version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 597
start: 4 24 119 13 54 17
data:
$ID,574
$MISSION,3
$DIVE,597
$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,350
$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,43
$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
$GPS1,240419,132629,-3413.9912,2506.6814,8,0.9,19,-27.5,0.6,323.0,8,9.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.06
$_SM_ANGLEo,3.0
$GPS2,240419,132629,-3413.9912,2506.6814,8,0.9,19,-27.5,0.6,323.0,8,9.7
$SPEED_LIMITS,0.346,0.443
$TGT_NAME,HEADING
$TGT_LATLONG,-3403.844,2502.223
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.11,-292.0,2783,1818,2356,2269,0.0,0.0,0,107,0.00,0.00,-79.72,0.000,16390,0.000,0.000,2782,1819,3892,3915,3869,0,0,0,0,0,0,15.03,13.42,15.04
$GC,113,-1.11,-292.0,2783,1820,3915,3869,1.6,-6.4,15,121,1.67,2.40,0.00,0.000,4356,0.073,0.050,2409,3220,3892,3916,3869,0,0,0,0,0,0,14.82,14.78,14.90
$GC,206,-1.11,-292.0,2408,3220,3915,3871,17.5,-16.4,32,213,0.00,2.38,0.00,0.000,5126,0.000,0.044,2408,1810,3892,3915,3870,0,0,0,0,0,0,14.95,14.84,14.96
$GC,278,-1.11,-292.0,2408,1809,3915,3870,32.7,-24.1,45,285,0.00,2.42,0.00,0.000,4612,0.000,0.067,2409,401,3892,3915,3870,0,0,0,0,0,0,15.07,14.72,15.07
$GC,324,-1.11,-292.0,2408,399,3914,3871,42.6,-18.2,53,330,0.00,2.33,0.00,0.000,1030,0.000,0.035,2406,1811,3892,3914,3870,0,0,0,0,0,0,14.84,14.77,14.85
$GC,399,-1.11,-292.0,2406,1814,3915,3871,55.2,-19.0,66,405,0.00,2.33,0.00,0.000,260,0.000,0.054,2406,3212,3892,3915,3869,0,0,0,0,0,0,15.09,14.73,15.09
$GC,455,-1.11,-292.0,2406,3212,3915,3871,64.9,-14.0,76,465,0.00,2.35,0.00,0.000,1030,0.000,0.043,2406,1811,3893,3915,3871,0,0,0,0,0,0,14.90,14.80,14.91
$GC,530,-1.11,-292.0,2406,1812,3915,3871,76.1,-15.5,89,537,0.00,2.42,0.00,0.000,516,0.000,0.064,2406,404,3893,3914,3872,0,0,0,0,0,0,15.09,14.77,15.10
$GC,561,-1.11,-292.0,2406,403,3914,3871,81.6,-17.0,94,567,0.00,2.33,0.00,0.000,1030,0.000,0.034,2406,1813,3893,3915,3872,0,0,0,0,0,0,14.94,14.83,14.95
$GC,634,-1.11,-292.0,2406,1816,3915,3871,93.2,-17.2,107,641,0.00,2.35,0.00,0.000,260,0.000,0.055,2406,3218,3893,3915,3871,0,0,0,0,0,0,15.10,14.71,15.11
$GC,674,-1.11,-292.0,2406,3218,3915,3871,99.8,-14.1,114,681,0.00,2.38,0.00,0.000,1030,0.000,0.042,2406,1798,3893,3915,3872,0,0,0,0,0,0,14.85,14.74,14.85
$STATE,687,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,687,begin apogee
$GC,694,-0.17,0.0,2406,1801,3915,3872,101.7,-12.5,116,917,1.48,0.00,213.95,1.050,10246,0.162,0.000,2701,1801,2699,2739,2659,0,0,0,0,0,0,14.69,14.38,13.87
$STATE,919,end apogee,CONTROL_FINISHED_OK
$STATE,919,begin climb
$GC,922,1.11,292.0,2700,1800,2737,2658,119.9,0.0,156,1159,1.95,2.42,226.15,1.037,11012,0.059,0.041,3129,3204,1507,1550,1465,0,0,0,0,0,0,14.47,14.27,13.86
$GC,1249,1.11,292.0,3128,3204,1546,1462,76.9,21.7,214,1257,0.08,2.42,0.00,0.000,5126,0.322,0.054,3120,1807,1504,1546,1462,0,0,0,0,0,0,14.47,14.59,14.66
$GC,1322,1.11,292.0,3119,1805,1547,1461,61.1,22.4,227,1328,0.00,2.47,0.00,0.000,4612,0.000,0.070,3125,391,1503,1546,1461,0,0,0,0,0,0,14.92,14.68,14.92
$GC,1387,1.11,292.0,3125,391,1545,1461,46.0,21.1,239,1394,0.00,2.35,0.00,0.000,5126,0.000,0.034,3125,1809,1503,1546,1461,0,0,0,0,0,0,14.86,14.78,14.87
$GC,1459,1.11,292.0,3125,1812,1545,1459,31.2,20.1,252,1466,0.00,2.33,0.00,0.000,4356,0.000,0.044,3125,3207,1502,1546,1459,0,0,0,0,0,0,15.01,14.78,15.02
$GC,1480,1.14,319.7,3125,3207,1545,1459,27.0,18.7,255,1509,0.00,2.42,21.67,0.888,9222,0.000,0.051,3128,1799,1394,1442,1347,0,0,0,0,0,0,14.88,14.79,14.16
$GC,1573,1.14,319.7,3127,1799,1441,1345,9.3,21.1,272,1580,0.00,2.45,0.00,0.000,516,0.000,0.073,3128,387,1392,1440,1345,0,0,0,0,0,0,14.97,14.67,14.98
$STATE,1600,end climb,SURFACE_DEPTH_REACHED
$STATE,1600,begin surface coast
$FINISH,0.8,1.025620
$STATE,1611,end surface coast,CONTROL_FINISHED_OK
$STATE,1611,begin surface
$SM_CCo,1641,19.92,0.764,0,0,1273,350.04
$SM_GC,1.17,14.10,2.42,19.92,0.037,0.036,0.764,120,1817,1273,-8.18,-1.07,350.04,0,0,0,0,0,0,14.84,14.81,14.21
$IRIDIUM_FIX,-3401.68,2505.27,240419,131754
$TT8_MAMPS,0.021721,0.951979
$HUMID,45.39
$INTERNAL_PRESSURE,9.34163
$TCM_TEMP,19.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.4,36.1
$SC_FREEKB,3610016
$24V_AH,13.42,169.359
$10V_AH,12.99,0.000
$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,19.275,45.350,461.775,19.925,0.000,0.000,0.000,0.000,2.250,0.000,0.000,493.876,185.172,490.673,501.899,133.071,0.000,828.289,0.000,434.705,0.000,16.174,0.000
$DEVICE_MAMPS,322.065,72.675,1050.345,764.235,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1654.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.951,0.000,0.000,0.000
$MEM,341064
$DATA_FILE_SIZE,6802,279
$CAP_FILE_SIZE,52879,0
$CFSIZE,2097086464,1983512576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240419,142325,-3413.797,2506.202,8,0.9,43,-27.5,0.5,237.3,9,4.2