version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 293
start: 4 9 119 23 18 28
data:
$ID,574
$MISSION,3
$DIVE,293
$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,134
$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,67
$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
$GPS1,090419,231136,-3207.1389,2908.5938,6,0.9,15,-26.8,2.0,220.6,9,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-71.6
$GPS2,090419,231805,-3207.4829,2908.2485,6,1.0,16,-26.8,1.9,207.2,9,9.4
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3214.984,2917.434
$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,160.8,20000,-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,-92.5,107,1820,619,559,0.0,0.0,0,109,0.00,0.00,-84.38,0.000,16386,0.000,0.000,106,1820,2900,2871,2930,0,0,0,0,0,0,15.15,28.83,15.15
$GC,112,-0.88,-92.5,106,1821,2871,2931,3.2,-5.2,15,137,13.32,2.38,-3.15,0.000,18948,0.272,0.080,2466,402,3080,3067,3094,0,0,0,0,0,0,14.77,13.83,15.00
$GC,372,-0.88,-92.5,2466,402,3070,3093,55.0,-15.5,65,379,0.08,2.22,0.00,0.000,3078,0.287,0.032,2472,1797,3082,3072,3092,0,0,0,0,0,0,14.88,15.04,15.05
$GC,443,-0.88,-92.5,2472,1801,3072,3088,65.7,-14.5,78,449,0.00,2.30,0.00,0.000,2564,0.000,0.054,2473,406,3080,3073,3088,0,0,0,0,0,0,15.23,15.01,15.23
$GC,478,-0.88,-92.5,2472,406,3073,3089,71.7,-17.0,84,485,0.00,2.25,0.00,0.000,3078,0.000,0.033,2464,1814,3081,3073,3089,0,0,0,0,0,0,15.12,15.04,15.13
$GC,548,-0.88,-92.5,2464,1817,3073,3089,80.7,-13.7,97,554,0.00,2.35,0.00,0.000,2564,0.000,0.060,2464,410,3080,3073,3088,0,0,0,0,0,0,15.23,15.01,15.23
$STATE,636,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,636,begin apogee
$GC,643,-0.17,0.0,2454,1798,3073,3088,94.5,-15.9,114,716,1.23,0.00,66.60,0.828,10246,0.168,0.000,2695,1802,2699,2716,2683,0,0,0,0,0,0,14.89,14.79,14.38
$STATE,719,end apogee,CONTROL_FINISHED_OK
$STATE,719,begin climb
$GC,721,0.88,92.5,2695,1802,2716,2683,98.5,0.0,127,802,1.52,2.42,71.43,0.833,11012,0.077,0.057,3033,398,2322,2346,2298,0,0,0,0,0,0,14.81,14.68,14.33
$GC,901,0.88,92.5,3033,398,2341,2294,90.4,10.5,159,908,0.00,2.28,0.00,0.000,3078,0.000,0.030,3033,1815,2317,2341,2294,0,0,0,0,0,0,14.96,14.90,14.97
$GC,971,0.88,92.5,3033,1814,2339,2292,83.4,12.2,172,978,0.00,2.38,0.00,0.000,2564,0.000,0.055,3039,396,2316,2340,2293,0,0,0,0,0,0,15.13,14.84,15.12
$GC,1126,0.92,125.7,3040,396,2338,2292,69.1,7.6,202,1160,0.00,2.22,26.15,0.778,11270,0.000,0.031,3040,1796,2185,2213,2157,0,0,0,0,0,0,15.07,15.01,14.45
$GC,1224,0.93,133.7,3040,1797,2210,2154,59.9,9.4,220,1237,0.00,2.40,7.35,0.651,10756,0.000,0.061,3050,399,2152,2182,2123,0,0,0,0,0,0,15.14,14.85,14.47
$GC,1269,0.93,133.7,3046,399,2181,2123,55.5,11.0,228,1276,0.00,2.25,0.00,0.000,3078,0.000,0.030,3047,1805,2151,2180,2122,0,0,0,0,0,0,15.04,14.96,15.04
$GC,1340,0.93,133.7,3046,1807,2180,2120,47.1,11.7,241,1346,0.00,2.28,0.00,0.000,2308,0.000,0.044,3047,3207,2149,2179,2120,0,0,0,0,0,0,15.16,14.97,15.16
$GC,1389,0.93,133.7,3047,3206,2178,2120,41.0,12.5,250,1395,0.00,2.33,0.00,0.000,3078,0.000,0.044,3054,1791,2149,2178,2120,0,0,0,0,0,0,15.07,14.98,15.09
$GC,1459,0.95,148.9,3054,1791,2177,2120,33.5,8.9,263,1478,0.00,2.38,12.52,0.715,10756,0.000,0.060,3061,394,2091,2122,2060,0,0,0,0,0,0,15.20,14.90,14.46
$GC,1984,1.11,279.0,3060,394,2115,2057,18.0,0.6,366,2069,0.15,2.25,74.55,0.862,11270,0.119,0.029,3115,1824,1561,1601,1521,0,0,0,0,0,0,15.04,15.07,14.40
$GC,2132,1.11,279.0,3115,1825,1600,1516,5.4,11.5,393,2139,0.00,2.40,0.00,0.000,516,0.000,0.061,3126,400,1557,1600,1515,0,0,0,0,0,0,15.06,14.81,15.06
$STATE,2153,end climb,SURFACE_DEPTH_REACHED
$STATE,2154,begin surface coast
$FINISH,0.3,0.999549
$STATE,2180,end surface coast,CONTROL_FINISHED_OK
$STATE,2180,begin surface
$SM_CCo,2207,130.50,0.731,0,0,598,515.37
$SM_GC,0.91,13.93,2.28,130.50,0.047,0.030,0.731,125,1801,598,-8.17,-2.18,515.37,0,0,0,0,0,0,14.93,14.95,14.34
$IRIDIUM_FIX,-3153.16,2908.71,090419,222958
$TT8_MAMPS,0.020972,0.961716
$HUMID,41.69
$INTERNAL_PRESSURE,9.59553
$TCM_TEMP,22.90
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,70.4,33.5
$SC_FREEKB,3767328
$24V_AH,13.83,102.660
$10V_AH,14.05,0.000
$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,30.225,41.625,258.600,130.500,0.000,25.076,15.830,161.080,2.750,0.000,17.330,842.931,384.487,467.377,907.901,137.477,0.000,842.728,0.000,614.361,0.000,11.633,0.000
$DEVICE_MAMPS,286.875,79.560,862.155,731.340,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2222.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.157,0.000,0.000,0.000
$MEM,340928
$DATA_FILE_SIZE,10105,402
$CAP_FILE_SIZE,70332,0
$CFSIZE,2097086464,2036563968
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,98.77,0x236098,0,24
$GPS,090419,235826,-3208.927,2906.948,6,1.1,20,-26.8,2.4,217.3,8,9.9