version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 299
start: 4 10 119 3 29 50
data:
$ID,574
$MISSION,3
$DIVE,299
$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,125
$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,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
$GPS1,100419,032249,-3217.7905,2859.9773,6,1.1,15,-27.0,2.2,200.7,8,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-70.1
$GPS2,100419,032927,-3218.2000,2859.6650,6,1.4,14,-27.0,3.3,205.6,8,10.0
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3224.394,2910.143
$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,152.0,20000,-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,-92.5,58,1818,621,555,0.0,0.0,0,112,0.00,0.00,-87.28,0.000,16386,0.000,0.000,55,1818,2970,2941,2999,0,0,0,0,0,0,15.14,28.83,15.14
$GC,117,-0.88,-92.5,55,1818,2942,2999,3.9,-8.1,16,142,13.65,2.38,-1.85,0.000,18948,0.275,0.080,2467,414,3080,3064,3097,0,0,0,0,0,0,14.76,13.80,14.99
$GC,380,-0.88,-92.5,2467,413,3070,3094,55.0,-14.7,67,390,0.05,2.22,0.00,0.000,3078,0.350,0.033,2469,1809,3082,3072,3092,0,0,0,0,0,0,14.79,15.02,14.97
$GC,456,-0.88,-92.5,2469,1809,3073,3090,69.3,-22.5,80,463,0.00,2.33,0.00,0.000,2564,0.000,0.054,2470,407,3081,3072,3090,0,0,0,0,0,0,15.23,14.97,15.23
$STATE,563,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,564,begin apogee
$GC,571,-0.17,0.0,2461,1808,3073,3089,85.2,-8.6,101,644,1.20,0.00,66.95,0.926,10246,0.172,0.000,2695,1811,2701,2716,2686,0,0,0,0,0,0,14.88,14.80,14.34
$STATE,647,end apogee,CONTROL_FINISHED_OK
$STATE,647,begin climb
$GC,649,0.88,92.5,2696,1810,2716,2686,89.7,0.0,114,734,1.48,2.33,72.00,0.968,10500,0.044,0.042,3053,3200,2321,2342,2300,0,0,0,0,0,0,14.81,14.64,14.23
$GC,836,0.88,92.5,3052,3203,2337,2297,69.8,14.4,148,844,0.08,2.33,0.00,0.000,5126,0.308,0.041,3047,1799,2316,2336,2297,0,0,0,0,0,0,14.71,14.86,14.89
$GC,907,0.88,92.5,3049,1799,2336,2295,60.9,12.1,161,914,0.00,2.33,0.00,0.000,4612,0.000,0.053,3058,387,2315,2335,2295,0,0,0,0,0,0,15.10,14.90,15.10
$GC,1123,0.95,145.2,3057,387,2331,2293,40.9,6.2,203,1169,0.00,2.25,40.05,0.913,11270,0.000,0.028,3058,1817,2107,2137,2078,0,0,0,0,0,0,15.09,15.02,14.40
$GC,1232,0.95,145.2,3057,1818,2133,2073,28.2,10.7,223,1239,0.00,2.40,0.00,0.000,2564,0.000,0.061,3060,399,2102,2132,2072,0,0,0,0,0,0,15.09,14.88,15.10
$STATE,1727,end climb,NO_VERTICAL_VELOCITY
$STATE,1728,begin surface
$SM_CCo,1732,203.52,0.780,0,0,597,515.37
$SM_GC,0.99,13.62,2.33,0.00,0.035,0.033,0.000,116,1799,589,-8.17,-1.87,517.82,0,0,0,0,0,0,14.83,14.79,14.88
$IRIDIUM_FIX,-3200.79,2902.04,100419,024354
$TT8_MAMPS,0.021721,0.878577
$HUMID,42.63
$INTERNAL_PRESSURE,9.6053
$TCM_TEMP,22.90
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,60.7,34.2
$SC_FREEKB,3764256
$24V_AH,13.80,103.461
$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,30.075,23.150,179.000,203.525,0.000,23.438,36.775,153.280,2.000,0.000,17.003,681.838,405.963,458.566,793.323,121.608,0.000,755.847,0.000,499.794,0.000,8.574,0.000
$DEVICE_MAMPS,350.370,80.325,967.725,779.535,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1766.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.102,0.000,0.000,0.000
$MEM,340928
$DATA_FILE_SIZE,6814,321
$CAP_FILE_SIZE,54839,0
$CFSIZE,2097086464,2035613696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,100419,040503,-3219.657,2858.642,6,1.4,24,-27.0,2.0,224.7,8,10.0