version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 308
start: 4 10 119 9 37 55
data:
$ID,574
$MISSION,3
$DIVE,308
$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,40
$R_STBD_OVSHOOT,53
$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
$GPS1,100419,092747,-3232.7722,2848.0176,6,0.9,19,-27.2,3.3,220.8,8,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-67.7
$GPS2,100419,093731,-3233.3420,2847.4482,6,0.7,35,-27.2,2.5,228.8,10,5.2
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3239.536,2857.956
$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,22,-0.88,-92.5,54,1800,625,548,0.0,0.0,0,106,0.00,0.00,-81.62,0.000,16386,0.000,0.000,53,1800,2821,2790,2853,0,0,0,0,0,0,15.12,28.83,15.16
$GC,109,-0.88,-92.5,54,1800,2791,2853,3.3,-5.0,15,134,13.65,2.35,-4.60,0.000,18948,0.275,0.073,2463,405,3080,3067,3093,0,0,0,0,0,0,14.74,13.81,14.97
$GC,488,-0.88,-92.5,2464,402,3071,3091,77.4,-14.9,88,494,0.00,2.25,0.00,0.000,3078,0.000,0.031,2461,1817,3080,3072,3088,0,0,0,0,0,0,15.12,15.04,15.13
$GC,557,-0.88,-92.5,2461,1820,3073,3087,86.8,-15.0,101,563,0.00,0.00,0.00,0.000,2054,0.000,0.000,2461,1820,3080,3073,3087,0,0,0,0,0,0,15.24,15.24,15.24
$STATE,568,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,568,begin apogee
$GC,573,-0.17,0.0,2460,1820,3073,3087,89.1,-15.5,103,645,1.20,0.00,67.00,0.946,10246,0.159,0.000,2699,1820,2701,2717,2686,0,0,0,0,0,0,14.89,14.76,14.33
$STATE,649,end apogee,CONTROL_FINISHED_OK
$STATE,649,begin climb
$GC,651,0.88,92.5,2699,1820,2717,2684,92.6,0.0,116,736,1.52,2.45,72.57,0.951,11012,0.078,0.057,3033,400,2320,2343,2297,0,0,0,0,0,0,14.76,14.60,14.21
$GC,879,0.88,92.5,3033,401,2339,2293,76.0,10.4,158,886,0.00,2.25,0.00,0.000,3078,0.000,0.030,3033,1806,2315,2339,2292,0,0,0,0,0,0,15.00,14.92,15.00
$GC,950,0.90,111.1,3033,1808,2338,2291,69.2,8.7,171,973,0.00,2.40,15.10,0.851,10756,0.000,0.061,3033,378,2245,2271,2219,0,0,0,0,0,0,15.14,14.83,14.42
$GC,1478,1.03,208.9,3033,378,2266,2213,37.9,2.9,275,1563,0.15,2.28,73.68,0.913,11270,0.112,0.028,3089,1822,1845,1883,1807,0,0,0,0,0,0,15.05,15.04,14.33
$GC,1626,1.05,228.3,3090,1822,1881,1800,26.4,8.6,302,1644,0.00,2.40,11.45,0.818,10756,0.000,0.057,3101,399,1767,1810,1725,0,0,0,0,0,0,15.06,14.73,14.38
$STATE,1700,end climb,FINISH_DEPTH_REACHED
$STATE,1700,begin subsurface finish
$FINISH1,19.8,1.023708,195
$GC,1709,0.24,194.7,3100,1795,1805,1721,19.8,9.0,316,1722,1.33,2.40,-2.53,0.000,20996,0.179,0.084,2843,402,1911,1949,1874,0,0,0,0,0,0,14.76,13.83,14.87
$FINISH2,18.6
$STATE,1723,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1723,begin surface
$IRIDIUM_FIX,-3216.07,2849.88,100419,082201
$TT8_MAMPS,0.020223,0.750498
$HUMID,42.75
$INTERNAL_PRESSURE,9.73225
$TCM_TEMP,23.50
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,65.6,33.0
$SC_FREEKB,3759648
$24V_AH,13.81,104.667
$10V_AH,13.86,0.000
$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,17.850,21.050,239.800,0.000,0.000,27.068,52.978,268.233,5.500,0.000,36.623,646.176,294.643,287.940,925.628,163.297,0.000,590.624,0.000,492.913,0.000,10.103,0.000
$DEVICE_MAMPS,274.635,84.150,950.895,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1757.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.187,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,6812,318
$CAP_FILE_SIZE,52622,0
$CFSIZE,2097086464,2034139136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,100419,093731,-3233.342,2847.448,6,0.7,35,-27.2,2.5,228.8,10,5.2