version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 8
start: 3 15 119 13 8 51
data:
$ID,574
$MISSION,3
$DIVE,8
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,1020
$D_NO_BLEED,29
$D_BOOST,0
$T_BOOST,0
$D_FINISH,0
$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,182
$T_ABORT,197
$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,80
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53998
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,90
$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,558.35083
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,259
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$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,2785
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,28
$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,2000
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,45
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2807
$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,10
$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
$GPS1,150319,125843,-2805.8135,3237.1077,8,1.2,49,-22.9,1.6,195.8,7,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-71.3
$GPS2,150319,130825,-2806.2905,3236.9150,8,1.0,18,-22.9,1.1,190.1,8,9.2
$SPEED_LIMITS,0.173,0.193
$TGT_NAME,HEADING
$TGT_LATLONG,-2806.291,3249.158
$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,67.9,20000,-25.1,-9.980,-27.37,1198
$D_GRID,500
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.99,-77.9,77,1993,637,558,0.0,0.0,0,102,0.00,0.00,-81.28,0.000,16386,0.000,0.000,75,1994,2852,2823,2882,0,0,0,0,0,0,15.16,28.83,15.18
$GC,105,-0.99,-77.9,74,1994,2823,2882,3.5,-5.6,14,131,13.50,2.35,-4.65,0.000,18692,0.291,0.073,2449,3412,3126,3116,3137,0,0,0,0,0,0,14.83,14.07,15.04
$GC,193,-0.99,-77.9,2449,3411,3117,3137,33.7,-24.5,30,200,0.08,2.30,0.00,0.000,3078,0.283,0.049,2464,1994,3126,3117,3136,0,0,0,0,0,0,14.92,15.02,15.06
$GC,261,-0.99,-77.9,2461,1996,3120,3133,47.6,-17.7,43,268,0.00,2.30,0.00,0.000,2564,0.000,0.060,2464,598,3127,3120,3134,0,0,0,0,0,0,15.25,15.03,15.25
$GC,274,-0.99,-77.9,2463,597,3121,3133,49.7,-17.9,45,283,0.00,2.25,0.00,0.000,3078,0.000,0.041,2461,1994,3127,3121,3133,0,0,0,0,0,0,15.08,15.00,15.09
$GC,344,-0.99,-77.9,2460,1996,3122,3133,61.7,-17.1,58,351,0.00,2.33,0.00,0.000,2308,0.000,0.062,2461,3407,3127,3122,3133,0,0,0,0,0,0,15.26,15.00,15.26
$GC,369,-0.99,-77.9,2460,3407,3122,3133,65.8,-17.3,62,375,0.00,2.28,0.00,0.000,3078,0.000,0.046,2461,2001,3127,3122,3133,0,0,0,0,0,0,15.10,15.02,15.11
$GC,438,-0.99,-77.9,2460,2000,3122,3133,77.6,-15.5,75,444,0.00,2.33,0.00,0.000,2564,0.000,0.063,2461,586,3127,3122,3132,0,0,0,0,0,0,15.27,15.06,15.27
$GC,548,-0.99,-77.9,2460,586,3123,3132,98.4,-19.6,96,555,0.00,2.28,0.00,0.000,3078,0.000,0.042,2461,2001,3127,3123,3132,0,0,0,0,0,0,15.17,15.09,15.19
$GC,617,-0.99,-77.9,2461,2004,3124,3131,110.2,-16.4,109,623,0.00,0.00,0.00,0.000,2054,0.000,0.000,2461,2003,3127,3124,3131,0,0,0,0,0,0,15.28,15.28,15.29
$GC,688,-0.99,-77.9,2460,2004,3125,3130,122.2,-15.3,122,695,0.00,2.33,0.00,0.000,2308,0.000,0.065,2456,3407,3127,3125,3130,0,0,0,0,0,0,15.29,15.08,15.30
