version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 21
start: 3 15 119 23 8 27
data:
$ID,574
$MISSION,3
$DIVE,21
$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,1940
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,48
$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
$GPS1,150319,225929,-2830.4456,3228.3386,8,0.7,17,-23.4,1.1,208.5,11,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-72.8
$GPS2,150319,230801,-2830.9424,3228.1504,8,0.7,18,-23.4,1.7,197.1,11,8.5
$SPEED_LIMITS,0.173,0.187
$TGT_NAME,HEADING
$TGT_LATLONG,-2830.942,3240.440
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,19,-1.01,-73.0,81,1997,628,565,0.0,0.0,0,104,0.00,0.00,-81.90,0.000,16386,0.000,0.000,80,1998,2909,2880,2939,0,0,0,0,0,0,15.17,28.83,15.19
$GC,106,-1.01,-73.0,79,1997,2880,2940,4.4,-10.1,14,131,13.45,2.38,-2.83,0.000,18948,0.292,0.071,2453,539,3080,3068,3092,0,0,0,0,0,0,14.85,14.09,15.05
$GC,273,-1.01,-73.0,2452,539,3072,3088,51.4,-20.1,46,280,0.00,2.28,0.00,0.000,3078,0.000,0.042,2450,1939,3080,3073,3087,0,0,0,0,0,0,15.14,15.06,15.14
$GC,341,-1.01,-73.0,2450,1941,3074,3086,64.0,-18.8,59,347,0.00,0.00,0.00,0.000,2054,0.000,0.000,2450,1941,3080,3074,3086,0,0,0,0,0,0,15.28,15.28,15.28
$GC,409,-1.01,-73.0,2449,1941,3075,3086,73.6,-14.1,72,414,0.00,0.00,0.00,0.000,2054,0.000,0.000,2449,1941,3081,3076,3086,0,0,0,0,0,0,15.27,15.28,15.28
$GC,475,-1.01,-73.0,2450,1941,3075,3086,83.4,-15.6,85,483,0.00,2.30,0.00,0.000,2564,0.000,0.057,2450,543,3080,3075,3086,0,0,0,0,0,0,15.29,15.07,15.29
$GC,534,-1.01,-73.0,2450,543,3075,3085,92.4,-14.1,96,541,0.00,2.25,0.00,0.000,3078,0.000,0.039,2447,1948,3080,3076,3085,0,0,0,0,0,0,15.13,15.06,15.14
$GC,604,-1.01,-73.0,2447,1950,3076,3085,101.3,-11.3,109,611,0.00,0.00,0.00,0.000,2054,0.000,0.000,2447,1950,3080,3076,3085,0,0,0,0,0,0,15.30,15.30,15.30
$GC,673,-1.01,-73.0,2447,1951,3076,3093,109.6,-11.3,122,679,0.00,0.00,0.00,0.000,2054,0.000,0.000,2447,1949,3081,3077,3085,0,0,0,0,0,0,15.30,15.31,15.30
$GC,740,-1.01,-73.0,2447,1951,3078,3084,114.8,-5.7,135,747,0.00,2.33,0.00,0.000,2564,0.000,0.058,2447,536,3080,3077,3084,0,0,0,0,0,0,15.31,15.09,15.31
$GC,788,-1.01,-73.0,2447,536,3078,3080,122.2,-16.8,144,795,0.00,2.25,0.00,0.000,3078,0.000,0.037,2447,1951,3080,3077,3084,0,0,0,0,0,0,15.21,15.13,15.21
$STATE,800,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,800,begin apogee
$GC,804,-0.18,0.0,2447,1951,3077,3084,124.2,-18.1,146,862,1.35,0.00,53.28,1.014,10246,0.171,0.000,2717,1958,2780,2794,2767,0,0,0,0,0,0,15.02,14.87,14.41
$STATE,864,end apogee,CONTROL_FINISHED_OK
$STATE,864,begin climb
$GC,866,1.01,73.0,2717,1954,2791,2766,128.7,0.0,156,931,1.77,2.35,56.80,1.041,10500,0.054,0.050,3138,3353,2479,2488,2471,0,0,0,0,0,0,14.89,14.71,14.25
$GC,1434,1.11,147.8,3138,3353,2476,2466,101.3,3.1,266,1498,0.00,2.28,57.30,1.048,9222,0.000,0.046,3137,1948,2175,2191,2160,0,0,0,0,0,0,15.16,15.09,14.35
$GC,1560,1.11,147.8,3138,1948,2185,2155,91.2,13.2,289,1567,0.00,2.30,0.00,0.000,260,0.000,0.052,3138,3355,2170,2185,2155,0,0,0,0,0,0,15.09,14.91,15.09
$GC,2070,1.20,227.0,3138,3355,2179,2150,47.1,2.7,390,2135,0.00,2.28,59.38,1.009,11270,0.000,0.046,3141,1945,1854,1877,1831,0,0,0,0,0,0,15.19,15.10,14.37
$GC,2196,1.20,227.0,3141,1944,1871,1823,35.7,12.5,413,2204,0.00,2.33,0.00,0.000,2308,0.000,0.051,3141,3357,1846,1870,1823,0,0,0,0,0,0,15.09,14.88,15.10
$STATE,2685,end climb,SURFACE_DEPTH_REACHED
$STATE,2685,begin surface coast
$FINISH,0.0,1.022685
$STATE,2721,end surface coast,CONTROL_FINISHED_OK
$STATE,2721,begin surface
$SM_CCo,2744,171.30,0.763,0,0,598,534.75
$SM_CCo,2919,-0.28,0.000,0,0,599,534.75
$SM_CCo,2922,-0.10,0.000,0,0,601,534.75
$SM_GC,0.88,13.85,2.35,-0.10,0.053,0.047,0.000,129,1935,601,-8.25,1.10,534.75,0,0,0,0,0,0,15.09,15.11,14.73
$IRIDIUM_FIX,-2816.29,3228.65,150319,220250
$TT8_MAMPS,0.020972,0.889063
$HUMID,41.80
$INTERNAL_PRESSURE,9.66389
$TCM_TEMP,23.40
$XPDR_PINGS,25
$ALTIM_BOTTOM_PING,100.1,33.6
$SC_FREEKB,3912064
$24V_AH,13.95,35.502
$10V_AH,13.47,0.000
$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,30.425,27.650,226.750,171.300,0.000,24.404,15.534,314.098,9.250,0.000,19.525,1171.444,481.936,488.304,1256.667,52.848,0.000,918.631,0.000,784.031,0.000,20.769,0.000
$DEVICE_MAMPS,292.230,71.145,1048.050,763.470,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2762.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.597,0.000,0.000,0.000
$MEM,340960
$DATA_FILE_SIZE,13432,517
$CAP_FILE_SIZE,84304,0
$CFSIZE,2097086464,2091352064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,1.423,200.66,1
$GPS,150319,235825,-2832.988,3227.224,8,1.0,39,-23.5,1.5,190.8,8,5.0