version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 10
start: 3 15 119 15 8 12
data:
$ID,574
$MISSION,3
$DIVE,10
$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,40
$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
$GPS1,150319,145858,-2810.4353,3235.8853,8,0.9,15,-23.0,1.0,197.9,8,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-71.3
$GPS2,150319,150748,-2810.8611,3235.6206,8,1.0,48,-23.0,1.4,206.5,7,3.8
$SPEED_LIMITS,0.173,0.187
$TGT_NAME,HEADING
$TGT_LATLONG,-2810.861,3247.872
$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,68.0,20000,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,19,-1.01,-73.0,87,1999,638,554,0.0,0.0,0,104,0.00,0.00,-81.88,0.000,16386,0.000,0.000,82,2000,2896,2866,2927,0,0,0,0,0,0,15.18,28.83,15.19
$GC,106,-1.01,-73.0,84,2000,2866,2928,4.1,-10.5,14,132,13.38,2.33,-3.10,0.000,18692,0.291,0.078,2438,3396,3080,3068,3093,0,0,0,0,0,0,14.84,14.09,15.04
$GC,189,-1.01,-73.0,2441,3396,3068,3093,32.5,-25.8,29,196,0.05,2.28,0.00,0.000,3078,0.340,0.047,2451,1996,3081,3070,3092,0,0,0,0,0,0,14.87,14.99,15.02
$GC,258,-1.01,-73.0,2451,1995,3073,3088,48.2,-19.5,42,264,0.00,2.30,0.00,0.000,2564,0.000,0.060,2451,595,3080,3072,3088,0,0,0,0,0,0,15.24,15.04,15.24
$GC,287,-1.01,-73.0,2451,594,3074,3087,53.7,-20.0,47,293,0.00,2.28,0.00,0.000,3078,0.000,0.043,2450,1996,3080,3075,3086,0,0,0,0,0,0,15.14,15.06,15.15
$GC,355,-1.01,-73.0,2450,1999,3076,3085,64.0,-16.2,60,362,0.00,2.33,0.00,0.000,2564,0.000,0.059,2450,589,3081,3076,3086,0,0,0,0,0,0,15.26,15.02,15.26
$GC,374,-1.01,-73.0,2450,589,3076,3086,67.0,-15.5,63,380,0.00,2.28,0.00,0.000,3078,0.000,0.043,2450,2002,3081,3077,3086,0,0,0,0,0,0,15.16,15.07,15.16
$GC,444,-1.01,-73.0,2450,2006,3077,3085,77.2,-12.2,76,451,0.00,0.00,0.00,0.000,2054,0.000,0.000,2450,2004,3081,3077,3085,0,0,0,0,0,0,15.26,15.27,15.27
$GC,512,-1.01,-73.0,2450,2004,3077,3086,88.4,-18.2,89,519,0.00,2.33,0.00,0.000,2564,0.000,0.060,2451,594,3081,3077,3085,0,0,0,0,0,0,15.28,15.07,15.28
$GC,557,-1.01,-73.0,2450,595,3078,3086,97.0,-18.9,97,564,0.00,2.25,0.00,0.000,3078,0.000,0.039,2450,2004,3081,3077,3085,0,0,0,0,0,0,15.20,15.10,15.19
$GC,625,-1.01,-73.0,2450,2007,3078,3085,107.1,-14.7,110,632,0.00,2.33,0.00,0.000,2564,0.000,0.057,2450,590,3081,3078,3085,0,0,0,0,0,0,15.29,15.07,15.29
$STATE,688,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,688,begin apogee
$GC,694,-0.18,0.0,2450,1998,3078,3085,117.2,-16.1,122,752,1.35,0.00,53.97,0.998,10246,0.181,0.000,2717,2001,2779,2793,2765,0,0,0,0,0,0,15.00,14.85,14.38
$STATE,754,end apogee,CONTROL_FINISHED_OK
$STATE,755,begin climb
$GC,756,1.01,73.0,2717,2001,2793,2765,121.4,0.0,132,824,1.67,2.35,56.17,1.011,10500,0.042,0.052,3118,3400,2479,2489,2470,0,0,0,0,0,0,14.88,14.68,14.23
$GC,882,1.07,122.4,3118,3400,2485,2469,119.0,5.5,154,930,0.00,2.28,38.90,0.998,9222,0.000,0.044,3129,1994,2278,2293,2264,0,0,0,0,0,0,14.91,14.84,14.23
$GC,992,1.07,122.4,3129,1994,2288,2260,111.3,11.4,174,999,0.00,2.30,0.00,0.000,516,0.000,0.064,3131,604,2270,2280,2260,0,0,0,0,0,0,15.04,14.82,15.04
$GC,1502,1.18,207.9,3131,604,2280,2255,55.0,2.2,275,1574,0.05,2.25,63.85,0.998,11270,0.280,0.037,3153,2019,1927,1952,1902,0,0,0,0,0,0,14.98,15.07,14.32
$GC,1636,1.18,207.9,3153,2019,1947,1902,45.1,11.4,299,1642,0.00,2.25,0.00,0.000,2308,0.000,0.054,3152,3394,1924,1946,1902,0,0,0,0,0,0,15.09,14.85,15.09
$GC,1719,1.18,207.9,3153,3394,1943,1901,35.0,10.7,315,1726,0.00,2.28,0.00,0.000,1030,0.000,0.046,3163,2003,1921,1943,1900,0,0,0,0,0,0,15.04,14.97,15.07
$GC,1788,1.24,256.8,3162,2003,1942,1899,30.5,5.5,328,1830,0.00,2.35,36.65,0.955,10500,0.000,0.052,3163,3395,1731,1759,1704,0,0,0,0,0,0,15.20,14.83,14.38
$STATE,2086,end climb,SURFACE_DEPTH_REACHED
$STATE,2086,begin surface coast
$FINISH,0.1,1.022564
$STATE,2117,end surface coast,CONTROL_FINISHED_OK
$STATE,2117,begin surface
$SM_CCo,2140,153.85,0.744,0,0,597,534.75
$SM_CCo,2297,-0.30,0.000,0,0,600,534.75
$SM_CCo,2300,-0.03,0.000,0,0,600,534.75
$SM_GC,0.84,14.02,2.30,-0.03,0.054,0.045,0.000,125,2007,600,-8.26,1.36,534.75,0,0,0,0,0,0,15.04,15.05,14.45
$IRIDIUM_FIX,-2756.73,3236.33,150319,140910
$TT8_MAMPS,0.021721,0.993174
$HUMID,42.12
$INTERNAL_PRESSURE,9.64436
$TCM_TEMP,23.00
$XPDR_PINGS,29
$ALTIM_BOTTOM_PING,90.7,35.9
$SC_FREEKB,3917696
$24V_AH,13.95,33.802
$10V_AH,13.45,0.000
$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,30.525,41.325,249.550,153.850,0.000,26.103,23.819,295.884,9.750,0.000,49.466,878.640,333.162,501.883,1084.690,49.303,0.000,865.916,0.000,598.018,0.000,17.732,0.000
$DEVICE_MAMPS,339.660,78.030,1011.330,743.580,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2151.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.763,0.000,0.000,0.000
$MEM,340960
$DATA_FILE_SIZE,10113,392
$CAP_FILE_SIZE,74079,0
$CFSIZE,2097086464,2093154304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,1.350,195.42,1
$GPS,150319,154749,-2812.434,3235.170,8,1.0,40,-23.0,1.9,204.5,8,5.3