version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 18
start: 3 15 119 20 48 26
data:
$ID,574
$MISSION,3
$DIVE,18
$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,37
$R_STBD_OVSHOOT,39
$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
$GPS1,150319,204050,-2824.6868,3230.4812,8,0.8,15,-23.3,2.3,193.0,10,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-71.9
$GPS2,150319,204801,-2825.1221,3230.3467,8,1.0,15,-23.3,2.6,198.7,8,9.6
$SPEED_LIMITS,0.173,0.187
$TGT_NAME,HEADING
$TGT_LATLONG,-2825.122,3242.625
$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,68.3,20000,-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,18,-1.01,-73.0,91,1997,630,560,0.0,0.0,0,100,0.00,0.00,-78.57,0.000,16386,0.000,0.000,88,1997,2770,2746,2794,0,0,0,0,0,0,15.20,28.83,15.21
$GC,102,-1.01,-73.0,88,1997,2746,2794,3.3,-5.8,14,128,13.32,2.33,-5.53,0.000,18692,0.289,0.067,2444,3415,3080,3070,3090,0,0,0,0,0,0,14.88,14.13,15.07
$GC,134,-1.01,-73.0,2443,3415,3070,3090,16.1,-38.9,19,141,0.00,2.30,0.00,0.000,3078,0.000,0.047,2444,1998,3080,3070,3090,0,0,0,0,0,0,15.07,15.00,15.09
$GC,203,-1.01,-73.0,2443,1995,3072,3087,33.9,-21.4,32,209,0.00,2.30,0.00,0.000,2564,0.000,0.058,2443,590,3080,3073,3087,0,0,0,0,0,0,15.24,15.05,15.25
$GC,276,-1.01,-73.0,2443,591,3073,3085,48.9,-23.0,46,284,0.05,2.28,0.00,0.000,3078,0.382,0.041,2452,2003,3080,3074,3086,0,0,0,0,0,0,14.95,15.09,15.11
$GC,345,-1.01,-73.0,2453,2005,3077,3085,61.9,-15.1,59,352,0.00,2.33,0.00,0.000,2564,0.000,0.054,2453,586,3080,3075,3085,0,0,0,0,0,0,15.29,15.07,15.29
$GC,386,-1.01,-73.0,2452,586,3075,3085,68.3,-17.0,66,393,0.00,2.28,0.00,0.000,3078,0.000,0.039,2453,2005,3080,3076,3085,0,0,0,0,0,0,15.19,15.11,15.19
$GC,454,-1.01,-73.0,2452,2013,3076,3085,78.5,-15.2,79,461,0.00,2.33,0.00,0.000,2564,0.000,0.056,2453,589,3080,3076,3085,0,0,0,0,0,0,15.30,15.08,15.30
$STATE,512,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,512,begin apogee
$GC,518,-0.18,0.0,2452,2003,3076,3085,86.6,-14.3,90,576,1.33,0.00,52.85,0.962,10246,0.173,0.000,2718,2007,2779,2792,2767,0,0,0,0,0,0,15.01,14.88,14.43
$STATE,578,end apogee,CONTROL_FINISHED_OK
$STATE,578,begin climb
$GC,579,1.01,73.0,2718,2007,2792,2766,90.0,0.0,100,644,1.73,2.42,55.95,0.981,11012,0.071,0.055,3113,583,2481,2491,2472,0,0,0,0,0,0,14.89,14.73,14.29
$STATE,1076,end climb,NO_VERTICAL_VELOCITY
$STATE,1076,begin surface
$SM_CCo,1079,336.98,0.947,0,0,598,534.75
$SM_CCo,1516,-0.55,0.000,0,0,601,534.75
$SM_CCo,1518,0.17,0.184,0,0,600,534.75
$SM_CCo,1521,0.00,0.000,0,0,600,534.75
$SM_GC,1.36,13.80,2.35,0.00,0.044,0.037,0.000,129,2006,600,-8.26,-1.19,534.75,0,0,0,0,0,0,14.90,14.92,15.13
$IRIDIUM_FIX,-2811.40,3230.71,150319,200322
$TT8_MAMPS,0.020972,0.826896
$HUMID,41.80
$INTERNAL_PRESSURE,9.63459
$TCM_TEMP,23.40
$XPDR_PINGS,18
$ALTIM_BOTTOM_PING,65.3,31.0
$SC_FREEKB,3913600
$24V_AH,14.13,34.998
$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,30.225,23.225,108.800,337.150,0.000,26.585,38.011,229.724,5.750,0.000,16.171,475.688,232.979,542.234,685.278,35.532,0.000,746.858,0.000,307.389,0.000,10.092,0.000
$DEVICE_MAMPS,381.735,67.320,981.495,947.070,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1099.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.052,0.000,0.000,0.000
$MEM,340960
$DATA_FILE_SIZE,3491,196
$CAP_FILE_SIZE,47403,0
$CFSIZE,2097086464,2091876352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,1.270,195.38,1
$GPS,150319,211443,-2826.098,3230.076,8,1.0,20,-23.3,1.7,190.3,8,9.2