version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 303
start: 4 10 119 6 23 25
data:
$ID,574
$MISSION,3
$DIVE,303
$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,2
$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,38
$R_STBD_OVSHOOT,32
$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
$GPS1,100419,061551,-3225.1753,2854.2686,6,1.4,17,-27.1,2.5,231.2,8,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-69.6
$GPS2,100419,062301,-3225.5835,2853.8660,6,0.9,29,-27.1,2.6,229.1,9,6.4
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3231.778,2904.358
$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,152.1,20000,-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,-92.5,68,1789,623,552,0.0,0.0,0,106,0.00,0.00,-81.85,0.000,16386,0.000,0.000,60,1789,2805,2772,2838,0,0,0,0,0,0,15.15,28.83,15.16
$GC,109,-0.88,-92.5,60,1790,2772,2838,3.1,-3.7,15,134,13.62,2.33,-4.97,0.000,18948,0.273,0.076,2469,405,3079,3069,3090,0,0,0,0,0,0,14.75,13.81,14.97
$GC,429,-0.88,-92.5,2468,405,3068,3090,68.8,-15.2,77,436,0.00,2.28,0.00,0.000,3078,0.000,0.031,2460,1833,3080,3072,3088,0,0,0,0,0,0,15.03,14.96,15.04
$GC,500,-0.88,-92.5,2459,1835,3073,3087,79.6,-14.8,90,507,0.00,2.25,0.00,0.000,2308,0.000,0.048,2449,3215,3079,3073,3086,0,0,0,0,0,0,15.23,14.99,15.23
$GC,524,-0.88,-92.5,2449,3216,3072,3086,83.7,-16.8,94,532,0.10,2.28,0.00,0.000,3078,0.234,0.040,2469,1809,3080,3073,3087,0,0,0,0,0,0,14.85,14.95,15.00
$GC,596,-0.88,-92.5,2469,1809,3073,3086,92.0,-11.7,107,602,0.00,2.33,0.00,0.000,2564,0.000,0.060,2469,412,3079,3073,3086,0,0,0,0,0,0,15.25,14.98,15.26
$STATE,633,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,633,begin apogee
$GC,640,-0.17,0.0,2461,1802,3073,3091,97.9,-14.1,114,713,1.20,0.00,67.35,0.963,10246,0.158,0.000,2699,1806,2699,2717,2682,0,0,0,0,0,0,14.83,14.79,14.33
$STATE,716,end apogee,CONTROL_FINISHED_OK
$STATE,716,begin climb
$GC,718,0.88,92.5,2699,1807,2716,2682,102.1,0.0,127,799,1.52,2.45,71.72,0.969,11012,0.039,0.057,3074,398,2321,2345,2297,0,0,0,0,0,0,14.82,14.64,14.20
$GC,977,0.88,94.0,3074,398,2337,2294,84.2,9.9,175,985,0.15,2.25,0.00,0.000,5126,0.236,0.029,3046,1816,2317,2337,2298,0,0,0,0,0,0,14.79,14.95,14.95
$GC,1049,0.92,122.7,3045,1817,2336,2291,78.0,7.9,188,1078,0.00,2.42,23.95,0.908,10756,0.000,0.059,3055,399,2198,2225,2171,0,0,0,0,0,0,15.16,14.86,14.41
$GC,1091,0.92,122.7,3054,399,2221,2169,73.6,10.6,195,1098,0.00,2.25,0.00,0.000,1030,0.000,0.031,3056,1802,2195,2221,2169,0,0,0,0,0,0,14.96,14.90,14.97
$GC,1161,0.92,122.7,3054,1803,2220,2166,65.5,11.8,208,1167,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1803,2194,2220,2169,0,0,0,0,0,0,15.11,15.12,15.11
$GC,1230,0.92,122.7,3054,1802,2219,2166,57.8,11.3,221,1236,0.00,2.33,0.00,0.000,516,0.000,0.057,3064,399,2194,2223,2166,0,0,0,0,0,0,15.15,14.92,15.16
$STATE,1684,end climb,NO_VERTICAL_VELOCITY
$STATE,1684,begin surface
$SM_CCo,1688,261.85,0.873,0,0,599,515.37
$SM_GC,0.93,13.98,2.33,0.00,0.062,0.030,0.000,123,1803,589,-8.18,-1.72,518.07,0,0,0,0,0,0,14.80,14.80,14.86
$IRIDIUM_FIX,-3210.97,2854.35,100419,053603
$TT8_MAMPS,0.021721,0.934003
$HUMID,42.32
$INTERNAL_PRESSURE,9.58576
$TCM_TEMP,23.20
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,75.0,32.6
$SC_FREEKB,3762208
$24V_AH,13.81,104.054
$10V_AH,14.11,0.000
$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,30.575,27.725,163.025,261.850,0.000,24.470,41.929,161.002,3.500,0.000,30.306,677.890,393.635,507.836,810.578,123.810,0.000,801.779,0.000,485.799,0.000,13.152,0.000
$DEVICE_MAMPS,273.105,75.735,969.255,872.865,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1723.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.029,0.000,0.000,0.000
$MEM,340928
$DATA_FILE_SIZE,6808,311
$CAP_FILE_SIZE,58086,0
$CFSIZE,2097086464,2034958336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,100419,065849,-3226.868,2852.946,6,0.9,16,-27.1,2.7,227.2,9,8.8