version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 313
start: 4 10 119 13 6 58
data:
$ID,574
$MISSION,3
$DIVE,313
$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,42
$R_STBD_OVSHOOT,59
$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
$GPS1,100419,122812,-3239.9583,2841.2625,6,0.8,14,-27.3,2.6,218.8,9,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,17.31
$_SM_ANGLEo,-2.6
$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,-92.5,2841,1825,1949,1865,0.0,0.0,0,30,0.00,0.00,-6.38,0.000,16386,0.000,0.000,2841,1824,2282,2319,2246,0,0,0,0,0,0,15.17,28.83,15.18
$GC,33,-0.88,-92.5,2841,1824,2319,2246,16.6,0.0,1,57,1.67,2.28,-12.48,0.000,20740,0.074,0.064,2461,3209,3081,3078,3085,0,0,0,0,0,0,14.95,13.80,15.01
$GC,64,-0.88,-92.5,2457,3209,3077,3084,19.5,-11.7,6,71,0.00,2.30,0.00,0.000,3078,0.000,0.044,2461,1811,3080,3077,3084,0,0,0,0,0,0,15.01,14.98,15.02
$GC,134,-0.88,-92.5,2460,1811,3078,3084,36.2,-25.8,19,140,0.00,2.35,0.00,0.000,2564,0.000,0.061,2460,406,3080,3078,3083,0,0,0,0,0,0,15.20,14.97,15.21
$GC,305,-0.88,-92.5,2460,406,3079,3080,69.6,-19.2,52,315,0.10,2.25,0.00,0.000,3078,0.254,0.034,2470,1805,3081,3078,3084,0,0,0,0,0,0,14.84,14.97,14.98
$GC,379,-0.88,-92.5,2470,1806,3078,3084,82.5,-16.1,65,385,0.00,2.30,0.00,0.000,2308,0.000,0.044,2461,3220,3081,3078,3084,0,0,0,0,0,0,15.23,15.02,15.23
$GC,402,-0.88,-92.5,2461,3219,3078,3083,85.9,-15.1,69,409,0.00,2.30,0.00,0.000,3078,0.000,0.040,2461,1809,3080,3078,3083,0,0,0,0,0,0,15.11,15.02,15.12
$GC,474,-0.88,-92.5,2461,1806,3079,3083,95.9,-11.0,82,480,0.00,2.33,0.00,0.000,2564,0.000,0.060,2460,410,3080,3078,3083,0,0,0,0,0,0,15.23,14.99,15.23
$STATE,627,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,627,begin apogee
$GC,635,-0.17,0.0,2451,1813,3079,3083,116.2,-17.0,112,707,1.27,0.00,67.57,1.024,10246,0.179,0.000,2698,1817,2700,2719,2682,0,0,0,0,0,0,14.87,14.77,14.31
$STATE,711,end apogee,CONTROL_FINISHED_OK
$STATE,711,begin climb
$GC,713,0.88,92.5,2698,1817,2718,2681,120.7,0.0,125,799,1.50,2.33,72.47,1.024,10500,0.052,0.044,3058,3195,2320,2343,2297,0,0,0,0,0,0,14.78,14.59,14.19
$GC,907,0.88,92.5,3057,3194,2338,2295,100.7,19.8,160,915,0.10,2.30,0.00,0.000,5126,0.276,0.040,3049,1796,2316,2338,2295,0,0,0,0,0,0,14.71,14.85,14.88
$GC,979,0.88,92.5,3048,1797,2337,2294,93.8,10.0,173,985,0.00,2.33,0.00,0.000,4612,0.000,0.057,3058,399,2315,2336,2294,0,0,0,0,0,0,15.10,14.84,15.10
$GC,1491,0.97,164.8,3057,399,2332,2293,61.1,4.8,274,1553,0.00,2.25,55.28,0.981,11270,0.000,0.030,3058,1816,2027,2058,1996,0,0,0,0,0,0,15.11,15.05,14.36
$GC,1615,0.99,183.5,3057,1816,2053,1991,52.2,8.7,297,1639,0.00,2.40,15.43,0.896,10756,0.000,0.061,3068,398,1950,1983,1917,0,0,0,0,0,0,15.06,14.81,14.33
$GC,1872,1.06,235.7,3067,396,1977,1911,29.3,6.2,347,1918,0.05,2.22,37.53,0.935,11270,0.258,0.031,3101,1795,1736,1775,1698,0,0,0,0,0,0,14.88,14.99,14.39
$GC,1981,1.12,283.9,3100,1795,1772,1693,23.9,6.5,367,2016,0.00,2.42,29.70,0.890,10756,0.000,0.062,3111,402,1542,1581,1503,0,0,0,0,0,0,15.07,14.77,14.34
$GC,2128,1.12,283.9,3111,402,1578,1494,6.8,14.6,395,2135,0.00,2.25,0.00,0.000,3078,0.000,0.031,3111,1797,1536,1578,1494,0,0,0,0,0,0,14.93,14.86,14.94
$STATE,2160,end climb,SURFACE_DEPTH_REACHED
$STATE,2161,begin surface coast
$FINISH,0.2,1.023600
$STATE,2183,end surface coast,CONTROL_FINISHED_OK
$STATE,2183,begin surface
$SM_CCo,2207,131.48,0.746,0,0,599,515.37
$SM_GC,0.77,13.82,0.00,131.48,0.041,0.000,0.746,115,1800,599,-8.18,-0.34,515.37,0,0,0,0,0,0,14.95,15.15,14.33
$IRIDIUM_FIX,-3221.17,2846.63,100419,104952
$TT8_MAMPS,0.020972,0.942991
$HUMID,43.34
$INTERNAL_PRESSURE,9.56623
$TCM_TEMP,22.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.2,36.0
$SC_FREEKB,3757088
$24V_AH,13.80,105.358
$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,18.525,39.175,277.975,131.475,0.000,0.000,0.000,0.000,2.500,0.000,0.000,860.369,395.160,425.659,699.625,88.836,0.000,786.230,0.000,620.844,0.000,17.714,0.000
$DEVICE_MAMPS,276.165,64.260,1024.335,745.875,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2228.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.378,0.000,0.000,0.000
$MEM,341056
$DATA_FILE_SIZE,10110,405
$CAP_FILE_SIZE,65987,0
$CFSIZE,2097086464,2033287168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100419,134724,-3243.039,2838.177,7,1.3,47,-27.3,2.4,223.8,7,4.6