version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 9
start: 3 15 119 14 17 3
data:
$ID,574
$MISSION,3
$DIVE,9
$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,75
$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,41
$R_STBD_OVSHOOT,46
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2780
$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
$GPS1,150319,140649,-2808.3857,3236.5312,8,0.9,39,-22.9,1.4,205.8,8,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-70.8
$GPS2,150319,141638,-2808.7864,3236.2283,8,0.8,15,-22.9,2.2,204.8,9,9.1
$SPEED_LIMITS,0.173,0.187
$TGT_NAME,HEADING
$TGT_LATLONG,-2808.786,3248.476
$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,-25.9,-9.980,-28.14,1123
$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,18,-1.01,-73.0,91,1986,637,560,0.0,0.0,0,101,0.00,0.00,-80.47,0.000,16386,0.000,0.000,89,1986,2847,2821,2874,0,0,0,0,0,0,15.15,28.83,15.16
$GC,104,-1.01,-73.0,89,1986,2821,2871,3.8,-8.2,14,129,13.43,2.33,-4.07,0.000,18692,0.293,0.073,2441,3410,3081,3070,3092,0,0,0,0,0,0,14.81,14.05,15.01
$GC,201,-1.01,-73.0,2441,3408,3070,3091,31.3,-18.3,32,210,0.05,2.30,0.00,0.000,3078,0.334,0.050,2452,2004,3081,3071,3091,0,0,0,0,0,0,14.90,15.02,15.06
$GC,272,-1.01,-73.0,2451,2002,3073,3087,42.4,-13.8,45,279,0.00,2.33,0.00,0.000,2564,0.000,0.060,2452,591,3080,3073,3087,0,0,0,0,0,0,15.23,15.03,15.24
$GC,290,-1.01,-73.0,2452,592,3074,3086,44.7,-12.1,48,298,0.00,2.28,0.00,0.000,3078,0.000,0.042,2450,1996,3079,3073,3086,0,0,0,0,0,0,15.11,15.03,15.13
$GC,361,-1.01,-73.0,2450,1998,3077,3086,54.2,-14.2,61,368,0.00,2.33,0.00,0.000,2308,0.000,0.060,2450,3415,3081,3077,3085,0,0,0,0,0,0,15.26,15.04,15.26
$GC,389,-1.01,-73.0,2450,3415,3076,3086,58.6,-13.8,66,396,0.00,2.33,0.00,0.000,3078,0.000,0.045,2450,1987,3081,3076,3086,0,0,0,0,0,0,15.10,15.02,15.11
$GC,458,-1.01,-73.0,2450,1986,3076,3085,69.6,-16.2,79,466,0.00,0.00,0.00,0.000,2054,0.000,0.000,2450,1986,3080,3076,3085,0,0,0,0,0,0,15.28,15.26,15.28
$GC,529,-1.01,-73.0,2450,1986,3077,3085,80.5,-14.2,92,536,0.00,2.28,0.00,0.000,2564,0.000,0.061,2450,596,3081,3077,3085,0,0,0,0,0,0,15.26,15.02,15.27
$GC,651,-1.01,-73.0,2450,596,3078,3085,97.1,-12.8,115,657,0.00,2.28,0.00,0.000,3078,0.000,0.041,2450,2007,3081,3078,3085,0,0,0,0,0,0,15.18,15.10,15.19
$GC,719,-1.01,-73.0,2450,2010,3078,3085,103.4,-9.9,128,726,0.00,0.00,0.00,0.000,2054,0.000,0.000,2450,2010,3081,3077,3085,0,0,0,0,0,0,15.30,15.30,15.30
$GC,788,-1.01,-73.0,2450,2010,3078,3085,110.5,-9.9,141,794,0.00,2.35,0.00,0.000,2564,0.000,0.066,2450,593,3081,3078,3084,0,0,0,0,0,0,15.30,15.09,15.30
$STATE,865,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,865,begin apogee
$GC,871,-0.18,0.0,2450,2004,3078,3084,118.8,-11.7,156,929,1.35,0.00,53.62,1.007,10246,0.176,0.000,2718,2010,2779,2793,2765,0,0,0,0,0,0,14.98,14.81,14.35
$STATE,931,end apogee,CONTROL_FINISHED_OK
$STATE,931,begin climb
$GC,932,1.01,73.0,2717,2009,2793,2764,120.3,0.0,166,1002,1.73,2.42,56.47,1.031,11012,0.070,0.059,3113,592,2482,2495,2469,0,0,0,0,0,0,14.85,14.66,14.21
$GC,1306,1.10,144.1,3112,592,2485,2472,104.8,3.5,237,1371,0.00,2.30,54.80,1.028,11270,0.000,0.039,3113,2025,2190,2208,2173,0,0,0,0,0,0,15.11,15.04,14.31
$GC,1433,1.13,170.1,3112,2025,2204,2167,98.8,7.6,260,1464,0.08,2.42,20.85,0.983,10756,0.195,0.062,3157,603,2082,2103,2062,0,0,0,0,0,0,14.88,14.76,14.34
$GC,1968,1.28,292.8,3156,603,2094,2053,44.2,-1.2,365,2067,0.08,2.25,91.28,1.011,11270,0.209,0.038,3184,2004,1584,1620,1549,0,0,0,0,0,0,15.00,15.05,14.26
$GC,2129,1.28,292.8,3183,2004,1615,1541,28.7,19.0,394,2135,0.00,2.38,0.00,0.000,2564,0.000,0.064,3195,598,1579,1615,1544,0,0,0,0,0,0,15.04,14.82,15.04
$STATE,2287,end climb,SURFACE_DEPTH_REACHED
$STATE,2287,begin surface coast
$FINISH,0.6,1.022558
$STATE,2298,end surface coast,CONTROL_FINISHED_OK
$STATE,2298,begin surface
$SM_CCo,2321,135.95,0.746,0,0,599,534.75
$SM_CCo,2460,-0.25,0.000,0,0,600,534.75
$SM_CCo,2463,-0.03,0.000,0,0,600,534.75
$SM_GC,0.87,14.20,2.30,-0.03,0.051,0.042,0.000,126,1995,600,-8.26,-1.58,534.75,0,0,0,0,0,0,15.00,15.01,14.44
$IRIDIUM_FIX,-2754.29,3238.39,150319,130112
$TT8_MAMPS,0.020972,0.985684
$HUMID,42.55
$INTERNAL_PRESSURE,9.63459
$TCM_TEMP,22.70
$XPDR_PINGS,31
$ALTIM_BOTTOM_PING,95.3,33.3
$SC_FREEKB,3918208
$24V_AH,13.95,33.637
$10V_AH,13.42,0.000
$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,30.900,37.175,277.025,135.950,0.000,24.159,38.062,365.178,10.500,0.000,16.160,946.068,369.200,505.213,1195.026,52.938,0.000,895.119,0.000,651.487,0.000,19.561,0.000
$DEVICE_MAMPS,334.305,72.675,1031.220,745.875,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2345.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.482,0.000,0.000,0.000
$MEM,340960
$DATA_FILE_SIZE,10108,427
$CAP_FILE_SIZE,78500,0
$CFSIZE,2097086464,2093318144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,1.276,192.81,1
$GPS,150319,145858,-2810.435,3235.885,8,0.9,15,-23.0,1.0,197.9,8,9.8