version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 312
start: 4 10 119 12 28 36
data:
$ID,574
$MISSION,3
$DIVE,312
$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,37
$R_STBD_OVSHOOT,46
$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
$GPS1,100419,121801,-3239.3418,2841.8618,7,0.8,37,-27.3,2.1,221.8,9,5.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-65.4
$GPS2,100419,122812,-3239.9583,2841.2625,6,0.8,14,-27.3,2.6,218.8,9,10.0
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3246.152,2851.783
$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,152.3,20000,-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,-92.5,56,1800,626,546,0.0,0.0,0,106,0.00,0.00,-81.62,0.000,16386,0.000,0.000,54,1801,2820,2790,2850,0,0,0,0,0,0,15.11,28.83,15.13
$GC,109,-0.88,-92.5,53,1800,2790,2851,3.5,-6.4,15,134,13.77,2.38,-4.62,0.000,18948,0.281,0.076,2466,402,3082,3071,3093,0,0,0,0,0,0,14.71,13.77,14.94
$GC,379,-0.88,-92.5,2466,401,3073,3092,65.3,-16.9,66,386,0.08,2.28,0.00,0.000,3078,0.294,0.031,2471,1823,3081,3073,3090,0,0,0,0,0,0,14.84,15.02,15.02
$GC,451,-0.88,-92.5,2471,1826,3074,3088,76.4,-13.1,79,458,0.00,2.28,0.00,0.000,2308,0.000,0.047,2463,3217,3081,3075,3087,0,0,0,0,0,0,15.21,14.97,15.22
$GC,506,-0.88,-92.5,2462,3217,3074,3088,82.8,-11.2,89,513,0.00,2.30,0.00,0.000,3078,0.000,0.039,2463,1803,3081,3075,3088,0,0,0,0,0,0,15.07,14.98,15.08
$GC,577,-0.88,-92.5,2462,1803,3076,3087,90.0,-10.5,102,583,0.00,2.33,0.00,0.000,2564,0.000,0.056,2463,402,3081,3076,3087,0,0,0,0,0,0,15.23,15.00,15.23
$GC,775,-0.88,-92.5,2462,402,3076,3087,114.1,-8.5,140,782,0.10,2.28,0.00,0.000,3078,0.251,0.034,2473,1819,3081,3076,3087,0,0,0,0,0,0,14.82,14.95,14.97
$STATE,823,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,823,begin apogee
$GC,829,-0.17,0.0,2472,1822,3077,3087,119.6,-9.2,149,902,1.12,0.00,67.75,0.996,10246,0.154,0.000,2699,1823,2699,2717,2682,0,0,0,0,0,0,14.88,14.78,14.32
$STATE,905,end apogee,CONTROL_FINISHED_OK
$STATE,905,begin climb
$GC,907,0.88,92.5,2699,1823,2716,2681,123.3,0.0,162,993,1.52,2.47,72.43,1.003,11012,0.075,0.057,3033,398,2319,2342,2296,0,0,0,0,0,0,14.76,14.62,14.20
$GC,1493,0.94,141.9,3033,397,2334,2291,73.7,6.4,275,1539,0.00,2.25,38.08,0.961,11270,0.000,0.030,3033,1809,2119,2151,2087,0,0,0,0,0,0,15.05,14.99,14.40
$GC,1602,0.95,147.9,3033,1809,2147,2083,65.4,9.6,295,1614,0.00,0.00,5.38,0.681,10246,0.000,0.000,3033,1809,2097,2130,2064,0,0,0,0,0,0,15.11,14.88,14.38
$GC,1678,0.99,180.6,3033,1806,2127,2062,58.9,7.6,309,1713,0.08,2.38,26.40,0.933,10756,0.184,0.060,3091,402,1962,1997,1927,0,0,0,0,0,0,14.92,14.83,14.35
$GC,1952,1.06,234.9,3090,402,1986,1919,31.5,6.1,362,2003,0.00,2.22,41.17,0.925,11270,0.000,0.030,3091,1802,1740,1783,1697,0,0,0,0,0,0,15.00,14.95,14.40
$GC,2067,1.10,271.9,3090,1802,1781,1692,24.1,7.3,383,2096,0.00,2.40,22.42,0.871,10756,0.000,0.063,3090,400,1590,1635,1545,0,0,0,0,0,0,15.08,14.69,14.35
$STATE,2116,end climb,FINISH_DEPTH_REACHED
$STATE,2116,begin subsurface finish
$FINISH1,19.6,1.023694,195
$GC,2127,0.24,195.4,3091,1798,1633,1543,19.6,8.9,392,2140,1.27,2.38,-5.40,0.000,20996,0.165,0.082,2841,403,1906,1947,1866,0,0,0,0,0,0,14.73,14.18,14.83
$FINISH2,17.8
$STATE,2141,end subsurface finish,CONTROL_FINISHED_OK
$STATE,2141,begin surface
$IRIDIUM_FIX,-3221.17,2846.63,100419,104952
$TT8_MAMPS,0.020972,0.794689
$HUMID,43.58
$INTERNAL_PRESSURE,9.68342
$TCM_TEMP,22.60
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,95.0,34.6
$SC_FREEKB,3757600
$24V_AH,13.77,105.215
$10V_AH,13.89,0.000
$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,17.950,30.225,273.625,0.000,0.000,22.536,22.940,327.357,4.500,0.000,15.348,810.663,372.257,327.082,1065.288,184.697,0.000,691.257,0.000,605.490,0.000,20.700,0.000
$DEVICE_MAMPS,293.760,81.855,1002.915,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2190.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.642,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,10109,394
$CAP_FILE_SIZE,66094,0
$CFSIZE,2097086464,2033451008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,100419,122812,-3239.958,2841.262,6,0.8,14,-27.3,2.6,218.8,9,10.0