version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 586
start: 4 24 119 7 41 50
data:
$ID,574
$MISSION,3
$DIVE,586
$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,167
$T_MISSION,177
$T_ABORT,245
$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,300
$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,340
$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,30
$R_STBD_OVSHOOT,49
$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
$GPS1,240419,073015,-3414.8831,2510.5244,8,1.0,16,-27.5,0.5,275.1,8,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-65.8
$GPS2,240419,074121,-3414.9065,2510.3689,8,1.0,20,-27.5,0.5,244.6,8,9.8
$SPEED_LIMITS,0.346,0.443
$TGT_NAME,HEADING
$TGT_LATLONG,-3404.759,2505.910
$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,7.5,20000,-22.5,-19.960,-24.24,2247
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.11,-292.0,53,1817,638,532,0.0,0.0,0,128,0.00,0.00,-101.60,0.000,16386,0.000,0.000,53,1818,3107,3073,3141,0,0,0,0,0,0,14.96,28.83,14.97
$GC,135,-1.11,-292.0,53,1817,3072,3142,4.1,-10.1,19,170,13.90,2.40,-12.35,0.000,18692,0.298,0.073,2382,3209,3894,3906,3882,0,0,0,0,0,0,14.49,13.30,14.78
$GC,308,-1.11,-292.0,2381,3208,3906,3882,50.2,-19.3,51,315,0.08,2.38,0.00,0.000,3078,0.256,0.045,2397,1800,3894,3906,3882,0,0,0,0,0,0,14.66,14.81,14.84
$GC,382,-1.11,-292.0,2397,1799,3906,3882,64.7,-17.5,64,389,0.00,2.40,0.00,0.000,2308,0.000,0.052,2390,3207,3894,3906,3882,0,0,0,0,0,0,15.05,14.80,15.06
$GC,403,-1.11,-292.0,2390,3207,3906,3882,68.7,-19.0,67,410,0.00,2.35,0.00,0.000,3078,0.000,0.044,2390,1812,3892,3903,3882,0,0,0,0,0,0,14.93,14.82,14.96
$GC,476,-1.11,-292.0,2390,1811,3906,3882,82.4,-19.3,80,482,0.00,0.00,0.00,0.000,2054,0.000,0.000,2390,1812,3894,3906,3882,0,0,0,0,0,0,15.07,15.07,15.07
$GC,551,-1.11,-292.0,2389,1811,3906,3882,96.8,-19.5,93,556,0.00,0.00,0.00,0.000,2054,0.000,0.000,2390,1812,3894,3906,3882,0,0,0,0,0,0,15.08,15.08,15.08
$STATE,561,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,561,begin apogee
$GC,568,-0.17,0.0,2390,1812,3906,3882,99.8,-17.9,95,792,1.58,0.00,214.43,1.037,10246,0.172,0.000,2700,1811,2701,2737,2665,0,0,0,0,0,0,14.66,14.38,13.88
$STATE,794,end apogee,CONTROL_FINISHED_OK
$STATE,794,begin climb
$GC,797,1.11,292.0,2700,1811,2735,2663,116.3,0.0,135,1034,1.92,2.40,223.27,1.034,11012,0.057,0.045,3129,3194,1507,1549,1466,0,0,0,0,0,0,14.47,14.22,13.85
$GC,1114,1.11,292.0,3127,3194,1545,1463,71.7,24.1,191,1122,0.08,2.42,0.00,0.000,5126,0.332,0.053,3121,1798,1504,1545,1463,0,0,0,0,0,0,14.45,14.60,14.64
$GC,1187,1.11,292.0,3122,1798,1545,1461,53.5,27.0,204,1193,0.00,0.00,0.00,0.000,4102,0.000,0.000,3122,1798,1503,1545,1461,0,0,0,0,0,0,14.92,14.92,14.92
$GC,1257,1.11,292.0,3121,1798,1545,1460,37.0,21.0,217,1263,0.00,2.38,0.00,0.000,4356,0.000,0.045,3121,3202,1502,1545,1460,0,0,0,0,0,0,14.97,14.75,14.97
$GC,1271,1.11,292.0,3121,3202,1544,1460,34.0,21.7,219,1278,0.00,2.40,0.00,0.000,5126,0.000,0.051,3127,1795,1500,1541,1460,0,0,0,0,0,0,14.85,14.75,14.88
$GC,1344,1.16,337.9,3127,1795,1544,1459,21.6,17.9,232,1384,0.00,2.47,31.00,0.860,10756,0.000,0.071,3131,395,1319,1369,1269,0,0,0,0,0,0,15.01,14.64,14.15
$STATE,1420,end climb,FINISH_DEPTH_REACHED
$STATE,1420,begin subsurface finish
$FINISH1,4.6,1.025639,95
$GC,1431,0.12,95.3,3131,1804,1367,1267,4.6,22.6,246,1487,1.75,0.00,-48.28,0.000,20742,0.179,0.000,2802,1808,2314,2360,2269,0,0,0,0,0,0,14.58,13.52,14.68
$FINISH2,0.6
$STATE,1488,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1488,begin surface
$IRIDIUM_FIX,-3401.68,2511.10,240419,063249
$TT8_MAMPS,0.020972,0.950481
$HUMID,45.27
$INTERNAL_PRESSURE,9.46858
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.3,34.0
$SC_FREEKB,3615648
$24V_AH,13.30,167.299
$10V_AH,13.00,0.000
$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,19.300,24.000,468.700,0.000,0.000,23.044,42.102,305.761,2.250,0.000,23.854,397.310,140.129,514.287,832.093,281.459,0.000,850.477,0.000,395.031,0.000,16.159,0.000
$DEVICE_MAMPS,332.010,73.440,1036.575,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1529.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.468,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,6791,256
$CAP_FILE_SIZE,51089,0
$CFSIZE,2097086464,1985314816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,240419,074121,-3414.906,2510.369,8,1.0,20,-27.5,0.5,244.6,8,9.8