version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 19
start: 3 15 119 21 20 56
data:
$ID,574
$MISSION,3
$DIVE,19
$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,39
$R_STBD_OVSHOOT,44
$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
$GPS1,150319,211443,-2826.0977,3230.0759,8,1.0,20,-23.3,1.7,190.3,8,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-71.8
$GPS2,150319,212031,-2826.4341,3229.9570,8,1.0,20,-23.3,1.6,194.8,8,9.3
$SPEED_LIMITS,0.173,0.187
$TGT_NAME,HEADING
$TGT_LATLONG,-2826.434,3242.238
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,19,-1.01,-73.0,99,2012,649,552,0.0,0.0,0,102,0.00,0.00,-80.00,0.000,16386,0.000,0.000,95,2012,2830,2801,2860,0,0,0,0,0,0,15.21,28.83,15.22
$GC,104,-1.01,-73.0,95,2013,2801,2860,3.7,-8.2,14,129,13.23,0.00,-4.20,0.000,18438,0.286,0.000,2452,2013,3078,3067,3090,0,0,0,0,0,0,14.86,14.45,15.06
$GC,191,-1.01,-73.0,2450,2012,3072,3086,32.0,-22.4,30,197,0.00,2.35,0.00,0.000,2564,0.000,0.060,2451,588,3079,3072,3086,0,0,0,0,0,0,15.25,15.04,15.26
$GC,264,-1.01,-73.0,2450,588,3073,3086,46.6,-20.0,44,271,0.00,2.28,0.00,0.000,3078,0.000,0.042,2450,1997,3079,3073,3085,0,0,0,0,0,0,15.12,15.05,15.13
$GC,334,-1.01,-73.0,2450,2000,3073,3085,60.1,-17.1,57,341,0.00,2.30,0.00,0.000,2308,0.000,0.055,2447,3418,3078,3073,3084,0,0,0,0,0,0,15.26,15.09,15.27
$GC,347,-1.01,-73.0,2447,3418,3073,3085,62.5,-16.2,59,354,0.00,2.28,0.00,0.000,3078,0.000,0.041,2447,1993,3078,3073,3084,0,0,0,0,0,0,15.19,15.11,15.19
$GC,415,-1.01,-73.0,2447,1992,3074,3084,70.9,-12.3,72,422,0.00,2.30,0.00,0.000,2564,0.000,0.060,2447,594,3078,3073,3084,0,0,0,0,0,0,15.30,15.07,15.30
$GC,546,-1.01,-73.0,2447,594,3074,3084,88.3,-14.2,97,554,0.00,2.28,0.00,0.000,3078,0.000,0.041,2446,2012,3079,3074,3084,0,0,0,0,0,0,15.21,15.13,15.21
$GC,617,-1.01,-73.0,2445,2015,3074,3082,97.6,-14.7,110,622,0.00,0.00,0.00,0.000,2054,0.000,0.000,2446,2015,3079,3076,3083,0,0,0,0,0,0,15.32,15.33,15.33
$GC,683,-1.01,-73.0,2446,2015,3076,3083,106.5,-12.8,123,690,0.00,2.33,0.00,0.000,2564,0.000,0.057,2446,591,3079,3076,3083,0,0,0,0,0,0,15.32,15.13,15.32
$STATE,715,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,716,begin apogee
$GC,721,-0.18,0.0,2443,1999,3076,3083,110.0,-11.4,129,781,1.40,0.00,53.47,1.007,10246,0.177,0.000,2720,2003,2779,2792,2766,0,0,0,0,0,0,15.01,14.85,14.40
$STATE,783,end apogee,CONTROL_FINISHED_OK
$STATE,783,begin climb
$GC,784,1.01,73.0,2721,2003,2792,2765,112.1,0.0,139,848,1.75,0.00,56.25,1.020,10502,0.059,0.000,3121,2003,2479,2489,2470,0,0,0,0,0,0,14.90,14.71,14.27
$GC,910,1.04,92.8,3120,2003,2485,2467,107.1,8.2,161,934,0.00,2.35,16.60,0.942,12804,0.000,0.060,3127,595,2398,2409,2387,0,0,0,0,0,0,15.07,14.81,14.35
$GC,1437,1.15,186.3,3127,595,2399,2381,66.9,1.4,265,1515,0.00,2.28,70.78,1.021,11270,0.000,0.036,3128,2019,2018,2040,1997,0,0,0,0,0,0,15.19,15.13,14.35
$GC,1577,1.15,186.3,3127,2019,2035,1991,57.1,10.3,290,1584,0.00,2.38,0.00,0.000,2564,0.000,0.063,3128,602,2012,2035,1990,0,0,0,0,0,0,15.10,14.90,15.10
$STATE,2050,end climb,NO_VERTICAL_VELOCITY
$STATE,2050,begin surface
$SM_CCo,2053,204.93,0.853,0,0,596,534.75
$SM_CCo,2313,-0.60,0.000,0,0,601,534.75
$SM_CCo,2315,0.17,0.158,0,0,600,534.75
$SM_CCo,2318,0.00,0.000,0,0,600,534.75
$SM_GC,1.42,13.98,2.33,0.00,0.045,0.041,0.000,127,1999,600,-8.26,-1.47,534.75,0,0,0,0,0,0,14.83,14.83,15.06
$IRIDIUM_FIX,-2813.85,3228.65,150319,204242
$TT8_MAMPS,0.021721,0.931007
$HUMID,42.75
$INTERNAL_PRESSURE,9.63459
$TCM_TEMP,22.20
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,85.3,34.2
$SC_FREEKB,3913088
$24V_AH,14.06,35.155
$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,30.350,27.725,197.100,205.100,0.000,23.243,18.819,178.884,6.500,0.000,21.178,874.475,377.874,495.712,897.907,41.509,0.000,836.926,0.000,586.415,0.000,16.206,0.000
$DEVICE_MAMPS,286.110,62.730,1020.510,852.975,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2062.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.512,0.000,0.000,0.000
$MEM,340960
$DATA_FILE_SIZE,10155,384
$CAP_FILE_SIZE,67316,0
$CFSIZE,2097086464,2091679744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,1.274,200.47,1
$GPS,150319,220055,-2827.928,3229.396,9,0.9,44,-23.3,1.4,197.8,10,4.7