version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 20
start: 3 15 119 22 8 39
data:
$ID,574
$MISSION,3
$DIVE,20
$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,45
$R_STBD_OVSHOOT,47
$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
$GPS1,150319,220055,-2827.9277,3229.3960,9,0.9,44,-23.3,1.4,197.8,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-72.5
$GPS2,150319,220813,-2828.3555,3229.2397,8,0.8,19,-23.4,1.3,190.3,11,8.7
$SPEED_LIMITS,0.173,0.187
$TGT_NAME,HEADING
$TGT_LATLONG,-2828.355,3241.525
$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,68.4,20000,-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,-73.0,93,2005,654,548,0.0,0.0,0,101,0.00,0.00,-80.18,0.000,16386,0.000,0.000,89,2006,2831,2801,2862,0,0,0,0,0,0,15.19,28.83,15.19
$GC,103,-1.01,-73.0,89,2005,2802,2862,3.8,-8.5,14,129,13.40,2.30,-4.18,0.000,18948,0.295,0.067,2450,586,3078,3069,3088,0,0,0,0,0,0,14.84,14.38,15.04
$GC,295,-1.01,-73.0,2449,586,3072,3086,52.7,-21.1,51,303,0.05,2.28,0.00,0.000,3078,0.379,0.039,2452,2001,3079,3073,3085,0,0,0,0,0,0,14.94,15.07,15.11
$GC,364,-1.01,-73.0,2450,2004,3074,3085,63.6,-13.2,64,371,0.00,2.30,0.00,0.000,2564,0.000,0.057,2451,599,3079,3074,3084,0,0,0,0,0,0,15.28,15.04,15.28
$GC,458,-1.01,-73.0,2451,599,3074,3084,77.2,-14.3,82,465,0.00,2.25,0.00,0.000,3078,0.000,0.040,2446,2001,3079,3074,3084,0,0,0,0,0,0,15.19,15.11,15.19
$GC,528,-1.01,-73.0,2446,2004,3075,3084,86.7,-11.6,95,534,0.00,0.00,0.00,0.000,2054,0.000,0.000,2447,2004,3079,3075,3084,0,0,0,0,0,0,15.29,15.29,15.30
$GC,599,-1.01,-73.0,2447,2004,3076,3084,96.4,-13.5,108,605,0.00,0.00,0.00,0.000,2054,0.000,0.000,2447,2004,3080,3076,3084,0,0,0,0,0,0,15.30,15.30,15.30
$GC,666,-1.01,-73.0,2446,2004,3076,3084,106.8,-15.3,121,674,0.00,2.30,0.00,0.000,2564,0.000,0.056,2447,597,3079,3075,3083,0,0,0,0,0,0,15.31,15.11,15.32
$GC,696,-1.01,-73.0,2447,597,3078,3083,111.2,-15.4,126,703,0.00,2.25,0.00,0.000,3078,0.000,0.041,2447,1999,3079,3076,3083,0,0,0,0,0,0,15.21,15.12,15.21
$STATE,753,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,753,begin apogee
$GC,756,-0.18,0.0,2447,2003,3077,3083,120.3,-16.3,137,816,1.38,0.00,53.20,1.011,10246,0.175,0.000,2720,2008,2780,2793,2767,0,0,0,0,0,0,15.00,14.85,14.39
$STATE,817,end apogee,CONTROL_FINISHED_OK
$STATE,818,begin climb
$GC,819,1.01,73.0,2719,2003,2792,2766,122.7,0.0,147,888,1.70,2.35,57.25,1.029,11012,0.070,0.057,3113,593,2478,2488,2469,0,0,0,0,0,0,14.88,14.71,14.25
$GC,1391,1.11,148.7,3112,593,2479,2463,96.6,3.1,258,1456,0.00,2.28,58.20,1.053,11270,0.000,0.037,3113,2016,2171,2190,2153,0,0,0,0,0,0,15.18,15.11,14.36
$GC,1517,1.11,148.7,3112,2017,2185,2149,86.2,10.9,281,1525,0.00,2.25,0.00,0.000,2308,0.000,0.054,3113,3389,2166,2183,2149,0,0,0,0,0,0,15.09,14.91,15.11
$GC,2028,1.13,170.7,3113,3388,2175,2146,37.9,8.0,382,2052,0.00,2.25,16.62,0.962,11270,0.000,0.046,3122,1993,2083,2103,2063,0,0,0,0,0,0,15.19,15.10,14.52
$GC,2115,1.17,198.2,3122,1993,2099,2060,30.5,7.5,398,2145,0.08,2.33,21.42,1.007,10500,0.201,0.052,3155,3390,1972,1994,1951,0,0,0,0,0,0,15.02,14.91,14.45
$GC,2649,1.26,273.7,3155,3389,1987,1946,17.5,3.1,503,2702,0.00,2.25,44.42,0.908,11270,0.000,0.044,3165,1996,1661,1690,1632,0,0,0,0,0,0,15.19,15.11,14.50
$GC,2763,1.26,273.7,3165,1996,1689,1626,7.9,13.1,524,2769,0.00,2.33,0.00,0.000,2564,0.000,0.064,3172,601,1657,1688,1626,0,0,0,0,0,0,15.15,14.95,15.15
$STATE,2799,end climb,SURFACE_DEPTH_REACHED
$STATE,2799,begin surface coast
$FINISH,0.1,1.022674
$STATE,2821,end surface coast,CONTROL_FINISHED_OK
$STATE,2821,begin surface
$SM_CCo,2844,146.85,0.759,0,0,597,534.75
$SM_CCo,2994,-0.30,0.000,0,0,600,534.75
$SM_CCo,2997,-0.03,0.000,0,0,600,534.75
$SM_GC,0.89,14.05,2.28,-0.03,0.050,0.038,0.000,125,1992,600,-8.26,-1.78,534.75,0,0,0,0,0,0,15.02,15.00,14.45
$IRIDIUM_FIX,-2813.85,3230.71,150319,211618
$TT8_MAMPS,0.020972,0.83888
$HUMID,42.71
$INTERNAL_PRESSURE,9.67366
$TCM_TEMP,23.60
$XPDR_PINGS,21
$ALTIM_BOTTOM_PING,95.6,34.4
$SC_FREEKB,3912576
$24V_AH,13.96,35.327
$10V_AH,13.48,0.000
$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,30.650,31.975,251.125,146.850,0.000,23.860,36.991,236.847,8.000,0.000,20.935,1208.681,494.606,485.886,1216.188,50.439,0.000,932.465,0.000,812.193,0.000,19.251,0.000
$DEVICE_MAMPS,378.675,66.555,1052.640,758.880,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2850.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.586,0.000,0.000,0.000
$MEM,340960
$DATA_FILE_SIZE,13442,535
$CAP_FILE_SIZE,85171,0
$CFSIZE,2097086464,2091515904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,1.414,200.09,1
$GPS,150319,225929,-2830.446,3228.339,8,0.7,17,-23.4,1.1,208.5,11,9.4