINISHED_OK
$STATE,629,begin climb
$GC,631,0.88,92.5,2695,1817,2716,2683,89.5,0.0,113,712,1.55,2.35,71.55,0.813,10500,0.040,0.045,3065,3206,2322,2347,2297,0,0,0,0,0,0,14.83,14.69,14.32
$GC,975,0.89,98.1,3064,3204,2338,2295,57.8,9.6,178,989,0.12,2.30,5.15,0.568,13318,0.257,0.041,3050,1795,2299,2323,2275,0,0,0,0,0,0,14.83,14.97,14.46
$GC,1052,0.97,160.6,3049,1795,2322,2275,53.1,5.5,192,1107,0.00,0.00,49.25,0.773,10758,0.000,0.000,3050,1795,2042,2074,2010,0,0,0,0,0,0,15.17,14.73,14.43
$GC,1169,0.98,173.1,3053,1795,2070,2005,44.1,9.1,214,1187,0.00,2.38,9.40,0.671,10756,0.000,0.061,3059,403,1994,2027,1962,0,0,0,0,0,0,15.08,14.83,14.35
$GC,1572,1.09,264.8,3058,403,2021,1956,19.6,3.4,293,1635,0.15,2.25,53.38,0.853,11270,0.109,0.030,3115,1834,1619,1660,1579,0,0,0,0,0,0,14.97,14.97,14.40
$GC,1698,1.09,264.8,3115,1837,1658,1573,9.4,10.4,316,1705,0.00,2.45,0.00,0.000,4612,0.000,0.063,3126,401,1615,1658,1573,0,0,0,0,0,0,15.09,14.86,15.09
$STATE,1750,end climb,SURFACE_DEPTH_REACHED
$STATE,1751,begin surface coast
$FINISH,0.2,1.023495
$STATE,1772,end surface coast,CONTROL_FINISHED_OK
$STATE,1772,begin surface
$SM_CCo,1798,138.18,0.728,0,0,599,515.37
$SM_GC,0.93,13.82,2.28,138.18,0.041,0.030,0.728,121,1798,599,-8.17,-2.15,515.37,0,0,0,0,0,0,14.97,14.97,14.34
$IRIDIUM_FIX,-3148.08,2914.13,090419,202724
$TT8_MAMPS,0.021721,0.914529
$HUMID,41.21
$INTERNAL_PRESSURE,9.6053
$TCM_TEMP,23.10
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,65.1,32.4
$SC_FREEKB,3768864
$24V_AH,13.83,102.256
$10V_AH,13.91,0.000
$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,30.250,18.700,256.150,138.175,0.000,22.379,20.509,148.949,2.500,0.000,22.376,675.001,306.489,442.205,787.533,120.223,0.000,752.278,0.000,511.498,0.000,10.106,0.000
$DEVICE_MAMPS,348.075,83.385,852.975,727.515,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1806.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.250,0.000,0.000,0.000
$MEM,340888
$DATA_FILE_SIZE,6796,330
$CAP_FILE_SIZE,55602,0
$CFSIZE,2097086464,2037088256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,090419,214631,-3204.025,2911.769,6,0.8,38,-26.8,1.9,223.9,11,7.0