version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 306
start: 4 10 119 8 28 44
data:
$ID,574
$MISSION,3
$DIVE,306
$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,47
$R_STBD_OVSHOOT,40
$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
$GPS1,100419,081631,-3229.7688,2850.5212,6,1.0,29,-27.2,2.7,216.3,9,5.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-70.3
$GPS2,100419,082819,-3230.4810,2849.8704,6,0.9,18,-27.2,2.5,220.0,9,8.8
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3236.675,2900.372
$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,152.2,20000,-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,-92.5,54,1806,623,550,0.0,0.0,0,106,0.00,0.00,-82.25,0.000,16386,0.000,0.000,54,1806,2845,2813,2877,0,0,0,0,0,0,15.13,28.83,15.12
$GC,109,-0.88,-92.5,54,1807,2814,2877,3.6,-6.8,15,134,13.68,2.33,-4.03,0.000,18948,0.275,0.074,2467,414,3078,3064,3093,0,0,0,0,0,0,14.76,14.16,14.98
$GC,410,-0.88,-92.5,2466,413,3068,3089,65.4,-23.0,73,418,0.05,2.28,0.00,0.000,3078,0.352,0.029,2467,1835,3078,3070,3087,0,0,0,0,0,0,14.84,15.02,15.04
$STATE,475,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,475,begin apogee
$GC,480,-0.17,0.0,2466,1838,3072,3086,75.4,-18.7,85,552,1.17,0.00,66.95,0.934,10246,0.177,0.000,2697,1839,2699,2716,2682,0,0,0,0,0,0,14.78,14.78,14.34
$STATE,555,end apogee,CONTROL_FINISHED_OK
$STATE,556,begin climb
$GC,558,0.88,92.5,2697,1839,2715,2682,79.9,0.0,98,639,1.52,2.28,71.93,0.937,11012,0.086,0.039,3027,3199,2322,2345,2299,0,0,0,0,0,0,14.76,14.66,14.21
$GC,827,0.90,105.7,3027,3205,2338,2294,60.9,9.1,148,846,0.00,2.30,11.02,0.804,11270,0.000,0.047,3030,1813,2269,2293,2246,0,0,0,0,0,0,15.01,14.92,14.41
$GC,909,0.91,113.4,3030,1812,2290,2242,54.3,9.5,163,922,0.00,2.42,7.53,0.737,10756,0.000,0.060,3033,392,2236,2262,2211,0,0,0,0,0,0,15.13,14.90,14.40
$GC,1427,1.08,250.9,3033,391,2254,2208,38.7,0.0,265,1539,0.22,2.25,102.55,0.922,11270,0.090,0.029,3105,1827,1676,1716,1636,0,0,0,0,0,0,15.05,15.07,14.28
$GC,1603,1.08,250.9,3104,1826,1712,1630,25.0,10.1,297,1609,0.00,2.40,0.00,0.000,516,0.000,0.060,3114,394,1671,1712,1630,0,0,0,0,0,0,15.02,14.74,15.02
$STATE,1650,end climb,FINISH_DEPTH_REACHED
$STATE,1650,begin subsurface finish
$FINISH1,19.8,1.023629,199
$GC,1659,0.24,198.7,3114,1795,1710,1626,19.8,10.2,306,1672,1.40,2.38,-3.83,0.000,20996,0.182,0.086,2845,389,1893,1931,1855,0,0,0,0,0,0,14.69,13.83,14.79
$FINISH2,17.8
$STATE,1673,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1673,begin surface
$IRIDIUM_FIX,-3216.07,2849.88,100419,081951
$TT8_MAMPS,0.021721,0.910035
$HUMID,42.75
$INTERNAL_PRESSURE,9.72248
$TCM_TEMP,23.50
$XPDR_PINGS,13
$ALTIM_BOTTOM_PING,55.3,29.8
$SC_FREEKB,3760672
$24V_AH,13.83,104.426
$10V_AH,13.83,0.000
$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,18.050,20.900,259.975,0.000,0.000,49.696,57.775,311.164,4.000,0.000,19.414,618.404,343.149,294.203,968.975,166.293,0.000,592.811,0.000,476.643,0.000,7.052,0.000
$DEVICE_MAMPS,351.900,85.680,937.125,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1715.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.865,0.000,0.000,0.000
$MEM,340920
$DATA_FILE_SIZE,6803,308
$CAP_FILE_SIZE,52191,0
$CFSIZE,2097086464,2034466816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,100419,082819,-3230.481,2849.870,6,0.9,18,-27.2,2.5,220.0,9,8.8