version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 17
start: 3 15 119 20 8 52
data:
$ID,574
$MISSION,3
$DIVE,17
$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,42
$R_STBD_OVSHOOT,41
$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
$GPS1,150319,200125,-2822.8853,3231.0579,8,0.8,40,-23.2,2.0,198.6,10,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-72.8
$GPS2,150319,200827,-2823.3018,3230.9148,7,0.8,14,-23.2,2.1,203.8,10,9.8
$SPEED_LIMITS,0.173,0.187
$TGT_NAME,HEADING
$TGT_LATLONG,-2823.302,3243.190
$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,-73.0,86,1996,628,564,0.0,0.0,0,101,0.00,0.00,-79.68,0.000,16386,0.000,0.000,83,1996,2835,2807,2863,0,0,0,0,0,0,15.20,28.83,15.21
$GC,103,-1.01,-73.0,84,1996,2807,2864,3.7,-7.0,14,129,13.40,2.30,-4.18,0.000,18692,0.294,0.067,2440,3414,3079,3067,3092,0,0,0,0,0,0,14.85,14.38,15.03
$GC,135,-1.01,-73.0,2440,3415,3067,3092,17.7,-43.2,19,143,0.08,2.30,0.00,0.000,3078,0.296,0.050,2458,2005,3080,3068,3092,0,0,0,0,0,0,14.90,15.01,15.06
$GC,205,-1.01,-73.0,2454,2003,3071,3088,34.4,-19.2,32,210,0.00,0.00,0.00,0.000,2054,0.000,0.000,2454,2004,3080,3072,3088,0,0,0,0,0,0,15.25,15.26,15.26
$GC,272,-1.01,-73.0,2454,2004,3072,3087,45.3,-15.0,45,279,0.00,2.33,0.00,0.000,2564,0.000,0.057,2452,590,3079,3072,3087,0,0,0,0,0,0,15.28,15.07,15.28
$GC,376,-1.01,-73.0,2454,590,3073,3086,62.7,-14.7,64,382,0.00,2.28,0.00,0.000,3078,0.000,0.038,2450,2008,3079,3073,3085,0,0,0,0,0,0,15.16,15.09,15.17
$GC,444,-1.01,-73.0,2449,2011,3074,3085,72.6,-15.0,77,451,0.00,2.33,0.00,0.000,2564,0.000,0.057,2450,591,3079,3074,3085,0,0,0,0,0,0,15.30,15.06,15.30
$STATE,507,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,507,begin apogee
$GC,513,-0.18,0.0,2450,2004,3074,3085,82.2,-14.4,89,572,1.35,0.00,52.92,0.959,10246,0.176,0.000,2718,2008,2779,2792,2766,0,0,0,0,0,0,15.01,14.87,14.42
$STATE,574,end apogee,CONTROL_FINISHED_OK
$STATE,574,begin climb
$GC,575,1.01,73.0,2718,2007,2792,2765,84.7,0.0,99,639,1.73,0.00,55.60,0.972,10502,0.071,0.000,3103,2008,2481,2491,2471,0,0,0,0,0,0,14.88,14.62,14.28
$GC,701,1.08,129.9,3103,2008,2487,2468,80.7,4.8,121,755,0.00,2.35,44.45,0.967,10756,0.000,0.057,3114,593,2246,2261,2232,0,0,0,0,0,0,15.07,14.71,14.32
$GC,1258,1.17,202.9,3114,593,2252,2225,34.6,3.3,230,1323,0.12,2.25,54.45,0.951,11270,0.140,0.035,3156,2007,1947,1970,1925,0,0,0,0,0,0,15.11,15.12,14.43
$GC,1385,1.17,202.9,3156,2007,1967,1919,23.7,12.9,253,1392,0.00,2.35,0.00,0.000,2564,0.000,0.060,3161,587,1943,1968,1919,0,0,0,0,0,0,15.14,14.95,15.14
$GC,1524,1.25,265.2,3161,587,1963,1916,16.6,4.3,280,1566,0.00,2.25,34.20,0.845,11270,0.000,0.035,3161,2007,1696,1727,1666,0,0,0,0,0,0,15.13,15.07,14.51
$GC,1628,1.27,284.6,3161,2007,1723,1659,9.1,8.2,299,1647,0.05,2.33,9.90,0.723,10756,0.270,0.061,3197,594,1616,1649,1583,0,0,0,0,0,0,14.89,14.93,14.53
$STATE,1683,end climb,SURFACE_DEPTH_REACHED
$STATE,1683,begin surface coast
$FINISH,0.4,1.009320
$STATE,1704,end surface coast,CONTROL_FINISHED_OK
$STATE,1704,begin surface
$SM_CCo,1727,135.12,0.742,0,0,598,534.75
$SM_CCo,1864,-0.28,0.000,0,0,600,534.75
$SM_CCo,1867,0.00,0.000,0,0,600,534.75
$SM_GC,0.95,14.10,2.30,0.00,0.047,0.038,0.000,130,1991,600,-8.26,-1.47,534.75,0,0,0,0,0,0,15.00,15.02,14.97
$IRIDIUM_FIX,-2811.40,3232.78,150319,192427
$TT8_MAMPS,0.020972,0.978943
$HUMID,40.66
$INTERNAL_PRESSURE,9.67366
$TCM_TEMP,23.60
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,60.2,32.0
$SC_FREEKB,3914112
$24V_AH,14.00,34.837
$10V_AH,13.46,0.000
$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,30.825,27.650,251.525,135.125,0.000,22.651,46.320,223.238,5.500,0.000,16.167,685.588,257.517,467.602,857.879,41.469,0.000,772.590,0.000,478.174,0.000,11.444,0.000
$DEVICE_MAMPS,296.055,67.320,971.550,742.050,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1727.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.556,0.000,0.000,0.000
$MEM,340960
$DATA_FILE_SIZE,6813,313
$CAP_FILE_SIZE,60053,0
$CFSIZE,2097086464,2092040192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,1.422,196.75,1
$GPS,150319,204050,-2824.687,3230.481,8,0.8,15,-23.3,2.3,193.0,10,9.4