version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 304
start: 4 10 119 7 5 50
data:
$ID,574
$MISSION,3
$DIVE,304
$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,41
$R_STBD_OVSHOOT,49
$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
$GPS1,100419,065849,-3226.8682,2852.9463,6,0.9,16,-27.1,2.7,227.2,9,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-67.0
$GPS2,100419,070527,-3227.2729,2852.5940,6,0.9,15,-27.1,1.5,217.4,9,9.4
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3233.467,2903.089
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-0.88,-92.5,71,1812,634,538,0.0,0.0,0,106,0.00,0.00,-81.35,0.000,16386,0.000,0.000,64,1811,2800,2769,2831,0,0,0,0,0,0,15.16,28.83,15.16
$GC,109,-0.88,-92.5,64,1811,2769,2831,3.5,-5.8,15,134,13.50,2.40,-4.97,0.000,18948,0.267,0.080,2466,408,3081,3071,3091,0,0,0,0,0,0,14.76,13.83,14.97
$GC,379,-0.88,-92.5,2466,408,3072,3090,59.0,-14.7,67,386,0.00,2.25,0.00,0.000,3078,0.000,0.031,2457,1817,3081,3072,3090,0,0,0,0,0,0,15.11,15.03,15.12
$GC,451,-0.88,-92.5,2457,1820,3073,3086,69.0,-15.2,80,458,0.08,2.38,0.00,0.000,2564,0.299,0.055,2476,408,3080,3073,3087,0,0,0,0,0,0,14.89,14.97,14.99
$STATE,595,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,595,begin apogee
$GC,602,-0.17,0.0,2467,1806,3074,3087,90.8,-14.3,108,675,1.17,0.00,67.32,0.959,10246,0.169,0.000,2697,1809,2699,2716,2683,0,0,0,0,0,0,14.85,14.79,14.34
$STATE,678,end apogee,CONTROL_FINISHED_OK
$STATE,678,begin climb
$GC,680,0.88,92.5,2697,1809,2715,2682,94.2,0.0,121,766,1.55,2.42,72.32,0.958,11012,0.085,0.058,3033,408,2320,2342,2298,0,0,0,0,0,0,14.76,14.64,14.21
$GC,1081,0.94,140.6,3033,407,2336,2292,66.8,6.5,197,1126,0.00,2.22,37.28,0.926,11270,0.000,0.030,3033,1810,2124,2156,2093,0,0,0,0,0,0,15.00,14.94,14.40
$GC,1189,0.94,140.6,3033,1811,2152,2090,55.2,12.2,217,1196,0.00,2.38,0.00,0.000,2564,0.000,0.061,3040,402,2120,2151,2090,0,0,0,0,0,0,15.09,14.88,15.10
$GC,1701,1.11,280.9,3039,402,2146,2084,28.0,-0.2,318,1803,0.25,2.22,89.53,0.907,11270,0.083,0.030,3117,1817,1551,1597,1506,0,0,0,0,0,0,14.99,14.98,14.32
$STATE,1824,end climb,FINISH_DEPTH_REACHED
$STATE,1824,begin subsurface finish
$FINISH1,19.6,1.024067,176
$GC,1830,0.22,176.2,3117,1817,1596,1502,19.6,11.9,340,1849,1.48,2.45,-7.30,0.000,20996,0.187,0.083,2828,400,1986,2026,1946,0,0,0,0,0,0,14.68,13.81,14.83
$FINISH2,18.0
$STATE,1850,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1850,begin surface
$IRIDIUM_FIX,-3213.52,2854.35,100419,061832
$TT8_MAMPS,0.021721,0.954975
$HUMID,43.06
$INTERNAL_PRESSURE,9.71272
$TCM_TEMP,23.10
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,65.4,35.2
$SC_FREEKB,3761696
$24V_AH,13.81,104.170
$10V_AH,13.96,0.000
$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,18.025,21.000,266.450,0.000,0.000,26.106,38.508,150.674,2.500,0.000,16.372,685.272,320.020,308.238,823.550,118.250,0.000,631.035,0.000,528.458,0.000,10.114,0.000
$DEVICE_MAMPS,299.115,82.620,959.310,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1884.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.905,0.000,0.000,0.000
$MEM,340888
$DATA_FILE_SIZE,6795,343
$CAP_FILE_SIZE,52123,0
$CFSIZE,2097086464,2034794496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,100419,070527,-3227.273,2852.594,6,0.9,15,-27.1,1.5,217.4,9,9.4