version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 634
start: 4 25 119 9 35 57
data:
$ID,574
$MISSION,3
$DIVE,634
$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,70
$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,2
$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,44
$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
$GPS1,250419,092055,-3413.2993,2504.9651,5,1.1,18,-27.5,0.0,239.0,8,9.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-73.0
$GPS2,250419,093531,-3413.2971,2505.0061,6,1.0,37,-27.5,0.6,104.1,8,5.6
$SPEED_LIMITS,0.346,0.443
$TGT_NAME,HEADING
$TGT_LATLONG,-3409.604,2517.270
$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,97.5,20000,-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,-292.0,54,1790,1294,1217,0.0,0.0,0,102,0.00,0.00,-75.12,0.000,16386,0.000,0.000,54,1791,3112,3077,3148,0,0,0,0,0,0,15.03,28.83,15.04
$GC,107,-1.11,-292.0,54,1791,3077,3148,3.9,-9.7,14,142,13.88,2.40,-12.75,0.000,18948,0.296,0.084,2393,391,3894,3907,3881,0,0,0,0,0,0,14.50,13.28,14.81
$GC,258,-1.11,-292.0,2393,391,3908,3881,45.2,-19.3,42,265,0.00,2.35,0.00,0.000,3078,0.000,0.035,2392,1812,3894,3908,3881,0,0,0,0,0,0,14.94,14.84,14.95
$GC,331,-1.11,-292.0,2392,1815,3908,3881,59.3,-20.5,55,339,0.00,2.38,0.00,0.000,2308,0.000,0.051,2389,3221,3894,3908,3881,0,0,0,0,0,0,15.08,14.82,15.08
$GC,373,-1.11,-292.0,2388,3221,3908,3881,66.6,-16.3,62,379,0.00,2.38,0.00,0.000,3078,0.000,0.044,2389,1801,3894,3908,3881,0,0,0,0,0,0,14.95,14.85,14.96
$GC,447,-1.11,-292.0,2388,1801,3908,3882,80.4,-19.2,75,454,0.00,2.40,0.00,0.000,2564,0.000,0.063,2389,400,3894,3908,3881,0,0,0,0,0,0,15.07,14.81,15.08
$GC,473,-1.11,-292.0,2388,400,3908,3881,85.4,-19.1,79,480,0.05,2.33,0.00,0.000,3078,0.338,0.035,2397,1811,3894,3908,3880,0,0,0,0,0,0,14.64,14.85,14.85
$STATE,485,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,485,begin apogee
$GC,493,-0.17,0.0,2396,1814,3908,3881,88.4,-19.7,81,716,1.55,0.00,213.88,1.027,10246,0.162,0.000,2697,1815,2699,2738,2660,0,0,0,0,0,0,14.64,14.42,13.88
$STATE,718,end apogee,CONTROL_FINISHED_OK
$STATE,718,begin climb
$GC,721,1.11,292.0,2697,1815,2735,2659,105.6,0.0,121,959,1.92,2.42,224.85,1.014,10500,0.045,0.043,3145,3208,1507,1548,1467,0,0,0,0,0,0,14.52,14.40,13.87
$GC,988,1.11,292.0,3144,3212,1545,1465,70.4,24.7,167,995,0.15,2.45,0.00,0.000,5126,0.262,0.053,3119,1806,1505,1546,1464,0,0,0,0,0,0,14.35,14.48,14.53
$GC,1061,1.11,292.0,3119,1805,1546,1462,53.9,23.0,180,1068,0.00,2.47,0.00,0.000,4612,0.000,0.070,3125,390,1504,1546,1462,0,0,0,0,0,0,14.87,14.55,14.88
$GC,1107,1.11,292.0,3124,391,1545,1462,42.9,23.6,188,1113,0.00,2.35,0.00,0.000,5126,0.000,0.032,3125,1812,1503,1545,1462,0,0,0,0,0,0,14.72,14.66,14.73
$GC,1180,1.16,334.8,3125,1814,1545,1460,29.4,18.0,201,1220,0.00,2.53,33.55,0.891,11012,0.000,0.070,3125,392,1332,1381,1284,0,0,0,0,0,0,14.97,14.47,14.08
$GC,1241,1.17,344.4,3125,396,1381,1283,17.7,19.5,211,1254,0.00,2.33,6.50,0.708,11270,0.000,0.031,3125,1804,1293,1345,1242,0,0,0,0,0,0,14.78,14.71,14.07
$STATE,1302,end climb,FINISH_DEPTH_REACHED
$STATE,1302,begin subsurface finish
$FINISH1,4.7,1.025650,95
$GC,1311,0.12,94.8,3125,1805,1344,1240,4.7,20.4,222,1368,1.70,2.38,-48.60,0.000,20740,0.175,0.069,2801,3196,2314,2361,2268,0,0,0,0,0,0,14.57,13.41,14.69
$FINISH2,0.6
$STATE,1369,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1372,begin surface
$IRIDIUM_FIX,-3359.08,2504.16,250419,092949
$TT8_MAMPS,0.020972,0.933254
$HUMID,45.19
$INTERNAL_PRESSURE,9.46858
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,75.8,31.5
$SC_FREEKB,3591072
$24V_AH,13.28,175.713
$10V_AH,12.96,0.000
$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,19.250,31.150,478.775,0.000,0.000,48.645,55.392,117.059,1.750,0.000,38.646,361.253,176.100,498.849,686.537,530.191,0.000,817.426,0.000,359.997,0.000,13.122,0.000
$DEVICE_MAMPS,338.130,84.150,1026.630,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1416.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.728,0.000,0.000,0.000
$MEM,340884
$DATA_FILE_SIZE,6823,232
$CAP_FILE_SIZE,48566,0
$CFSIZE,2097086464,1973747712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,250419,093531,-3413.297,2505.006,6,1.0,37,-27.5,0.6,104.1,8,5.6