version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 15
start: 3 15 119 18 52 57
data:
$ID,574
$MISSION,3
$DIVE,15
$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,50
$R_STBD_OVSHOOT,48
$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
$GPS1,150319,184525,-2819.6677,3232.3723,8,1.0,42,-23.2,1.9,201.0,9,5.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-71.5
$GPS2,150319,185231,-2820.0713,3232.2158,8,1.0,18,-23.2,2.1,197.5,9,8.4
$SPEED_LIMITS,0.173,0.187
$TGT_NAME,HEADING
$TGT_LATLONG,-2820.071,3244.485
$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,68.2,20000,-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,-73.0,87,2009,633,559,0.0,0.0,0,101,0.00,0.00,-79.85,0.000,16386,0.000,0.000,86,2010,2843,2815,2872,0,0,0,0,0,0,15.20,28.83,15.21
$GC,103,-1.01,-73.0,86,2010,2814,2873,3.6,-6.9,14,129,13.30,2.30,-4.05,0.000,18948,0.288,0.073,2451,595,3077,3067,3087,0,0,0,0,0,0,14.85,14.40,15.03
$GC,186,-1.01,-73.0,2450,594,3071,3085,30.9,-22.7,29,193,0.00,2.25,0.00,0.000,3078,0.000,0.041,2448,1994,3077,3072,3083,0,0,0,0,0,0,15.14,15.07,15.15
$GC,256,-1.01,-73.0,2448,1997,3073,3083,42.6,-14.8,42,263,0.00,2.28,0.00,0.000,2564,0.000,0.057,2449,604,3078,3073,3083,0,0,0,0,0,0,15.26,15.07,15.27
$GC,274,-1.01,-73.0,2448,604,3073,3083,45.6,-16.0,45,281,0.00,2.25,0.00,0.000,3078,0.000,0.041,2447,2006,3081,3073,3089,0,0,0,0,0,0,15.12,15.04,15.13
$GC,348,-1.01,-73.0,2447,2009,3073,3082,55.6,-14.8,58,355,0.00,2.30,0.00,0.000,2564,0.000,0.057,2447,601,3077,3073,3081,0,0,0,0,0,0,15.28,15.08,15.28
$GC,442,-1.01,-73.0,2446,602,3074,3082,73.3,-20.5,76,448,0.00,2.25,0.00,0.000,3078,0.000,0.041,2445,2012,3077,3073,3082,0,0,0,0,0,0,15.19,15.11,15.21
$GC,511,-1.01,-73.0,2445,2015,3075,3081,79.8,-7.9,89,518,0.00,2.33,0.00,0.000,2564,0.000,0.057,2445,595,3077,3074,3081,0,0,0,0,0,0,15.31,15.11,15.32
$GC,524,-1.01,-73.0,2445,594,3074,3078,81.2,-9.4,91,531,0.00,2.28,0.00,0.000,3078,0.000,0.047,2446,1997,3077,3074,3081,0,0,0,0,0,0,15.16,15.08,15.16
$STATE,536,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,536,begin apogee
$GC,539,-0.18,0.0,2445,1999,3074,3081,82.5,-10.1,93,599,1.38,0.00,52.50,0.940,10246,0.172,0.000,2720,2000,2779,2793,2766,0,0,0,0,0,0,14.97,14.89,14.45
$STATE,600,end apogee,CONTROL_FINISHED_OK
$STATE,600,begin climb
$GC,602,1.01,73.0,2720,2001,2793,2765,85.9,0.0,103,667,1.70,2.40,56.00,0.964,10756,0.073,0.054,3109,600,2480,2491,2469,0,0,0,0,0,0,14.89,14.72,14.29
$GC,784,1.15,187.6,3109,600,2484,2466,85.2,-0.5,136,878,0.12,2.25,86.60,0.975,11270,0.145,0.034,3149,2027,2014,2035,1994,0,0,0,0,0,0,14.93,14.96,14.28
$GC,940,1.15,187.6,3149,2027,2028,1989,67.9,18.1,164,947,0.00,2.38,0.00,0.000,2564,0.000,0.060,3155,606,2007,2027,1988,0,0,0,0,0,0,15.06,14.86,15.06
$GC,1298,1.24,254.7,3155,605,2020,1981,23.1,3.8,235,1346,0.00,2.20,38.72,0.881,11270,0.000,0.035,3155,2003,1738,1768,1708,0,0,0,0,0,0,15.13,15.07,14.50
$GC,1407,1.24,254.7,3155,2002,1765,1702,15.1,12.1,255,1413,0.00,2.25,0.00,0.000,2308,0.000,0.053,3155,3392,1733,1764,1702,0,0,0,0,0,0,15.17,14.98,15.17
$STATE,1518,end climb,SURFACE_DEPTH_REACHED
$STATE,1519,begin surface coast
$FINISH,0.4,1.022941
$STATE,1546,end surface coast,CONTROL_FINISHED_OK
$STATE,1546,begin surface
$SM_CCo,1569,148.88,0.731,0,0,597,534.75
$SM_CCo,1722,-0.25,0.000,0,0,599,534.75
$SM_CCo,1724,-0.08,0.000,0,0,600,534.75
$SM_GC,0.96,13.90,2.28,-0.08,0.052,0.047,0.000,125,2015,600,-8.26,1.64,534.75,0,0,0,0,0,0,15.07,15.07,14.71
$IRIDIUM_FIX,-2806.51,3226.02,150319,180150
$TT8_MAMPS,0.020972,0.377496
$HUMID,40.90
$INTERNAL_PRESSURE,9.68342
$TCM_TEMP,23.90
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,55.6,36.1
$SC_FREEKB,3915136
$24V_AH,14.00,34.549
$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,30.400,31.975,233.825,148.875,0.000,22.625,15.962,243.120,3.500,0.000,19.423,625.209,227.010,465.701,812.291,42.109,0.000,750.952,0.000,433.112,0.000,7.504,0.000
$DEVICE_MAMPS,288.405,72.675,975.375,731.340,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1575.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.557,0.000,0.000,0.000
$MEM,340960
$DATA_FILE_SIZE,6812,282
$CAP_FILE_SIZE,58449,0
$CFSIZE,2097086464,2092367872
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,261.68,0x2131ca,0,24
$CURRENT,1.327,199.49,1
$GPS,150319,192239,-2821.237,3231.760,9,1.0,20,-23.2,2.1,204.3,9,9.0