version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 22
start: 3 16 119 0 7 20
data:
$ID,574
$MISSION,3
$DIVE,22
$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,40
$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,2801
$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
$GPS1,150319,235825,-2832.9878,3227.2241,8,1.0,39,-23.5,1.5,190.8,8,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-72.8
$GPS2,160319,000655,-2833.4839,3227.0144,8,1.0,18,-23.5,1.3,181.5,8,8.6
$SPEED_LIMITS,0.173,0.187
$TGT_NAME,HEADING
$TGT_LATLONG,-2833.484,3239.310
$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,68.5,20000,-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,-73.0,95,1930,627,570,0.0,0.0,0,102,0.00,0.00,-80.10,0.000,16386,0.000,0.000,90,1930,2841,2813,2870,0,0,0,0,0,0,15.17,28.83,15.18
$GC,104,-1.01,-73.0,90,1930,2813,2870,3.9,-8.9,14,130,13.30,2.30,-4.38,0.000,18948,0.285,0.071,2453,526,3101,3092,3110,0,0,0,0,0,0,14.85,14.36,15.02
$GC,276,-1.01,-73.0,2452,526,3093,3110,48.4,-18.2,47,283,0.00,2.28,0.00,0.000,3078,0.000,0.040,2450,1935,3101,3094,3109,0,0,0,0,0,0,15.14,15.07,15.16
$GC,346,-1.01,-73.0,2450,1938,3096,3107,60.1,-17.4,60,352,0.00,2.30,0.00,0.000,2308,0.000,0.057,2450,3344,3101,3096,3107,0,0,0,0,0,0,15.27,15.04,15.28
$GC,374,-1.01,-73.0,2450,3344,3096,3107,64.6,-14.8,65,384,0.00,2.25,0.00,0.000,3078,0.000,0.044,2450,1930,3101,3096,3107,0,0,0,0,0,0,15.16,15.09,15.18
$GC,446,-1.01,-73.0,2450,1929,3096,3107,75.9,-17.9,78,453,0.00,2.30,0.00,0.000,2564,0.000,0.059,2450,526,3102,3097,3107,0,0,0,0,0,0,15.28,15.06,15.28
$GC,496,-1.01,-73.0,2450,526,3096,3107,85.5,-18.9,87,503,0.00,2.28,0.00,0.000,3078,0.000,0.035,2447,1957,3102,3097,3107,0,0,0,0,0,0,15.16,15.09,15.16
$GC,565,-1.01,-73.0,2446,1960,3097,3106,95.3,-14.1,100,571,0.00,0.00,0.00,0.000,2054,0.000,0.000,2447,1959,3101,3097,3106,0,0,0,0,0,0,15.29,15.30,15.30
$GC,637,-1.01,-73.0,2447,1959,3097,3106,105.8,-15.2,113,644,0.00,2.33,0.00,0.000,2564,0.000,0.054,2447,535,3101,3097,3106,0,0,0,0,0,0,15.30,15.10,15.30
$STATE,800,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,800,begin apogee
$GC,805,-0.18,0.0,2444,1944,3097,3106,130.9,-15.8,145,865,1.38,0.00,53.72,1.026,10246,0.171,0.000,2718,1947,2799,2811,2787,0,0,0,0,0,0,14.97,14.87,14.39
$STATE,867,end apogee,CONTROL_FINISHED_OK
$STATE,867,begin climb
$GC,868,1.01,73.0,2718,1947,2812,2787,134.4,0.0,155,934,1.67,2.42,56.95,1.041,11012,0.049,0.057,3128,537,2500,2508,2492,0,0,0,0,0,0,14.90,14.69,14.23
$GC,1439,1.15,185.4,3127,537,2498,2485,113.1,-0.3,265,1532,0.00,2.28,85.60,1.061,11270,0.000,0.037,3128,1967,2043,2064,2023,0,0,0,0,0,0,15.11,15.04,14.27
$GC,1593,1.15,185.4,3127,1967,2059,2015,98.4,14.2,293,1601,0.00,2.40,0.00,0.000,2564,0.000,0.063,3127,546,2037,2058,2017,0,0,0,0,0,0,15.04,14.81,15.04
$GC,1606,1.15,185.4,3127,546,2057,2016,96.6,15.1,295,1613,0.00,2.25,0.00,0.000,3078,0.000,0.039,3131,1931,2036,2056,2016,0,0,0,0,0,0,14.96,14.88,14.97
$GC,1675,1.15,185.4,3127,1935,2056,2014,85.1,15.7,308,1682,0.00,2.33,0.00,0.000,2564,0.000,0.066,3128,547,2035,2056,2014,0,0,0,0,0,0,15.13,14.91,15.14
$GC,2184,1.28,291.1,3127,547,2050,2008,29.2,0.3,409,2271,0.22,2.25,77.07,1.006,11270,0.107,0.037,3188,1963,1610,1642,1579,0,0,0,0,0,0,15.04,15.06,14.32
$GC,2333,1.28,291.1,3188,1963,1640,1573,17.2,16.1,435,2339,0.00,2.40,0.00,0.000,2564,0.000,0.062,3193,540,1606,1639,1573,0,0,0,0,0,0,15.06,14.87,15.07
$STATE,2440,end climb,SURFACE_DEPTH_REACHED
$STATE,2440,begin surface coast
$FINISH,0.4,1.022891
$STATE,2461,end surface coast,CONTROL_FINISHED_OK
$STATE,2461,begin surface
$SM_CCo,2484,140.68,0.763,0,0,598,539.90
$SM_CCo,2628,-0.30,0.000,0,0,599,539.90
$SM_CCo,2630,-0.05,0.000,0,0,600,539.90
$SM_GC,0.88,14.12,2.30,-0.05,0.046,0.041,0.000,125,1933,600,-8.26,-1.53,539.90,0,0,0,0,0,0,15.00,15.00,14.32
$IRIDIUM_FIX,-2818.74,3229.96,150319,230143
$TT8_MAMPS,0.021721,0.773717
$HUMID,42.16
$INTERNAL_PRESSURE,9.62483
$TCM_TEMP,22.60
$XPDR_PINGS,20
$ALTIM_BOTTOM_PING,105.8,34.6
$SC_FREEKB,3911552
$24V_AH,13.95,35.680
$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,30.700,36.950,273.350,140.675,0.000,22.296,15.815,312.025,8.250,0.000,19.639,1030.394,409.806,499.183,1168.906,50.067,0.000,902.957,0.000,697.094,0.000,22.722,0.000
$DEVICE_MAMPS,285.345,71.145,1061.055,763.470,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2501.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.747,0.000,0.000,0.000
$MEM,340936
$DATA_FILE_SIZE,10129,460
$CAP_FILE_SIZE,80281,0
$CFSIZE,2097086464,2091188224
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,373.86,0x236098,0,24
$INTR,1,1680.22,0x2131ca,1,24
$CURRENT,1.383,201.24,1
$GPS,160319,005231,-2835.325,3226.253,8,0.8,43,-23.5,2.3,206.4,10,4.7