version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 314
start: 4 10 119 13 58 35
data:
$ID,574
$MISSION,3
$DIVE,314
$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,50
$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
$GPS1,100419,134724,-3243.0388,2838.1768,7,1.3,47,-27.3,2.4,223.8,7,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-64.3
$GPS2,100419,135811,-3243.6941,2837.5200,6,1.3,46,-27.3,1.9,223.0,7,4.6
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3249.888,2848.048
$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,-92.5,63,1805,625,548,0.0,0.0,0,100,0.00,0.00,-76.05,0.000,16386,0.000,0.000,55,1804,2652,2628,2676,0,0,0,0,0,0,15.13,28.83,15.14
$GC,104,-0.88,-92.5,55,1804,2628,2675,3.1,-3.7,14,134,13.75,2.33,-8.23,0.000,18948,0.281,0.077,2466,402,3078,3073,3083,0,0,0,0,0,0,14.71,13.78,14.95
$GC,232,-0.88,-92.5,2466,402,3073,3083,37.8,-22.9,38,239,0.08,2.28,0.00,0.000,3078,0.295,0.031,2471,1821,3078,3074,3083,0,0,0,0,0,0,14.83,14.99,15.00
$GC,304,-0.88,-92.5,2471,1823,3073,3084,50.7,-18.4,51,311,0.00,2.38,0.00,0.000,2564,0.000,0.057,2471,408,3078,3073,3083,0,0,0,0,0,0,15.19,14.89,15.19
$GC,417,-0.88,-92.5,2475,408,3074,3083,73.8,-19.7,72,423,0.00,2.25,0.00,0.000,3078,0.000,0.032,2463,1811,3077,3071,3083,0,0,0,0,0,0,15.07,15.02,15.11
$GC,487,-0.88,-92.5,2463,1813,3073,3082,84.0,-12.9,85,494,0.00,2.30,0.00,0.000,2308,0.000,0.048,2452,3220,3078,3074,3082,0,0,0,0,0,0,15.22,15.00,15.22
$GC,507,-0.88,-92.5,2452,3220,3073,3082,86.4,-11.9,88,514,0.10,2.33,0.00,0.000,3078,0.236,0.040,2472,1806,3078,3074,3082,0,0,0,0,0,0,14.88,15.01,15.04
$GC,581,-0.88,-92.5,2471,1805,3074,3082,92.9,-8.6,101,588,0.00,2.35,0.00,0.000,2564,0.000,0.062,2472,404,3077,3074,3081,0,0,0,0,0,0,15.23,15.00,15.23
$STATE,748,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,749,begin apogee
$GC,758,-0.17,0.0,2462,1843,3075,3081,114.0,-6.3,134,832,1.20,0.03,66.95,0.991,10246,0.171,0.281,2697,1791,2701,2720,2683,0,0,0,0,0,0,14.85,14.66,14.30
$STATE,834,end apogee,CONTROL_FINISHED_OK
$STATE,834,begin climb
$GC,836,0.88,92.5,2697,1792,2718,2682,118.3,0.0,147,922,1.50,2.35,72.65,0.995,10500,0.054,0.060,3042,3154,2320,2341,2299,0,0,0,0,0,0,14.77,14.58,14.19
$GC,930,0.96,159.3,3041,3155,2338,2300,111.0,5.2,162,991,0.00,2.25,52.42,0.975,11270,0.000,0.041,3050,1792,2049,2084,2015,0,0,0,0,0,0,14.77,14.69,14.18
$GC,1055,0.96,159.3,3050,1792,2071,2012,97.4,12.7,185,1061,0.00,2.35,0.00,0.000,2564,0.000,0.061,3051,406,2043,2076,2011,0,0,0,0,0,0,14.97,14.76,14.97
$GC,1275,0.97,166.6,3050,406,2068,2011,65.1,9.5,228,1288,0.00,2.17,5.55,0.678,11270,0.000,0.029,3050,1775,2020,2052,1988,0,0,0,0,0,0,15.04,14.96,14.42
$GC,1351,1.00,191.7,3050,1775,2051,1986,58.2,8.2,242,1380,0.00,2.30,21.00,0.898,10756,0.000,0.062,3054,404,1915,1951,1880,0,0,0,0,0,0,15.16,14.85,14.42
$GC,1635,1.05,232.0,3053,404,1944,1877,31.4,7.1,297,1676,0.10,2.22,30.80,0.909,11270,0.152,0.029,3102,1803,1752,1791,1714,0,0,0,0,0,0,14.98,15.02,14.41
$GC,1739,1.06,233.2,3101,1803,1789,1710,21.2,9.9,316,1745,0.00,0.00,0.00,0.000,4102,0.000,0.000,3102,1803,1750,1790,1710,0,0,0,0,0,0,15.11,15.11,15.11
$STATE,1755,end climb,FINISH_DEPTH_REACHED
$STATE,1755,begin subsurface finish
$FINISH1,19.4,1.023669,197
$GC,1761,0.24,196.7,3102,1803,1789,1710,19.4,9.5,319,1775,1.33,2.38,-2.60,0.000,20996,0.174,0.085,2844,412,1902,1940,1865,0,0,0,0,0,0,14.79,13.84,14.88
$FINISH2,18.3
$STATE,1775,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1776,begin surface
$IRIDIUM_FIX,-3228.84,2839.90,100419,122129
$TT8_MAMPS,0.020223,0.933254
$HUMID,44.32
$INTERNAL_PRESSURE,9.68342
$TCM_TEMP,23.00
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,90.2,33.7
$SC_FREEKB,3756576
$24V_AH,13.78,105.485
$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,18.050,34.525,249.375,0.000,0.000,24.982,15.894,338.811,5.250,0.000,47.375,661.539,280.841,317.905,985.447,184.970,0.000,639.905,0.000,492.841,0.000,17.710,0.000
$DEVICE_MAMPS,295.290,280.755,995.265,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1819.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.033,0.000,0.000,0.000
$MEM,340920
$DATA_FILE_SIZE,6814,321
$CAP_FILE_SIZE,60861,0
$CFSIZE,2097086464,2033156096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,100419,135811,-3243.694,2837.520,6,1.3,46,-27.3,1.9,223.0,7,4.6