version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 315
start: 4 10 119 14 30 47
data:
$ID,574
$MISSION,3
$DIVE,315
$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,48
$R_STBD_OVSHOOT,60
$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
$GPS1,100419,135811,-3243.6941,2837.5200,6,1.3,46,-27.3,1.9,223.0,7,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,19.00
$_SM_ANGLEo,-1.8
$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,21,-0.88,-92.5,2843,1823,1941,1865,0.0,0.0,0,30,0.00,0.00,-6.93,0.000,16386,0.000,0.000,2843,1823,2309,2343,2276,0,0,0,0,0,0,15.20,28.83,15.21
$GC,33,-0.88,-92.5,2843,1823,2343,2277,16.6,0.0,1,52,1.62,2.40,-11.98,0.000,20996,0.079,0.075,2486,408,3080,3079,3081,0,0,0,0,0,0,14.97,13.81,15.02
$GC,145,-0.88,-92.5,2486,408,3079,3081,36.9,-22.4,22,152,0.00,2.25,0.00,0.000,5126,0.000,0.034,2481,1802,3080,3079,3081,0,0,0,0,0,0,15.07,15.00,15.08
$GC,216,-0.88,-92.5,2481,1805,3079,3081,49.7,-18.4,35,223,0.00,0.00,0.00,0.000,4102,0.000,0.000,2481,1805,3080,3079,3081,0,0,0,0,0,0,15.22,15.22,15.22
$GC,287,-0.88,-92.5,2481,1805,3078,3081,61.3,-16.3,48,293,0.00,2.35,0.00,0.000,4612,0.000,0.060,2481,412,3080,3079,3081,0,0,0,0,0,0,15.21,15.00,15.22
$GC,382,-0.88,-92.5,2481,412,3079,3081,78.9,-19.6,66,388,0.00,2.25,0.00,0.000,3078,0.000,0.031,2473,1829,3079,3078,3081,0,0,0,0,0,0,15.11,15.04,15.13
$GC,452,-0.88,-92.5,2473,1832,3079,3081,88.0,-9.9,79,459,0.00,2.35,0.00,0.000,2564,0.000,0.056,2473,416,3080,3079,3081,0,0,0,0,0,0,15.23,15.01,15.23
$GC,549,-0.88,-92.5,2473,416,3079,3081,103.1,-17.6,97,555,0.00,2.22,0.00,0.000,3078,0.000,0.029,2463,1815,3080,3079,3081,0,0,0,0,0,0,15.13,15.07,15.13
$GC,619,-0.88,-92.5,2463,1819,3079,3081,113.3,-16.6,110,626,0.00,2.38,0.00,0.000,2564,0.000,0.068,2463,419,3080,3079,3081,0,0,0,0,0,0,15.24,14.93,15.24
$STATE,672,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,672,begin apogee
$GC,679,-0.17,0.0,2453,1784,3079,3081,124.7,-19.1,120,752,1.25,0.00,67.50,1.036,10246,0.167,0.000,2699,1788,2701,2721,2681,0,0,0,0,0,0,14.87,14.77,14.31
$STATE,755,end apogee,CONTROL_FINISHED_OK
$STATE,755,begin climb
$GC,757,0.88,92.5,2699,1788,2718,2681,131.1,0.0,133,843,1.55,2.40,72.72,1.031,10500,0.112,0.043,3022,3214,2321,2346,2296,0,0,0,0,0,0,14.72,14.57,14.16
$GC,866,0.88,92.5,3021,3215,2343,2294,122.2,11.5,151,873,0.00,2.33,0.00,0.000,3078,0.000,0.039,3026,1808,2318,2343,2293,0,0,0,0,0,0,14.80,14.72,14.81
$GC,936,0.88,92.5,3026,1808,2342,2296,114.1,12.0,164,943,0.00,2.42,0.00,0.000,2564,0.000,0.068,3029,396,2316,2341,2292,0,0,0,0,0,0,15.01,14.80,15.01
$GC,1349,0.90,109.6,3028,395,2335,2291,91.6,8.8,245,1368,0.00,2.28,13.43,0.917,11270,0.000,0.031,3029,1819,2255,2283,2228,0,0,0,0,0,0,15.06,14.99,14.45
$GC,1431,0.97,162.3,3029,1819,2280,2225,86.9,6.2,260,1482,0.08,2.40,42.35,0.991,10756,0.180,0.060,3085,393,2036,2068,2005,0,0,0,0,0,0,14.91,14.76,14.37
$GC,1987,1.11,275.2,3084,394,2058,1998,33.2,1.8,369,2083,0.00,2.25,85.22,0.955,11270,0.000,0.030,3085,1805,1577,1615,1539,0,0,0,0,0,0,15.03,14.97,14.28
$GC,2146,1.13,297.7,3082,1805,1613,1532,23.1,8.4,398,2170,0.08,2.42,13.77,0.839,10756,0.180,0.063,3134,405,1484,1526,1442,0,0,0,0,0,0,14.79,14.76,14.29
$GC,2253,1.13,297.7,3134,404,1524,1440,7.9,12.6,418,2259,0.00,2.22,0.00,0.000,5126,0.000,0.029,3134,1797,1480,1524,1436,0,0,0,0,0,0,14.90,14.85,14.90
$STATE,2290,end climb,SURFACE_DEPTH_REACHED
$STATE,2290,begin surface coast
$FINISH,0.2,1.000855
$STATE,2312,end surface coast,CONTROL_FINISHED_OK
$STATE,2313,begin surface
$SM_CCo,2336,124.15,0.745,0,0,598,515.37
$SM_GC,0.85,13.85,0.00,124.15,0.035,0.000,0.745,112,1800,598,-8.18,-0.37,515.37,0,0,0,0,0,0,14.95,15.14,14.32
$IRIDIUM_FIX,-3228.84,2839.90,100419,122129
$TT8_MAMPS,0.021721,0.856107
$HUMID,43.58
$INTERNAL_PRESSURE,9.56623
$TCM_TEMP,22.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.0,33.6
$SC_FREEKB,3756064
$24V_AH,13.81,105.633
$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,18.425,39.450,295.000,124.150,0.000,0.000,0.000,0.000,3.000,0.000,0.000,909.040,420.479,432.182,732.606,93.402,0.000,811.749,0.000,657.442,0.000,21.345,0.000
$DEVICE_MAMPS,179.775,74.970,1035.810,745.110,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2351.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.427,0.000,0.000,0.000
$MEM,341064
$DATA_FILE_SIZE,10130,429
$CAP_FILE_SIZE,68916,0
$CFSIZE,2097086464,2032959488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100419,151301,-3246.995,2834.494,9,1.0,33,-27.4,2.0,218.3,8,6.0