version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 12
start: 3 15 119 16 45 12
data:
$ID,574
$MISSION,3
$DIVE,12
$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,53
$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
$GPS1,150319,163701,-2814.2712,3234.4458,8,0.8,30,-23.0,1.6,190.0,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-70.2
$GPS2,150319,164448,-2814.6875,3234.2273,8,0.8,15,-23.1,2.2,193.2,9,9.9
$SPEED_LIMITS,0.173,0.187
$TGT_NAME,HEADING
$TGT_LATLONG,-2814.688,3246.486
$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,68.1,20000,-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,-73.0,82,1993,635,560,0.0,0.0,0,100,0.00,0.00,-78.53,0.000,16386,0.000,0.000,79,1994,2767,2742,2793,0,0,0,0,0,0,15.17,28.83,15.18
$GC,103,-1.01,-73.0,79,1994,2743,2794,3.2,-5.6,14,129,13.38,2.35,-5.57,0.000,18692,0.288,0.075,2442,3405,3078,3071,3086,0,0,0,0,0,0,14.84,14.09,15.04
$GC,161,-1.01,-73.0,2442,3405,3071,3087,22.1,-24.6,24,168,0.05,2.30,0.00,0.000,3078,0.339,0.047,2451,1991,3079,3072,3087,0,0,0,0,0,0,14.88,15.00,15.04
$GC,230,-1.01,-73.0,2450,1992,3072,3086,36.9,-21.2,37,236,0.00,0.00,0.00,0.000,2054,0.000,0.000,2451,1991,3079,3072,3086,0,0,0,0,0,0,15.23,15.24,15.24
$GC,299,-1.01,-73.0,2451,1994,3073,3085,50.4,-18.8,50,306,0.00,2.28,0.00,0.000,2564,0.000,0.057,2452,596,3079,3073,3085,0,0,0,0,0,0,15.24,15.00,15.25
$GC,327,-1.01,-73.0,2451,596,3073,3085,55.9,-19.0,55,334,0.00,2.25,0.00,0.000,3078,0.000,0.039,2448,2002,3079,3074,3085,0,0,0,0,0,0,15.16,15.08,15.16
$GC,398,-1.01,-73.0,2448,2003,3075,3084,66.7,-15.3,68,404,0.00,2.33,0.00,0.000,2564,0.000,0.057,2448,589,3079,3075,3083,0,0,0,0,0,0,15.28,15.07,15.28
$STATE,505,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,505,begin apogee
$GC,511,-0.18,0.0,2447,1996,3076,3083,83.2,-15.0,89,569,1.38,0.00,52.80,0.951,10246,0.182,0.000,2718,1999,2779,2793,2765,0,0,0,0,0,0,14.95,14.87,14.41
$STATE,571,end apogee,CONTROL_FINISHED_OK
$STATE,571,begin climb
$GC,573,1.01,73.0,2718,1999,2793,2765,86.0,0.0,99,642,1.73,2.40,56.15,0.968,10756,0.081,0.057,3108,595,2479,2490,2469,0,0,0,0,0,0,14.86,14.71,14.26
$GC,1145,1.18,209.3,3107,594,2482,2463,71.4,-2.5,210,1257,0.15,2.25,101.95,0.993,11270,0.131,0.036,3155,2017,1928,1950,1907,0,0,0,0,0,0,15.09,15.11,14.26
$GC,1319,1.18,209.3,3154,2017,1944,1894,57.7,12.1,241,1326,0.00,2.38,0.00,0.000,2564,0.000,0.061,3161,597,1917,1942,1892,0,0,0,0,0,0,15.04,14.83,15.05
$GC,1332,1.18,209.3,3161,597,1942,1893,55.9,13.0,243,1339,0.00,2.25,0.00,0.000,1030,0.000,0.036,3161,2002,1916,1941,1892,0,0,0,0,0,0,14.96,14.89,15.00
$GC,1401,1.18,209.3,3161,2004,1941,1891,46.5,14.6,256,1407,0.00,2.33,0.00,0.000,516,0.000,0.059,3171,593,1916,1941,1891,0,0,0,0,0,0,15.14,14.95,15.14
$GC,1639,1.23,246.9,3171,595,1933,1885,21.6,6.5,303,1668,0.00,2.22,20.58,0.874,11270,0.000,0.036,3171,2002,1773,1804,1743,0,0,0,0,0,0,15.10,15.04,14.53
$GC,1730,1.28,290.3,3171,2003,1802,1738,15.0,6.0,320,1761,0.00,2.30,24.83,0.824,11012,0.000,0.052,3171,3390,1593,1629,1558,0,0,0,0,0,0,15.21,14.90,14.49
$STATE,1841,end climb,SURFACE_DEPTH_REACHED
$STATE,1841,begin surface coast
$FINISH,0.1,1.022605
$STATE,1862,end surface coast,CONTROL_FINISHED_OK
$STATE,1862,begin surface
$SM_CCo,1886,133.68,0.735,0,0,598,534.75
$SM_CCo,2022,-0.28,0.000,0,0,599,534.75
$SM_CCo,2025,-0.03,0.000,0,0,599,534.75
$SM_GC,0.98,14.07,2.30,-0.03,0.054,0.042,0.000,127,1983,599,-8.26,1.13,534.75,0,0,0,0,0,0,15.00,15.02,14.37
$IRIDIUM_FIX,-2756.73,3107.47,150319,155001
$TT8_MAMPS,0.021721,0.945987
$HUMID,41.10
$INTERNAL_PRESSURE,9.66389
$TCM_TEMP,23.60
$XPDR_PINGS,23
$ALTIM_BOTTOM_PING,60.7,32.3
$SC_FREEKB,3916672
$24V_AH,13.97,34.117
$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,30.750,32.225,256.300,133.675,0.000,26.169,36.056,261.302,6.750,0.000,16.164,756.142,294.504,470.139,947.365,42.724,0.000,797.761,0.000,526.637,0.000,8.583,0.000
$DEVICE_MAMPS,338.895,74.970,992.970,735.165,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1893.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.145,0.000,0.000,0.000
$MEM,340960
$DATA_FILE_SIZE,6802,345
$CAP_FILE_SIZE,64762,0
$CFSIZE,2097086464,2092859392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,1.248,198.21,1
$GPS,150319,171947,-2815.987,3233.770,8,0.9,14,-23.1,1.0,171.6,8,9.7