$GC,711,-0.99,-77.9,2455,3407,3124,3131,125.3,-14.0,126,718,0.00,2.28,0.00,0.000,3078,0.000,0.046,2456,1998,3127,3124,3131,0,0,0,0,0,0,15.19,15.11,15.20
$GC,780,-0.99,-77.9,2456,1996,3124,3130,136.2,-16.9,139,785,0.00,0.00,0.00,0.000,2054,0.000,0.000,2456,1996,3127,3124,3130,0,0,0,0,0,0,15.30,15.30,15.30
$GC,849,-0.99,-77.9,2455,1994,3124,3130,147.1,-15.4,152,856,0.00,2.30,0.00,0.000,2564,0.000,0.060,2456,594,3126,3124,3129,0,0,0,0,0,0,15.30,15.05,15.30
$STATE,952,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,952,begin apogee
$GC,958,-0.18,0.0,2454,2008,3124,3129,164.8,-17.7,172,1021,1.33,0.00,55.95,1.065,10246,0.177,0.000,2717,2012,2808,2823,2794,0,0,0,0,0,0,15.00,14.83,14.34
$STATE,1023,end apogee,CONTROL_FINISHED_OK
$STATE,1024,begin climb
$GC,1025,0.99,77.9,2717,2012,2823,2794,168.8,0.0,183,1099,1.70,2.42,61.58,1.098,11012,0.073,0.062,3093,601,2486,2497,2476,0,0,0,0,0,0,14.84,14.65,14.17
$GC,1603,1.07,140.7,3093,601,2487,2466,151.1,4.6,295,1657,0.05,2.25,47.65,1.115,11270,0.278,0.040,3116,2015,2234,2252,2217,0,0,0,0,0,0,15.00,15.09,14.32
$GC,1719,1.07,140.7,3115,2015,2246,2211,140.2,12.8,316,1725,0.00,2.40,0.00,0.000,2564,0.000,0.061,3126,588,2228,2245,2212,0,0,0,0,0,0,15.09,14.90,15.09
$GC,2228,1.07,143.5,3126,588,2238,2206,76.9,9.7,417,2235,0.00,2.25,0.00,0.000,1030,0.000,0.041,3126,2002,2222,2237,2207,0,0,0,0,0,0,15.16,15.09,15.18
$GC,2296,1.09,157.6,3126,2001,2238,2205,70.5,8.8,430,2316,0.00,2.33,13.43,0.988,10756,0.000,0.063,3131,600,2161,2180,2143,0,0,0,0,0,0,15.28,14.90,14.51
$GC,2498,1.09,157.6,3131,600,2174,2139,45.5,12.0,469,2505,0.00,2.25,0.00,0.000,1030,0.000,0.040,3131,2001,2156,2175,2138,0,0,0,0,0,0,15.15,15.09,15.16
$GC,2567,1.18,235.8,3131,2002,2174,2138,41.2,3.3,482,2633,0.05,2.38,59.55,1.047,10500,0.275,0.056,3155,3403,1842,1868,1817,0,0,0,0,0,0,14.98,14.77,14.30
$GC,3136,1.24,276.6,3155,3402,1855,1809,7.1,6.5,593,3166,0.00,2.30,21.77,0.809,11270,0.000,0.049,3165,1991,1676,1707,1646,0,0,0,0,0,0,15.13,15.05,14.57
$STATE,3192,end climb,SURFACE_DEPTH_REACHED
$STATE,3192,begin surface coast
$FINISH,0.2,1.022647
$STATE,3223,end surface coast,CONTROL_FINISHED_OK
$STATE,3224,begin surface
$SM_CCo,3244,152.05,0.757,0,0,597,541.37
$SM_CCo,3399,-0.35,0.000,0,0,600,541.37
$SM_CCo,3402,0.00,0.000,0,0,600,541.37
$SM_GC,0.82,14.05,0.00,0.00,0.051,0.000,0.000,123,1992,600,-8.26,-0.25,541.37,0,0,0,0,0,0,15.02,15.22,14.92
$IRIDIUM_FIX,-2751.85,3238.39,150319,115644
$TT8_MAMPS,0.021721,0.904792
$HUMID,43.34
$INTERNAL_PRESSURE,9.64436
$TCM_TEMP,23.00
$XPDR_PINGS,32
$ALTIM_BOTTOM_PING,140.8,33.1
$SC_FREEKB,3918720
$24V_AH,13.93,33.458
$10V_AH,13.41,0.000
$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,30.750,46.200,259.925,152.050,0.000,26.202,19.521,363.107,13.000,0.000,20.811,1385.823,562.315,518.615,1470.792,61.978,0.000,1025.621,0.000,923.287,0.000,32.939,0.000
$DEVICE_MAMPS,290.700,72.675,1115.370,756.585,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3272.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.498,0.000,0.000,0.000
$MEM,340936
$DATA_FILE_SIZE,16728,609
$CAP_FILE_SIZE,101561,0
$CFSIZE,2097086464,2093449216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,1.185,191.20,1
$GPS,150319,140649,-2808.386,3236.531,8,0.9,39,-22.9,1.4,205.8,8,4.5