version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 292
start: 4 9 119 22 34 17
data:
$ID,574
$MISSION,3
$DIVE,292
$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,66
$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
$GPS1,090419,222716,-3205.5308,2910.2043,6,0.9,15,-26.8,1.9,235.2,9,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-71.5
$GPS2,090419,223354,-3205.8650,2909.8447,5,1.0,14,-26.8,1.7,222.6,8,10.0
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3214.138,2918.051
$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,20,begin dive
$GC,22,-0.88,-92.5,96,1821,620,559,0.0,0.0,0,106,0.00,0.00,-81.60,0.000,16386,0.000,0.000,93,1821,2813,2782,2844,0,0,0,0,0,0,15.14,28.83,15.16
$GC,111,-0.88,-92.5,93,1822,2783,2845,3.4,-6.1,15,136,13.35,2.35,-4.68,0.000,18948,0.269,0.078,2466,409,3078,3067,3090,0,0,0,0,0,0,14.76,14.19,15.00
$GC,470,-0.88,-92.5,2467,409,3069,3089,70.8,-15.6,84,477,0.05,2.22,0.00,0.000,3078,0.347,0.031,2469,1810,3079,3071,3087,0,0,0,0,0,0,14.79,14.97,14.98
$GC,541,-0.88,-92.5,2468,1813,3072,3086,80.6,-16.3,97,546,0.00,0.00,0.00,0.000,2054,0.000,0.000,2469,1813,3079,3072,3086,0,0,0,0,0,0,15.23,15.24,15.24
$STATE,602,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,602,begin apogee
$GC,607,-0.17,0.0,2469,1813,3073,3086,87.9,-9.9,109,679,1.15,0.00,66.32,0.815,10246,0.166,0.000,2697,1814,2699,2716,2683,0,0,0,0,0,0,14.87,14.83,14.41
$STATE,682,end apogee,CONTROL_FINISHED_OK
$STATE,683,begin climb
$GC,685,0.88,92.5,2697,1814,2716,2682,92.5,0.0,122,765,1.58,2.35,71.30,0.818,10500,0.067,0.047,3047,3199,2321,2345,2298,0,0,0,0,0,0,14.82,14.69,14.32
$GC,1154,0.88,92.5,3047,3199,2335,2294,50.1,10.4,212,1161,0.00,2.30,0.00,0.000,5126,0.000,0.043,3046,1793,2313,2335,2292,0,0,0,0,0,0,15.09,15.00,15.11
$GC,1225,0.93,132.3,3047,1793,2335,2293,44.7,7.1,225,1265,0.00,2.38,30.75,0.765,10756,0.000,0.061,3047,397,2157,2185,2129,0,0,0,0,0,0,15.21,14.87,14.53
$GC,1272,0.94,142.2,3047,397,2182,2130,40.2,9.3,233,1290,0.00,2.25,8.70,0.660,11270,0.000,0.031,3047,1802,2119,2148,2090,0,0,0,0,0,0,15.02,14.95,14.46
$GC,1353,0.98,175.0,3047,1803,2146,2085,31.8,7.6,248,1388,0.00,2.40,25.77,0.750,10756,0.000,0.065,3047,407,1983,2016,1950,0,0,0,0,0,0,15.14,14.79,14.50
$GC,1893,1.10,268.0,3047,407,2008,1942,4.8,3.3,354,1950,0.20,2.22,48.22,0.754,11270,0.102,0.030,3114,1814,1605,1645,1565,0,0,0,0,0,0,15.04,15.06,14.50
$STATE,1956,end climb,SURFACE_DEPTH_REACHED
$STATE,1956,begin surface coast
$FINISH,0.3,1.001310
$STATE,2023,end surface coast,CONTROL_FINISHED_OK
$STATE,2023,begin surface
$SM_CCo,2046,136.07,0.728,0,0,599,515.37
$SM_GC,0.97,13.85,0.00,136.07,0.047,0.000,0.728,127,1815,599,-8.17,0.08,515.37,0,0,0,0,0,0,14.95,15.15,14.35
$IRIDIUM_FIX,-3150.62,2913.15,090419,214913
$TT8_MAMPS,0.019474,0.51681
$HUMID,41.57
$INTERNAL_PRESSURE,9.61506
$TCM_TEMP,23.10
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,65.3,32.6
$SC_FREEKB,3767840
$24V_AH,14.19,102.521
$10V_AH,13.90,0.000
$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,30.175,18.475,251.075,136.075,0.000,25.375,40.669,149.583,3.250,0.000,16.343,779.580,368.085,441.419,881.925,125.085,0.000,784.085,0.000,583.684,0.000,12.966,0.000
$DEVICE_MAMPS,347.310,78.030,817.785,727.515,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2060.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.873,0.000,0.000,0.000
$MEM,340888
$DATA_FILE_SIZE,10128,378
$CAP_FILE_SIZE,60746,0
$CFSIZE,2097086464,2036760576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,090419,231136,-3207.139,2908.594,6,0.9,15,-26.8,2.0,220.6,9,9.5