version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 291
start: 4 9 119 21 53 44
data:
$ID,574
$MISSION,3
$DIVE,291
$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,42
$R_STBD_OVSHOOT,58
$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
$GPS1,090419,214631,-3204.0254,2911.7688,6,0.8,38,-26.8,1.9,223.9,11,7.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-71.3
$GPS2,090419,215321,-3204.3586,2911.3999,5,0.7,13,-26.8,2.5,218.3,12,9.9
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3212.631,2919.604
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-0.88,-92.5,99,1806,624,557,0.0,0.0,0,106,0.00,0.00,-81.45,0.000,16386,0.000,0.000,96,1801,2800,2771,2830,0,0,0,0,0,0,15.14,28.83,15.16
$GC,111,-0.88,-92.5,95,1806,2771,2831,3.4,-5.9,15,136,13.35,2.38,-4.95,0.000,18948,0.269,0.080,2468,412,3082,3072,3093,0,0,0,0,0,0,14.76,13.83,15.00
$GC,456,-0.88,-92.5,2467,411,3073,3092,72.4,-12.7,82,464,0.05,2.22,0.00,0.000,3078,0.361,0.031,2468,1809,3082,3073,3092,0,0,0,0,0,0,14.81,15.02,15.02
$GC,527,-0.88,-92.5,2468,1812,3075,3089,81.3,-12.2,95,533,0.00,2.35,0.00,0.000,2564,0.000,0.058,2468,403,3082,3075,3089,0,0,0,0,0,0,15.24,15.01,15.24
$STATE,538,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,538,begin apogee
$GC,546,-0.17,0.0,2459,1796,3075,3089,83.2,-12.9,97,619,1.20,0.00,67.15,0.812,10246,0.177,0.000,2693,1801,2699,2716,2682,0,0,0,0,0,0,14.81,14.83,14.39
$STATE,622,end apogee,CONTROL_FINISHED_OK
$STATE,622,begin climb
$GC,624,0.88,92.5,2693,1801,2716,2681,87.5,0.0,110,702,1.55,0.00,71.53,0.812,10502,0.090,0.000,3027,1800,2321,2346,2297,0,0,0,0,0,0,14.78,14.68,14.29
$GC,766,0.88,94.7,3026,1801,2342,2293,79.2,9.8,135,773,0.00,2.38,0.00,0.000,2564,0.000,0.056,3033,392,2317,2341,2293,0,0,0,0,0,0,15.02,14.81,15.02
$GC,856,0.88,94.7,3033,392,2338,2291,71.8,11.9,152,862,0.00,2.28,0.00,0.000,3078,0.000,0.030,3033,1812,2315,2338,2292,0,0,0,0,0,0,14.97,14.90,14.99
$GC,926,0.88,94.7,3033,1815,2338,2291,63.3,13.4,165,932,0.00,0.00,0.00,0.000,2054,0.000,0.000,3033,1815,2314,2338,2291,0,0,0,0,0,0,15.15,15.15,15.14
$GC,994,0.90,103.7,3033,1815,2338,2291,56.1,9.4,178,1012,0.00,2.40,9.02,0.685,10756,0.000,0.060,3037,405,2276,2301,2251,0,0,0,0,0,0,15.17,14.88,14.45
$GC,1030,0.91,115.9,3035,404,2300,2251,52.9,9.1,184,1048,0.00,2.22,10.70,0.689,11270,0.000,0.030,3037,1802,2229,2256,2202,0,0,0,0,0,0,14.99,14.93,14.50
$GC,1111,0.98,175.8,3036,1802,2253,2198,47.1,5.7,199,1167,0.08,2.40,46.33,0.776,11012,0.183,0.060,3090,405,1981,2014,1949,0,0,0,0,0,0,14.95,14.79,14.45
$GC,1672,1.10,271.6,3089,405,2007,1938,9.6,3.1,309,1728,0.00,2.22,51.42,0.770,11270,0.000,0.031,3090,1816,1592,1636,1549,0,0,0,0,0,0,15.12,15.06,14.45
$STATE,1774,end climb,SURFACE_DEPTH_REACHED
$STATE,1774,begin surface coast
$FINISH,0.1,1.023507
$STATE,1800,end surface coast,CONTROL_FINISHED_OK
$STATE,1800,begin surface
$SM_CCo,1823,133.70,0.723,0,0,598,515.37
$SM_GC,0.96,13.75,0.00,133.70,0.046,0.000,0.723,123,1816,598,-8.18,0.11,515.37,0,0,0,0,0,0,14.93,15.14,14.35
$IRIDIUM_FIX,-3150.62,2913.15,090419,210848
$TT8_MAMPS,0.020972,0.967708
$HUMID,40.98
$INTERNAL_PRESSURE,9.6053
$TCM_TEMP,23.30
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,56.0,37.0
$SC_FREEKB,3768352
$24V_AH,13.83,102.387
$10V_AH,14.09,0.000
$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,29.975,23.125,256.150,133.700,0.000,25.068,43.826,153.978,2.500,0.000,15.922,684.045,302.548,447.502,824.990,123.682,0.000,767.346,0.000,513.939,0.000,7.069,0.000
$DEVICE_MAMPS,361.080,80.325,812.430,722.925,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1836.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.258,0.000,0.000,0.000
$MEM,340928
$DATA_FILE_SIZE,6822,333
$CAP_FILE_SIZE,58113,0
$CFSIZE,2097086464,2036924416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,090419,222716,-3205.531,2910.204,6,0.9,15,-26.8,1.9,235.2,9,9.7