version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 297
start: 4 10 119 2 7 43
data:
$ID,574
$MISSION,3
$DIVE,297
$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,36
$R_STBD_OVSHOOT,57
$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
$GPS1,100419,015858,-3214.0129,2902.7512,6,1.1,18,-26.9,2.1,214.8,8,9.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-70.4
$GPS2,100419,020719,-3214.5122,2902.3442,6,1.0,37,-26.9,2.5,216.0,8,5.4
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3222.014,2911.541
$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,160.9,20000,-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,21,-0.88,-92.5,71,1835,620,555,0.0,0.0,0,106,0.00,0.00,-82.15,0.000,16386,0.000,0.000,64,1836,2804,2775,2833,0,0,0,0,0,0,15.16,28.83,15.17
$GC,109,-0.88,-92.5,65,1836,2775,2834,3.2,-5.0,15,134,13.50,2.42,-4.97,0.000,18948,0.268,0.077,2467,404,3079,3071,3088,0,0,0,0,0,0,14.75,13.82,14.98
$GC,327,-0.88,-92.5,2467,404,3072,3087,48.7,-15.7,57,334,0.05,2.25,0.00,0.000,3078,0.352,0.031,2468,1812,3079,3072,3087,0,0,0,0,0,0,14.83,15.04,15.04
$GC,397,-0.88,-92.5,2467,1815,3073,3085,58.6,-13.0,70,404,0.00,2.33,0.00,0.000,2564,0.000,0.044,2468,394,3079,3073,3086,0,0,0,0,0,0,15.23,15.01,15.23
$STATE,625,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,625,begin apogee
$GC,632,-0.17,0.0,2459,1804,3073,3085,90.4,-14.2,114,705,1.20,0.00,66.57,0.830,10246,0.158,0.000,2697,1808,2700,2717,2683,0,0,0,0,0,0,14.89,14.77,14.42
$STATE,708,end apogee,CONTROL_FINISHED_OK
$STATE,708,begin climb
$GC,710,0.88,92.5,2698,1808,2716,2682,94.0,0.0,127,791,1.52,2.35,71.28,0.828,10500,0.089,0.047,3026,3196,2321,2343,2300,0,0,0,0,0,0,14.79,14.69,14.23
$GC,798,0.99,179.7,3026,3196,2342,2300,90.6,3.7,141,873,0.10,2.33,66.60,0.818,11270,0.145,0.038,3079,1792,1969,2003,1936,0,0,0,0,0,0,14.73,14.73,14.25
$GC,935,0.99,179.7,3079,1791,1995,1926,72.1,17.2,166,942,0.00,2.35,0.00,0.000,4612,0.000,0.056,3090,392,1960,1994,1926,0,0,0,0,0,0,14.99,14.73,14.99
$GC,1045,0.99,179.7,3089,392,1989,1924,52.6,17.0,187,1051,0.00,2.28,0.00,0.000,5126,0.000,0.031,3090,1817,1956,1989,1923,0,0,0,0,0,0,15.00,14.92,15.01
$GC,1115,0.99,179.7,3089,1821,1989,1922,40.6,18.5,200,1122,0.00,2.40,0.00,0.000,4612,0.000,0.061,3100,392,1955,1989,1922,0,0,0,0,0,0,15.14,14.85,15.15
$GC,1155,0.99,179.7,3100,393,1988,1922,32.8,18.3,207,1162,0.10,2.22,0.00,0.000,5126,0.263,0.030,3082,1798,1955,1988,1922,0,0,0,0,0,0,14.83,14.98,15.00
$GC,1226,0.99,179.7,3081,1800,1988,1921,24.5,10.5,220,1232,0.00,2.35,0.00,0.000,4612,0.000,0.060,3091,392,1954,1987,1921,0,0,0,0,0,0,15.21,14.90,15.19
$STATE,1685,end climb,SURFACE_DEPTH_REACHED
$STATE,1685,begin surface coast
$FINISH,0.2,1.023656
$STATE,1751,end surface coast,CONTROL_FINISHED_OK
$STATE,1751,begin surface
$SM_CCo,1777,182.43,0.735,0,0,599,515.37
$SM_GC,0.95,13.68,2.30,182.43,0.044,0.032,0.735,106,1801,599,-8.21,-1.72,515.37,0,0,0,0,0,0,15.06,15.07,14.33
$IRIDIUM_FIX,-3158.24,2904.27,100419,012027
$TT8_MAMPS,0.021721,0.927262
$HUMID,42.12
$INTERNAL_PRESSURE,9.6053
$TCM_TEMP,23.00
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,65.6,34.3
$SC_FREEKB,3765280
$24V_AH,13.82,103.190
$10V_AH,14.00,0.000
$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,30.150,27.875,204.450,182.425,0.000,58.158,20.710,156.583,2.250,0.000,38.747,686.699,369.762,455.142,840.050,124.090,0.000,759.093,0.000,502.152,0.000,10.109,0.000
$DEVICE_MAMPS,351.900,77.265,830.025,735.165,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1788.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,37.247,0.000,0.000,0.000
$MEM,340928
$DATA_FILE_SIZE,6813,324
$CAP_FILE_SIZE,57539,0
$CFSIZE,2097086464,2035941376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,100419,024116,-3215.961,2901.273,6,1.1,14,-27.0,2.3,221.0,9,9.8