version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 13
start: 3 15 119 17 27 11
data:
$ID,574
$MISSION,3
$DIVE,13
$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,53
$R_STBD_OVSHOOT,56
$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
$GPS1,150319,171947,-2815.9866,3233.7698,8,0.9,14,-23.1,1.0,171.6,8,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-70.8
$GPS2,150319,172646,-2816.3809,3233.5828,8,0.9,14,-23.1,2.1,209.4,8,9.9
$SPEED_LIMITS,0.173,0.187
$TGT_NAME,HEADING
$TGT_LATLONG,-2816.381,3245.844
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.01,-73.0,96,1978,634,559,0.0,0.0,0,102,0.00,0.00,-80.47,0.000,16386,0.000,0.000,93,1977,2860,2829,2891,0,0,0,0,0,0,15.17,28.83,15.19
$GC,104,-1.01,-73.0,93,1977,2830,2891,4.0,-9.0,14,130,13.32,2.30,-3.72,0.000,18692,0.291,0.073,2441,3392,3080,3068,3092,0,0,0,0,0,0,14.85,14.10,15.03
$GC,136,-1.01,-73.0,2440,3391,3068,3092,17.8,-41.5,19,143,0.08,2.25,0.00,0.000,3078,0.294,0.050,2454,2011,3080,3068,3092,0,0,0,0,0,0,14.90,15.01,15.05
$GC,205,-1.01,-73.0,2453,2010,3072,3087,35.1,-23.5,32,213,0.00,2.33,0.00,0.000,2564,0.000,0.057,2454,592,3079,3072,3087,0,0,0,0,0,0,15.23,15.02,15.24
$GC,244,-1.01,-73.0,2454,591,3072,3086,44.1,-22.3,39,251,0.00,2.25,0.00,0.000,3078,0.000,0.041,2449,1990,3080,3074,3086,0,0,0,0,0,0,15.09,15.02,15.10
$GC,315,-1.01,-73.0,2448,1994,3074,3085,58.1,-16.9,52,323,0.00,2.33,0.00,0.000,2564,0.000,0.058,2448,584,3079,3074,3085,0,0,0,0,0,0,15.26,15.04,15.27
$GC,417,-1.01,-73.0,2448,583,3075,3085,75.1,-13.2,71,423,0.00,2.28,0.00,0.000,3078,0.000,0.041,2447,2000,3080,3075,3085,0,0,0,0,0,0,15.17,15.10,15.19
$STATE,473,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,473,begin apogee
$GC,476,-0.18,0.0,2447,2003,3077,3085,82.4,-13.0,82,534,1.30,0.00,52.00,0.946,10246,0.172,0.000,2706,2004,2779,2792,2766,0,0,0,0,0,0,14.98,14.88,14.41
$STATE,536,end apogee,CONTROL_FINISHED_OK
$STATE,536,begin climb
$GC,538,1.01,73.0,2706,2004,2792,2765,85.2,0.0,92,602,1.77,0.00,56.08,0.977,10502,0.076,0.000,3105,2004,2480,2491,2469,0,0,0,0,0,0,14.88,14.70,14.26
$GC,664,1.06,108.7,3105,2004,2487,2465,80.9,6.7,114,700,0.00,2.40,28.48,0.939,10756,0.000,0.059,3117,585,2333,2347,2319,0,0,0,0,0,0,15.07,14.67,14.33
$GC,1037,1.17,199.8,3116,584,2340,2313,62.9,1.6,187,1114,0.10,2.28,68.25,0.968,11270,0.167,0.035,3152,2024,1962,1987,1938,0,0,0,0,0,0,15.05,15.09,14.34
$GC,1175,1.17,199.8,3151,2024,1982,1932,51.3,12.0,212,1182,0.00,2.22,0.00,0.000,2308,0.000,0.052,3152,3390,1957,1982,1932,0,0,0,0,0,0,15.09,14.90,15.09
$GC,1604,1.26,270.2,3152,3390,1974,1930,14.2,3.5,297,1651,0.00,2.25,38.03,0.824,11270,0.000,0.045,3160,1987,1675,1706,1644,0,0,0,0,0,0,15.16,15.09,14.51
$GC,1712,1.26,270.2,3161,1987,1704,1638,3.8,13.8,317,1720,0.00,2.30,0.00,0.000,2564,0.000,0.063,3161,600,1670,1704,1637,0,0,0,0,0,0,15.18,14.94,15.18
$STATE,1725,end climb,SURFACE_DEPTH_REACHED
$STATE,1725,begin surface coast
$FINISH,0.2,1.022674
$STATE,1746,end surface coast,CONTROL_FINISHED_OK
$STATE,1746,begin surface
$SM_CCo,1769,142.77,0.728,0,0,598,534.75
$SM_CCo,1915,-0.32,0.000,0,0,600,534.75
$SM_CCo,1918,0.00,0.000,0,0,600,534.75
$SM_GC,0.91,13.93,2.28,0.00,0.047,0.038,0.000,127,1984,600,-8.26,-1.67,534.75,0,0,0,0,0,0,15.02,15.02,14.97
$IRIDIUM_FIX,-2801.62,3233.53,150319,163901
$TT8_MAMPS,0.020972,0.704809
$HUMID,40.27
$INTERNAL_PRESSURE,9.69319
$TCM_TEMP,23.90
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,60.5,31.8
$SC_FREEKB,3916160
$24V_AH,13.98,34.262
$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,30.500,27.450,242.825,142.775,0.000,24.558,16.455,243.684,5.250,0.000,15.137,716.618,267.890,463.144,866.806,41.284,0.000,772.212,0.000,493.544,0.000,8.580,0.000
$DEVICE_MAMPS,293.760,72.675,976.905,727.515,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1773.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.610,0.000,0.000,0.000
$MEM,340960
$DATA_FILE_SIZE,6793,323
$CAP_FILE_SIZE,60908,0
$CFSIZE,2097086464,2092695552
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,211.76,0x2131c2,0,24
$CURRENT,1.330,198.01,1
$GPS,150319,180000,-2817.664,3233.126,9,1.0,15,-23.1,1.7,207.0,8,9.5