version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 502
start: 4 21 119 18 34 22
data:
$ID,574
$MISSION,3
$DIVE,502
$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,5
$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,280
$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,30
$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,32
$R_STBD_OVSHOOT,47
$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,20
$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,2
$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
$GPS1,210419,182225,-3419.2322,2546.3254,8,0.8,43,-27.9,0.0,30.9,10,4.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-65.0
$GPS2,210419,183355,-3419.1982,2546.3308,8,0.9,17,-27.9,0.7,152.0,10,8.0
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3409.846,2552.856
$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,57.9,20000,-13.1,-10.010,-16.32,4154
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.77,-272.5,53,1786,635,537,0.0,0.0,0,121,0.00,0.00,-95.68,0.000,16386,0.000,0.000,53,1787,3068,3034,3102,0,0,0,0,0,0,14.98,28.83,14.99
$GC,127,-0.77,-272.5,52,1787,3033,3103,3.9,-8.5,17,163,14.48,2.40,-11.57,0.000,18692,0.296,0.064,2494,3205,3813,3827,3799,0,0,0,0,0,0,14.50,13.43,14.78
$GC,267,-0.77,-272.5,2494,3206,3829,3799,33.9,-9.8,43,275,0.05,2.35,0.00,0.000,3078,0.293,0.041,2507,1809,3813,3828,3799,0,0,0,0,0,0,14.69,14.83,14.86
$GC,340,-0.77,-272.5,2507,1809,3828,3799,42.2,-12.3,56,347,0.00,2.40,0.00,0.000,2564,0.000,0.062,2507,409,3813,3828,3799,0,0,0,0,0,0,15.07,14.80,15.08
$GC,360,-0.77,-272.5,2507,409,3827,3798,44.7,-11.3,59,367,0.00,2.30,0.00,0.000,3078,0.000,0.031,2508,1812,3813,3827,3799,0,0,0,0,0,0,14.90,14.81,14.91
$GC,431,-0.77,-272.5,2507,1814,3828,3799,53.1,-12.1,72,438,0.00,2.35,0.00,0.000,2308,0.000,0.053,2507,3209,3813,3827,3799,0,0,0,0,0,0,15.09,14.83,15.09
$GC,486,-0.77,-272.5,2507,3210,3827,3799,59.3,-10.6,82,494,0.00,2.33,0.00,0.000,3078,0.000,0.038,2507,1810,3813,3828,3799,0,0,0,0,0,0,14.97,14.85,14.97
$GC,559,-0.77,-272.5,2506,1810,3828,3799,67.3,-11.7,95,564,0.00,0.00,0.00,0.000,2054,0.000,0.000,2507,1810,3813,3828,3799,0,0,0,0,0,0,15.11,15.11,15.11
$GC,632,-0.77,-272.5,2507,1810,3828,3799,75.1,-10.5,108,639,0.00,2.40,0.00,0.000,2564,0.000,0.060,2508,401,3813,3828,3799,0,0,0,0,0,0,15.09,14.84,15.09
$GC,677,-0.77,-272.5,2508,400,3828,3799,80.5,-10.4,116,684,0.00,2.33,0.00,0.000,1030,0.000,0.032,2507,1814,3813,3827,3799,0,0,0,0,0,0,14.97,14.90,14.98
$STATE,715,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,715,begin apogee
$GC,721,-0.17,0.0,2507,1817,3828,3799,84.5,-10.3,123,926,0.95,0.00,198.20,1.007,10246,0.127,0.000,2701,1816,2700,2736,2664,0,0,0,0,0,0,14.69,14.45,13.97
$STATE,929,end apogee,CONTROL_FINISHED_OK
$STATE,929,begin climb
$GC,932,0.77,272.5,2701,1816,2734,2663,97.6,0.0,160,1152,1.40,2.38,206.77,0.998,11012,0.057,0.045,3014,3200,1584,1623,1546,0,0,0,0,0,0,14.49,14.31,13.93
$GC,1342,0.77,272.5,3014,3200,1621,1542,51.4,13.4,235,1349,0.00,2.38,0.00,0.000,5126,0.000,0.048,3017,1800,1581,1621,1542,0,0,0,0,0,0,14.85,14.75,14.88
$GC,1414,0.77,272.5,3016,1800,1621,1540,42.7,11.9,248,1419,0.00,0.00,0.00,0.000,4102,0.000,0.000,3017,1800,1581,1622,1540,0,0,0,0,0,0,15.02,15.02,15.02
$GC,1483,0.77,272.5,3016,1800,1622,1540,33.0,13.8,261,1488,0.00,0.00,0.00,0.000,4102,0.000,0.000,3017,1799,1581,1622,1540,0,0,0,0,0,0,15.05,15.05,15.05
$GC,1552,0.77,272.5,3017,1800,1621,1539,23.5,13.4,274,1558,0.00,2.40,0.00,0.000,4612,0.000,0.067,3017,392,1580,1621,1539,0,0,0,0,0,0,15.06,14.81,15.07
$GC,1581,0.77,272.5,3017,391,1621,1538,19.9,10.4,279,1588,0.00,2.33,0.00,0.000,5126,0.000,0.031,3017,1807,1580,1621,1539,0,0,0,0,0,0,14.95,14.88,14.97
$GC,1653,0.77,272.5,3017,1810,1621,1537,12.4,10.9,292,1660,0.00,2.30,0.00,0.000,4356,0.000,0.045,3017,3198,1579,1621,1537,0,0,0,0,0,0,15.09,14.78,15.09
$STATE,1722,end climb,FINISH_DEPTH_REACHED
$STATE,1722,begin subsurface finish
$FINISH1,4.7,1.024939,131
$GC,1732,0.16,131.3,3017,1797,1621,1536,4.7,10.1,305,1761,0.98,0.00,-20.88,0.000,20486,0.140,0.000,2817,1797,2168,2210,2126,0,0,0,0,0,0,14.74,14.11,14.82
$FINISH2,2.9
$STATE,1762,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1762,begin surface
$IRIDIUM_FIX,-3404.29,2546.08,210419,170600
$TT8_MAMPS,0.021721,0.865844
$HUMID,45.27
$INTERNAL_PRESSURE,9.50764
$TCM_TEMP,20.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.4,34.1
$SC_FREEKB,3658688
$24V_AH,13.43,150.979
$10V_AH,13.50,0.000
$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,17.850,33.025,404.975,0.000,0.000,23.921,46.071,332.038,1.500,0.000,18.572,554.566,228.271,457.223,943.124,276.051,0.000,816.898,0.000,473.425,0.000,11.610,0.000
$DEVICE_MAMPS,296.055,67.320,1006.740,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1810.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.015,0.000,0.000,0.000
$MEM,340920
$DATA_FILE_SIZE,6789,310
$CAP_FILE_SIZE,58436,0
$CFSIZE,2097086464,1999077376
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,2825.83,0x2131c2,7,24
$GPS,210419,183355,-3419.198,2546.331,8,0.9,17,-27.9,0.7,152.0,10,8.0