version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 16
start: 3 15 119 19 29 34
data:
$ID,574
$MISSION,3
$DIVE,16
$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,35
$R_STBD_OVSHOOT,57
$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
$GPS1,150319,192239,-2821.2368,3231.7598,9,1.0,20,-23.2,2.1,204.3,9,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-73.1
$GPS2,150319,192909,-2821.6106,3231.6084,8,0.9,16,-23.2,1.5,218.4,9,9.6
$SPEED_LIMITS,0.173,0.187
$TGT_NAME,HEADING
$TGT_LATLONG,-2821.611,3243.880
$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,-73.0,93,2011,632,562,0.0,0.0,0,101,0.00,0.00,-80.20,0.000,16386,0.000,0.000,90,2010,2855,2826,2884,0,0,0,0,0,0,15.20,28.83,15.21
$GC,104,-1.01,-73.0,89,2011,2826,2885,3.8,-7.9,14,124,13.30,0.00,-3.83,0.000,18694,0.288,0.000,2452,2011,3080,3067,3093,0,0,0,0,0,0,14.86,14.16,15.05
$GC,185,-1.01,-73.0,2451,2011,3072,3089,31.4,-23.5,29,192,0.00,2.35,0.00,0.000,2564,0.000,0.059,2452,585,3080,3073,3088,0,0,0,0,0,0,15.25,15.03,15.26
$GC,244,-1.01,-73.0,2451,585,3074,3087,43.2,-18.1,40,251,0.00,2.25,0.00,0.000,3078,0.000,0.041,2450,1986,3080,3075,3086,0,0,0,0,0,0,15.13,15.08,15.13
$GC,316,-1.01,-73.0,2450,1989,3076,3086,55.4,-15.5,53,323,0.00,2.30,0.00,0.000,2564,0.000,0.057,2450,587,3081,3076,3086,0,0,0,0,0,0,15.28,15.08,15.29
$GC,374,-1.01,-73.0,2450,586,3075,3085,65.0,-15.1,64,382,0.00,2.28,0.00,0.000,3078,0.000,0.039,2450,2007,3081,3076,3086,0,0,0,0,0,0,15.14,15.07,15.15
$GC,444,-1.01,-73.0,2450,2010,3077,3086,73.8,-13.0,77,450,0.00,2.33,0.00,0.000,2564,0.000,0.055,2450,588,3081,3077,3085,0,0,0,0,0,0,15.30,15.06,15.30
$STATE,476,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,476,begin apogee
$GC,482,-0.18,0.0,2450,2011,3076,3085,78.2,-12.1,83,540,1.35,0.00,52.72,0.949,10246,0.177,0.000,2718,2014,2780,2793,2767,0,0,0,0,0,0,15.01,14.85,14.42
$STATE,542,end apogee,CONTROL_FINISHED_OK
$STATE,542,begin climb
$GC,543,1.01,73.0,2718,2015,2793,2766,81.0,0.0,93,611,1.70,2.33,56.22,0.962,10500,0.066,0.050,3102,3410,2479,2488,2470,0,0,0,0,0,0,14.90,14.72,14.29
$GC,955,1.14,173.9,3102,3410,2482,2466,68.8,0.7,172,1040,0.08,2.28,76.47,0.976,11270,0.196,0.041,3144,1981,2068,2088,2049,0,0,0,0,0,0,15.04,15.07,14.35
$GC,1101,1.14,173.9,3144,1981,2082,2043,57.3,12.2,198,1108,0.00,2.35,0.00,0.000,2308,0.000,0.050,3144,3417,2061,2081,2042,0,0,0,0,0,0,15.09,14.90,15.09
$GC,1405,1.26,276.2,3144,3418,2079,2039,24.3,0.6,258,1476,0.10,2.28,63.10,0.904,11270,0.164,0.044,3183,2000,1651,1682,1620,0,0,0,0,0,0,15.05,15.07,14.40
$GC,1537,1.26,276.2,3183,2000,1678,1614,15.2,13.2,282,1544,0.00,2.33,0.00,0.000,2308,0.000,0.051,3183,3417,1645,1678,1612,0,0,0,0,0,0,15.11,14.93,15.11
$STATE,1645,end climb,SURFACE_DEPTH_REACHED
$STATE,1645,begin surface coast
$FINISH,0.4,1.022750
$STATE,1666,end surface coast,CONTROL_FINISHED_OK
$STATE,1666,begin surface
$SM_CCo,1689,138.52,0.739,0,0,598,534.75
$SM_CCo,1830,-0.28,0.000,0,0,599,534.75
$SM_CCo,1833,-0.05,0.000,0,0,600,534.75
$SM_GC,1.06,14.07,2.33,-0.05,0.051,0.041,0.000,126,2001,600,-8.26,1.30,534.75,0,0,0,0,0,0,15.03,15.04,14.66
$IRIDIUM_FIX,-2808.95,3231.46,150319,184719
$TT8_MAMPS,0.021721,0.956473
$HUMID,40.31
$INTERNAL_PRESSURE,9.67366
$TCM_TEMP,23.60
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,55.4,32.8
$SC_FREEKB,3914624
$24V_AH,14.00,34.692
$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,30.600,27.700,248.525,138.525,0.000,24.306,16.181,218.576,5.500,0.000,17.712,674.352,257.827,457.348,815.733,39.267,0.000,754.544,0.000,472.543,0.000,7.406,0.000
$DEVICE_MAMPS,288.405,58.905,976.140,738.990,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1689.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.458,0.000,0.000,0.000
$MEM,340960
$DATA_FILE_SIZE,6795,307
$CAP_FILE_SIZE,58010,0
$CFSIZE,2097086464,2092204032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,1.366,199.44,1
$GPS,150319,200125,-2822.885,3231.058,8,0.8,40,-23.2,2.0,198.6,10,4.6