version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 307
start: 4 10 119 8 59 9
data:
$ID,574
$MISSION,3
$DIVE,307
$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,34
$R_STBD_OVSHOOT,61
$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
$GPS1,100419,082819,-3230.4810,2849.8704,6,0.9,18,-27.2,2.5,220.0,9,8.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,15.72
$_SM_ANGLEo,-2.4
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-0.88,-92.5,2844,1819,1932,1855,0.0,0.0,0,31,0.00,0.00,-7.07,0.000,16386,0.000,0.000,2844,1819,2297,2331,2264,0,0,0,0,0,0,15.19,28.83,15.19
$GC,34,-0.88,-92.5,2844,1819,2332,2266,15.3,0.0,1,58,1.67,2.28,-12.50,0.000,20740,0.069,0.067,2460,3208,3081,3078,3085,0,0,0,0,0,0,14.97,13.82,15.02
$GC,86,-0.88,-92.5,2459,3208,3078,3085,22.7,-20.0,10,92,0.00,2.30,0.00,0.000,3078,0.000,0.044,2459,1808,3081,3078,3085,0,0,0,0,0,0,15.05,14.94,15.06
$GC,156,-0.88,-92.5,2459,1805,3078,3085,36.6,-19.4,23,163,0.03,2.33,0.00,0.000,2564,0.508,0.049,2469,395,3082,3079,3085,0,0,0,0,0,0,14.87,14.97,15.04
$GC,381,-0.88,-92.5,2469,394,3079,3085,72.9,-19.7,66,387,0.00,2.25,0.00,0.000,3078,0.000,0.032,2460,1801,3081,3078,3085,0,0,0,0,0,0,15.08,15.00,15.09
$STATE,413,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,413,begin apogee
$GC,418,-0.17,0.0,2460,1804,3078,3085,78.7,-17.0,72,491,1.17,0.00,66.85,0.960,10246,0.158,0.000,2694,1805,2699,2718,2681,0,0,0,0,0,0,14.89,14.76,14.33
$STATE,494,end apogee,CONTROL_FINISHED_OK
$STATE,494,begin climb
$GC,496,0.88,92.5,2694,1805,2718,2681,85.7,0.0,85,577,1.52,2.35,71.53,0.962,11012,0.076,0.039,3030,3207,2321,2344,2298,0,0,0,0,0,0,14.78,14.66,14.21
$GC,584,0.91,113.7,3030,3208,2342,2297,84.2,8.5,99,608,0.00,2.35,17.62,0.917,11270,0.000,0.041,3033,1796,2236,2263,2210,0,0,0,0,0,0,14.78,14.70,14.24
$GC,672,0.98,173.2,3033,1796,2259,2205,78.7,5.7,115,728,0.08,2.42,46.15,0.936,10756,0.178,0.062,3089,396,1992,2025,1959,0,0,0,0,0,0,14.81,14.66,14.24
$GC,1233,1.11,277.3,3088,396,2015,1953,26.9,2.5,225,1307,0.00,2.28,67.00,0.885,11270,0.000,0.028,3088,1832,1569,1608,1530,0,0,0,0,0,0,15.11,15.05,14.35
$GC,1371,1.11,277.3,3089,1831,1605,1522,17.1,10.6,250,1377,0.00,2.45,0.00,0.000,2564,0.000,0.062,3099,393,1563,1605,1522,0,0,0,0,0,0,15.05,14.84,15.06
$STATE,1478,end climb,SURFACE_DEPTH_REACHED
$STATE,1478,begin surface coast
$FINISH,0.4,1.023602
$STATE,1499,end surface coast,CONTROL_FINISHED_OK
$STATE,1499,begin surface
$SM_CCo,1525,131.73,0.722,0,0,597,515.37
$SM_GC,0.91,13.75,2.28,131.73,0.045,0.027,0.722,114,1793,597,-8.18,-2.15,515.37,0,0,0,0,0,0,15.00,14.99,14.35
$IRIDIUM_FIX,-3216.07,2849.88,100419,081951
$TT8_MAMPS,0.021721,0.716793
$HUMID,42.20
$INTERNAL_PRESSURE,9.61506
$TCM_TEMP,23.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,55.4,32.9
$SC_FREEKB,3760160
$24V_AH,13.82,104.550
$10V_AH,13.87,0.000
$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,18.225,25.575,269.150,131.725,0.000,0.000,0.000,0.000,0.750,0.000,0.000,575.071,255.753,395.010,489.140,67.517,0.000,660.092,0.000,428.901,0.000,7.059,0.000
$DEVICE_MAMPS,507.960,66.555,962.370,722.160,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1536.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.305,0.000,0.000,0.000
$MEM,341064
$DATA_FILE_SIZE,6782,275
$CAP_FILE_SIZE,46428,0
$CFSIZE,2097086464,2034302976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100419,092747,-3232.772,2848.018,6,0.9,19,-27.2,3.3,220.8,8,9.3