version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 587
start: 4 24 119 8 9 35
data:
$ID,574
$MISSION,3
$DIVE,587
$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,31
$R_STBD_OVSHOOT,35
$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
$GPS1,240419,074121,-3414.9065,2510.3689,8,1.0,20,-27.5,0.5,244.6,8,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.07
$_SM_ANGLEo,2.0
$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,-292.0,2802,1809,2364,2270,0.0,0.0,0,107,0.00,0.00,-79.80,0.000,16390,0.000,0.000,2802,1810,3892,3913,3872,0,0,0,0,0,0,15.04,13.43,15.04
$GC,114,-1.11,-292.0,2802,1809,3913,3870,1.5,-6.2,15,121,1.85,2.45,0.00,0.000,4356,0.068,0.050,2388,3232,3893,3914,3872,0,0,0,0,0,0,14.84,14.83,14.92
$GC,241,-1.11,-292.0,2387,3232,3912,3872,27.2,-19.9,39,248,0.00,2.40,0.00,0.000,3078,0.000,0.046,2388,1811,3893,3913,3873,0,0,0,0,0,0,14.95,14.84,14.97
$GC,311,-1.11,-292.0,2387,1810,3912,3873,43.6,-25.1,52,319,0.03,2.42,0.00,0.000,2564,0.482,0.062,2396,402,3892,3912,3873,0,0,0,0,0,0,14.66,14.81,14.78
$GC,363,-1.11,-292.0,2395,403,3912,3873,56.1,-23.2,61,370,0.00,2.35,0.00,0.000,3078,0.000,0.036,2392,1823,3892,3912,3873,0,0,0,0,0,0,14.96,14.87,14.97
$GC,437,-1.11,-292.0,2392,1825,3912,3873,71.4,-19.9,74,444,0.00,2.35,0.00,0.000,2308,0.000,0.054,2392,3216,3890,3907,3873,0,0,0,0,0,0,15.09,14.83,15.09
$GC,493,-1.11,-292.0,2392,3217,3913,3873,81.1,-16.0,84,499,0.00,2.38,0.00,0.000,3078,0.000,0.044,2393,1802,3892,3913,3872,0,0,0,0,0,0,14.96,14.85,14.97
$GC,568,-1.11,-292.0,2392,1802,3913,3872,94.0,-18.4,97,574,0.00,0.00,0.00,0.000,2054,0.000,0.000,2393,1802,3892,3912,3873,0,0,0,0,0,0,15.09,15.09,15.09
$STATE,595,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,595,begin apogee
$GC,602,-0.17,0.0,2391,1802,3913,3873,99.9,-18.9,102,825,1.60,0.00,212.80,1.046,10246,0.170,0.000,2698,1802,2699,2737,2661,0,0,0,0,0,0,14.66,14.41,13.89
$STATE,827,end apogee,CONTROL_FINISHED_OK
$STATE,827,begin climb
$GC,830,1.11,292.0,2698,1802,2734,2659,115.0,0.0,142,1067,1.92,2.42,223.62,1.038,11012,0.047,0.043,3145,3204,1505,1548,1462,0,0,0,0,0,0,14.50,14.24,13.86
$GC,1124,1.11,292.0,3144,3205,1546,1463,75.7,24.4,193,1131,0.15,2.45,0.00,0.000,5126,0.272,0.054,3122,1808,1503,1545,1462,0,0,0,0,0,0,14.41,14.57,14.61
$GC,1196,1.11,292.0,3121,1807,1545,1461,57.3,28.1,206,1202,0.00,0.00,0.00,0.000,4102,0.000,0.000,3122,1807,1502,1545,1460,0,0,0,0,0,0,14.90,14.90,14.90
$GC,1266,1.11,296.5,3121,1807,1545,1460,41.4,19.8,219,1279,0.00,2.40,4.07,0.537,12548,0.000,0.047,3121,3202,1490,1533,1447,0,0,0,0,0,0,14.97,14.62,14.00
$GC,1293,1.18,353.9,3121,3202,1533,1442,36.7,17.3,223,1349,0.00,2.42,48.30,0.946,11270,0.000,0.051,3126,1788,1255,1310,1201,0,0,0,0,0,0,14.84,14.73,14.02
$GC,1414,1.18,353.9,3125,1789,1309,1198,14.0,20.9,245,1421,0.00,2.45,0.00,0.000,2564,0.000,0.074,3128,395,1253,1309,1198,0,0,0,0,0,0,14.88,14.64,14.88
$STATE,1466,end climb,SURFACE_DEPTH_REACHED
$STATE,1466,begin surface coast
$FINISH,0.4,1.015623
$STATE,1483,end surface coast,CONTROL_FINISHED_OK
$STATE,1483,begin surface
$SM_CCo,1513,108.88,0.773,0,0,597,515.37
$SM_GC,0.80,14.27,2.42,108.88,0.044,0.037,0.773,103,1815,597,-8.23,-1.07,515.37,0,0,0,0,0,0,14.80,14.76,14.08
$IRIDIUM_FIX,-3401.68,2511.10,240419,063249
$TT8_MAMPS,0.021721,0.944489
$HUMID,44.32
$INTERNAL_PRESSURE,9.30256
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.2,34.5
$SC_FREEKB,3615136
$24V_AH,13.43,167.491
$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,19.825,28.925,488.800,108.875,0.000,0.000,0.000,0.000,2.250,0.000,0.000,429.709,159.464,584.553,471.750,117.587,0.000,905.967,0.000,398.127,0.000,18.493,0.000
$DEVICE_MAMPS,481.950,74.205,1045.755,772.650,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1526.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.612,0.000,0.000,0.000
$MEM,341056
$DATA_FILE_SIZE,6826,258
$CAP_FILE_SIZE,47989,0
$CFSIZE,2097086464,1985150976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240419,083801,-3414.724,2509.649,8,0.8,40,-27.5,0.7,191.5,10,5.1