version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 298
start: 4 10 119 2 48 19
data:
$ID,574
$MISSION,3
$DIVE,298
$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,40
$R_STBD_OVSHOOT,46
$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
$GPS1,100419,024116,-3215.9609,2901.2734,6,1.1,14,-27.0,2.3,221.0,9,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-70.2
$GPS2,100419,024755,-3216.3633,2900.9561,5,1.1,12,-27.0,2.1,228.8,9,10.0
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3223.865,2910.156
$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,161.0,20000,-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,-92.5,58,1808,621,555,0.0,0.0,0,111,0.00,0.00,-86.75,0.000,16386,0.000,0.000,56,1808,2960,2931,2989,0,0,0,0,0,0,15.13,28.83,15.14
$GC,116,-0.88,-92.5,55,1808,2931,2990,3.8,-7.4,16,141,13.55,2.35,-2.03,0.000,18948,0.267,0.076,2468,413,3080,3066,3094,0,0,0,0,0,0,14.76,13.80,14.99
$GC,314,-0.88,-92.5,2468,412,3070,3093,47.2,-15.1,54,321,0.00,2.25,0.00,0.000,3078,0.000,0.032,2459,1819,3082,3072,3092,0,0,0,0,0,0,15.09,15.02,15.10
$GC,386,-0.88,-92.5,2459,1822,3073,3090,57.6,-14.7,67,393,0.05,2.35,0.00,0.000,2564,0.364,0.054,2470,409,3081,3074,3088,0,0,0,0,0,0,14.85,14.96,15.02
$GC,555,-0.88,-92.5,2470,408,3073,3089,84.9,-16.7,99,561,0.00,2.22,0.00,0.000,3078,0.000,0.029,2461,1826,3081,3073,3089,0,0,0,0,0,0,15.04,14.99,15.05
$STATE,572,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,572,begin apogee
$GC,577,-0.17,0.0,2460,1829,3074,3088,88.2,-16.8,102,650,1.17,0.00,67.05,0.822,10246,0.141,0.000,2698,1830,2701,2716,2687,0,0,0,0,0,0,14.88,14.83,14.44
$STATE,653,end apogee,CONTROL_FINISHED_OK
$STATE,653,begin climb
$GC,655,0.88,92.5,2698,1830,2716,2682,93.2,0.0,115,736,1.52,2.30,71.22,0.826,10500,0.086,0.044,3027,3194,2322,2345,2299,0,0,0,0,0,0,14.78,14.69,14.30
$GC,1020,0.89,95.8,3027,3196,2337,2295,59.9,9.8,184,1027,0.00,2.28,0.00,0.000,3078,0.000,0.041,3037,1801,2316,2338,2294,0,0,0,0,0,0,14.99,14.92,15.00
$GC,1091,0.91,114.7,3036,1801,2337,2293,54.3,8.6,197,1115,0.00,2.42,18.02,0.752,10756,0.000,0.061,3037,391,2230,2255,2205,0,0,0,0,0,0,15.19,14.92,14.53
$GC,1227,0.91,114.7,3037,391,2250,2204,41.4,11.0,223,1234,0.00,2.25,0.00,0.000,3078,0.000,0.031,3037,1795,2226,2250,2203,0,0,0,0,0,0,15.04,14.97,15.05
$GC,1298,0.91,116.0,3037,1796,2250,2201,34.2,9.9,236,1304,0.00,2.35,0.00,0.000,2564,0.000,0.060,3040,398,2226,2250,2202,0,0,0,0,0,0,15.20,14.97,15.20
$GC,1312,0.92,126.5,3039,398,2249,2201,32.8,9.3,238,1330,0.00,2.25,9.52,0.677,11270,0.000,0.030,3040,1815,2185,2213,2157,0,0,0,0,0,0,15.06,14.99,14.49
$GC,1393,1.02,203.4,3039,1816,2211,2155,28.3,4.4,253,1449,0.10,2.40,48.40,0.914,11012,0.151,0.058,3099,399,1869,1904,1835,0,0,0,0,0,0,14.93,14.73,14.37
$STATE,1772,end climb,SURFACE_DEPTH_REACHED
$STATE,1772,begin surface coast
$FINISH,0.5,1.023609
$STATE,1818,end surface coast,CONTROL_FINISHED_OK
$STATE,1818,begin surface
$SM_CCo,1843,170.27,0.737,0,0,598,515.37
$SM_GC,0.92,13.70,2.28,170.27,0.045,0.028,0.737,118,1810,598,-8.18,-1.87,515.37,0,0,0,0,0,0,15.03,15.05,14.33
$IRIDIUM_FIX,-3200.79,2902.04,100419,020316
$TT8_MAMPS,0.021721,0.96621
$HUMID,42.00
$INTERNAL_PRESSURE,9.58576
$TCM_TEMP,22.90
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,65.1,32.8
$SC_FREEKB,3764768
$24V_AH,13.80,103.323
$10V_AH,14.13,0.000
$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,30.100,27.700,214.225,170.275,0.000,25.246,36.144,156.322,2.250,0.000,15.009,707.463,320.487,457.590,817.132,127.141,0.000,772.459,0.000,519.545,0.000,10.107,0.000
$DEVICE_MAMPS,364.140,76.500,914.175,736.695,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1855.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.704,0.000,0.000,0.000
$MEM,340888
$DATA_FILE_SIZE,6822,336
$CAP_FILE_SIZE,59073,0
$CFSIZE,2097086464,2035777536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,100419,032249,-3217.791,2859.977,6,1.1,15,-27.0,2.2,200.7,8,9.6