version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 11
start: 3 15 119 15 55 54
data:
$ID,574
$MISSION,3
$DIVE,11
$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,36
$R_STBD_OVSHOOT,52
$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
$GPS1,150319,154749,-2812.4341,3235.1699,8,1.0,40,-23.0,1.9,204.5,8,5.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-72.2
$GPS2,150319,155529,-2812.8191,3234.9204,8,1.0,18,-23.0,1.9,201.3,8,9.7
$SPEED_LIMITS,0.173,0.187
$TGT_NAME,HEADING
$TGT_LATLONG,-2812.819,3247.176
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.01,-73.0,83,2000,636,559,0.0,0.0,0,98,0.00,0.00,-77.18,0.000,16386,0.000,0.000,80,2001,2734,2708,2761,0,0,0,0,0,0,15.16,28.83,15.17
$GC,101,-1.01,-73.0,79,2001,2708,2760,3.2,-7.1,13,127,13.48,2.33,-6.10,0.000,18692,0.294,0.076,2443,3392,3079,3072,3086,0,0,0,0,0,0,14.83,14.11,15.04
$GC,169,-1.01,-73.0,2441,3392,3078,3086,25.8,-25.2,25,175,0.00,2.28,0.00,0.000,3078,0.000,0.050,2443,2000,3079,3072,3087,0,0,0,0,0,0,15.05,14.97,15.06
$GC,236,-1.01,-73.0,2443,1998,3073,3086,43.8,-22.7,38,243,0.03,0.00,0.00,0.000,2054,0.529,0.000,2451,1998,3079,3073,3086,0,0,0,0,0,0,14.88,15.05,15.04
$GC,306,-1.01,-73.0,2451,1998,3073,3085,56.9,-16.8,51,312,0.00,0.00,0.00,0.000,2054,0.000,0.000,2451,1998,3079,3073,3085,0,0,0,0,0,0,15.26,15.26,15.26
$GC,373,-1.01,-73.0,2451,1998,3073,3084,65.8,-11.7,64,379,0.00,0.00,0.00,0.000,2054,0.000,0.000,2451,1998,3079,3073,3085,0,0,0,0,0,0,15.26,15.26,15.26
$GC,446,-1.01,-73.0,2451,1998,3074,3085,71.7,-7.3,77,452,0.00,2.30,0.00,0.000,2564,0.000,0.060,2452,592,3079,3074,3085,0,0,0,0,0,0,15.28,15.07,15.28
$GC,579,-1.01,-73.0,2451,592,3075,3085,90.1,-14.6,103,586,0.00,2.25,0.00,0.000,3078,0.000,0.038,2450,2001,3080,3077,3083,0,0,0,0,0,0,15.13,15.06,15.14
$STATE,626,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,626,begin apogee
$GC,629,-0.18,0.0,2450,2005,3077,3083,97.5,-14.9,112,689,1.33,0.00,53.28,0.968,10246,0.161,0.000,2718,2005,2778,2793,2764,0,0,0,0,0,0,15.00,14.86,14.40
$STATE,690,end apogee,CONTROL_FINISHED_OK
$STATE,690,begin climb
$GC,692,1.01,73.0,2718,2005,2793,2764,100.3,0.0,122,762,1.73,2.40,56.50,0.993,11012,0.075,0.057,3112,595,2478,2490,2467,0,0,0,0,0,0,14.86,14.70,14.25
$GC,1265,1.15,183.1,3111,594,2482,2462,82.4,-0.1,233,1361,0.10,2.25,83.25,1.010,11270,0.170,0.037,3146,2007,2029,2052,2007,0,0,0,0,0,0,15.07,15.10,14.29
$GC,1423,1.15,183.1,3145,2007,2047,2002,68.2,13.7,261,1430,0.00,2.38,0.00,0.000,2564,0.000,0.063,3148,590,2024,2046,2002,0,0,0,0,0,0,15.07,14.85,15.07
$GC,1933,1.27,277.7,3148,590,2038,1995,33.3,1.3,362,2011,0.10,2.25,69.90,0.975,11270,0.173,0.037,3182,2007,1646,1679,1613,0,0,0,0,0,0,15.06,15.08,14.34
$GC,2072,1.27,277.7,3181,2007,1676,1607,20.9,14.9,387,2078,0.00,2.28,0.00,0.000,2308,0.000,0.054,3182,3391,1640,1675,1606,0,0,0,0,0,0,15.07,14.85,15.09
$STATE,2208,end climb,SURFACE_DEPTH_REACHED
$STATE,2208,begin surface coast
$FINISH,0.3,1.021825
$STATE,2229,end surface coast,CONTROL_FINISHED_OK
$STATE,2230,begin surface
$SM_CCo,2253,141.40,0.739,0,0,599,534.75
$SM_CCo,2397,-0.28,0.000,0,0,600,534.75
$SM_CCo,2400,-0.08,0.000,0,0,600,534.75
$SM_GC,0.89,14.15,2.30,-0.08,0.051,0.042,0.000,113,1999,600,-8.29,1.13,534.75,0,0,0,0,0,0,15.02,15.02,14.63
$IRIDIUM_FIX,-2759.18,3234.27,150319,150105
$TT8_MAMPS,0.020972,0.842625
$HUMID,40.98
$INTERNAL_PRESSURE,9.66389
$TCM_TEMP,23.50
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,70.0,37.0
$SC_FREEKB,3917184
$24V_AH,13.96,33.965
$10V_AH,13.39,0.000
$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,30.900,23.000,262.925,141.400,0.000,23.340,36.677,255.731,6.250,0.000,19.320,930.421,373.421,476.846,1053.944,45.266,0.000,847.014,0.000,636.384,0.000,11.642,0.000
$DEVICE_MAMPS,528.615,76.500,1009.800,738.990,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2261.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.359,0.000,0.000,0.000
$MEM,340960
$DATA_FILE_SIZE,10112,418
$CAP_FILE_SIZE,70164,0
$CFSIZE,2097086464,2092990464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,1.172,197.27,1
$GPS,150319,163701,-2814.271,3234.446,8,0.8,30,-23.0,1.6,190.0,9,4.9