version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 599
start: 4 24 119 15 5 20
data:
$ID,574
$MISSION,3
$DIVE,599
$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,29
$R_STBD_OVSHOOT,42
$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
$GPS1,240419,143606,-3413.8003,2506.0798,8,0.9,15,-27.5,0.5,256.0,9,9.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,1.1
$GPS2,240419,143606,-3413.8003,2506.0798,8,0.9,15,-27.5,0.5,256.0,9,9.2
$SPEED_LIMITS,0.346,0.443
$TGT_NAME,HEADING
$TGT_LATLONG,-3403.652,2501.621
$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,25,-1.11,-292.0,2805,1820,2359,2265,0.0,0.0,0,107,0.00,0.00,-78.80,0.000,16390,0.000,0.000,2805,1822,3893,3915,3871,0,0,0,0,0,0,15.02,13.42,15.03
$GC,114,-1.11,-292.0,2805,1822,3916,3871,2.0,-9.1,15,121,1.77,2.40,0.00,0.000,4356,0.060,0.054,2395,3214,3893,3915,3871,0,0,0,0,0,0,14.85,14.77,14.92
$GC,231,-1.11,-292.0,2394,3214,3914,3869,23.2,-18.2,37,238,0.00,2.38,0.00,0.000,3078,0.000,0.045,2395,1805,3893,3914,3873,0,0,0,0,0,0,14.95,14.84,14.96
$GC,304,-1.11,-292.0,2395,1807,3914,3872,38.4,-21.5,50,309,0.00,0.00,0.00,0.000,2054,0.000,0.000,2395,1806,3893,3914,3872,0,0,0,0,0,0,15.07,15.07,15.06
$GC,373,-1.11,-292.0,2395,1807,3914,3873,54.3,-22.7,63,380,0.00,2.38,0.00,0.000,2308,0.000,0.050,2386,3213,3893,3914,3872,0,0,0,0,0,0,15.09,14.84,15.09
$GC,433,-1.11,-292.0,2386,3214,3914,3873,65.4,-17.1,73,441,0.05,2.35,0.00,0.000,3078,0.308,0.044,2397,1810,3893,3914,3873,0,0,0,0,0,0,14.69,14.85,14.88
$GC,505,-1.11,-292.0,2396,1810,3914,3873,78.9,-18.5,86,513,0.00,2.40,0.00,0.000,2564,0.000,0.063,2397,409,3893,3914,3873,0,0,0,0,0,0,15.10,14.78,15.10
$GC,546,-1.11,-292.0,2397,409,3914,3873,86.4,-18.3,93,552,0.00,2.33,0.00,0.000,3078,0.000,0.035,2392,1816,3893,3914,3873,0,0,0,0,0,0,14.91,14.82,14.92
$GC,619,-1.11,-292.0,2392,1819,3914,3872,99.7,-19.0,106,626,0.00,2.35,0.00,0.000,2308,0.000,0.050,2385,3215,3893,3914,3873,0,0,0,0,0,0,15.10,14.72,15.11
$STATE,631,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,631,begin apogee
$GC,641,-0.17,0.0,2385,1793,3914,3873,103.3,-19.7,108,869,1.58,0.00,214.85,1.059,10246,0.159,0.000,2698,1793,2697,2736,2659,0,0,0,0,0,0,14.59,14.28,13.88
$STATE,871,end apogee,CONTROL_FINISHED_OK
$STATE,871,begin climb
$GC,874,1.11,292.0,2698,1789,2734,2659,120.8,0.0,149,1111,1.88,2.50,227.45,1.037,11012,0.051,0.046,3125,3202,1508,1550,1466,0,0,0,0,0,0,14.50,14.37,13.88
$GC,1172,1.11,292.0,3126,3203,1547,1462,95.9,21.8,201,1179,0.00,2.45,0.00,0.000,5126,0.000,0.054,3127,1796,1504,1547,1462,0,0,0,0,0,0,14.68,14.57,14.69
$GC,1244,1.11,292.0,3127,1796,1547,1461,79.2,23.3,214,1251,0.00,2.47,0.00,0.000,4612,0.000,0.073,3127,390,1504,1547,1461,0,0,0,0,0,0,14.89,14.58,14.90
$GC,1309,1.11,292.0,3127,390,1547,1461,63.6,22.5,226,1316,0.00,2.35,0.00,0.000,5126,0.000,0.032,3128,1813,1503,1546,1461,0,0,0,0,0,0,14.75,14.66,14.76
$GC,1382,1.13,310.2,3127,1816,1546,1460,49.3,19.1,239,1406,0.00,2.30,16.02,0.907,12548,0.000,0.044,3134,3204,1434,1480,1389,0,0,0,0,0,0,14.99,14.73,14.15
$GC,1456,1.13,310.2,3127,3204,1478,1387,32.8,22.9,252,1463,0.00,2.42,0.00,0.000,5126,0.000,0.053,3127,1797,1432,1478,1387,0,0,0,0,0,0,14.85,14.74,14.86
$GC,1529,1.20,369.3,3128,1795,1478,1385,19.1,17.3,265,1580,0.00,2.50,41.95,0.853,10756,0.000,0.072,3128,392,1190,1245,1135,0,0,0,0,0,0,15.00,14.62,14.14
$GC,1596,1.20,369.3,3128,392,1246,1133,5.4,22.2,276,1603,0.00,2.35,0.00,0.000,3078,0.000,0.031,3129,1814,1189,1246,1133,0,0,0,0,0,0,14.77,14.69,14.78
$STATE,1607,end climb,SURFACE_DEPTH_REACHED
$STATE,1607,begin surface coast
$FINISH,0.1,1.025745
$STATE,1619,end surface coast,CONTROL_FINISHED_OK
$STATE,1619,begin surface
$SM_CCo,1706,0.00,0.000,0,0,1186,371.38
$SM_GC,0.85,14.23,0.00,0.00,0.041,0.000,0.000,127,1817,1186,-8.18,0.14,371.38,0,0,0,0,0,0,14.73,14.93,14.80
$IRIDIUM_FIX,-3359.08,2507.63,240419,132003
$TT8_MAMPS,0.021721,0.938497
$HUMID,45.62
$INTERNAL_PRESSURE,9.34163
$TCM_TEMP,19.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.9,30.9
$SC_FREEKB,3608992
$24V_AH,13.42,169.727
$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,19.500,40.725,500.275,0.000,0.000,0.000,0.000,0.000,2.500,0.000,0.000,475.048,238.116,495.355,505.436,132.437,0.000,839.145,0.000,435.650,0.000,17.671,0.000
$DEVICE_MAMPS,307.530,72.675,1058.760,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1663.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.246,0.000,0.000,0.000
$MEM,341056
$DATA_FILE_SIZE,6785,280
$CAP_FILE_SIZE,51546,0
$CFSIZE,2097086464,1983184896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240419,153443,-3413.593,2505.625,9,0.9,18,-27.5,0.0,188.1,9,9.5