version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 23
start: 3 16 119 1 1 23
data:
$ID,574
$MISSION,3
$DIVE,23
$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,44
$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
$GPS1,160319,005231,-2835.3252,3226.2534,8,0.8,43,-23.5,2.3,206.4,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-73.2
$GPS2,160319,010058,-2835.8164,3226.0449,7,0.8,17,-23.5,2.1,201.9,10,9.6
$SPEED_LIMITS,0.173,0.187
$TGT_NAME,HEADING
$TGT_LATLONG,-2835.816,3238.344
$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,-73.0,101,1938,630,562,0.0,0.0,0,100,0.00,0.00,-78.35,0.000,16386,0.000,0.000,99,1938,2753,2730,2777,0,0,0,0,0,0,15.16,28.83,15.17
$GC,102,-1.01,-73.0,99,1938,2730,2777,3.4,-7.2,14,129,13.32,2.35,-6.12,0.000,18948,0.291,0.073,2450,528,3100,3095,3106,0,0,0,0,0,0,14.84,14.09,15.04
$GC,296,-1.01,-73.0,2450,528,3097,3106,54.7,-22.7,51,304,0.00,2.28,0.00,0.000,3078,0.000,0.041,2447,1938,3101,3096,3106,0,0,0,0,0,0,15.14,15.07,15.15
$GC,367,-1.01,-73.0,2447,1941,3094,3105,67.2,-18.1,64,372,0.00,0.00,0.00,0.000,2054,0.000,0.000,2448,1941,3101,3097,3106,0,0,0,0,0,0,15.27,15.27,15.27
$GC,435,-1.01,-73.0,2447,1941,3097,3105,76.2,-13.8,77,442,0.00,2.33,0.00,0.000,2564,0.000,0.058,2446,536,3101,3098,3105,0,0,0,0,0,0,15.27,15.03,15.27
$GC,454,-1.01,-73.0,2447,536,3097,3105,78.9,-14.8,80,460,0.00,2.25,0.00,0.000,3078,0.000,0.041,2444,1939,3100,3097,3104,0,0,0,0,0,0,15.17,15.09,15.18
$GC,523,-1.01,-73.0,2443,1942,3097,3105,88.8,-14.4,93,530,0.00,0.00,0.00,0.000,2054,0.000,0.000,2444,1942,3101,3098,3105,0,0,0,0,0,0,15.28,15.28,15.28
$GC,591,-1.01,-73.0,2443,1943,3098,3105,97.9,-15.5,106,598,0.03,2.30,0.00,0.000,2564,0.542,0.052,2449,533,3101,3098,3105,0,0,0,0,0,0,15.00,15.09,15.14
$GC,701,-1.01,-73.0,2448,533,3098,3105,115.9,-16.4,126,708,0.00,2.28,0.00,0.000,3078,0.000,0.040,2449,1951,3101,3098,3105,0,0,0,0,0,0,15.19,15.14,15.20
$GC,770,-1.01,-73.0,2448,1950,3098,3105,126.3,-14.4,139,776,0.00,2.33,0.00,0.000,2564,0.000,0.059,2449,537,3101,3098,3104,0,0,0,0,0,0,15.30,15.06,15.30
$GC,802,-1.01,-73.0,2449,537,3098,3105,131.5,-15.0,145,810,0.00,2.25,0.00,0.000,3078,0.000,0.040,2449,1938,3101,3098,3105,0,0,0,0,0,0,15.20,15.11,15.21
$GC,873,-1.01,-73.0,2449,1940,3098,3102,141.5,-15.7,158,879,0.00,2.33,0.00,0.000,2564,0.000,0.060,2449,533,3103,3098,3108,0,0,0,0,0,0,15.31,15.10,15.31
$STATE,884,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,885,begin apogee
$GC,890,-0.18,0.0,2449,1954,3098,3105,142.9,-11.9,160,948,1.35,0.00,53.65,1.040,10246,0.184,0.000,2716,1957,2800,2813,2788,0,0,0,0,0,0,14.97,14.85,14.38
$STATE,950,end apogee,CONTROL_FINISHED_OK
$STATE,951,begin climb
$GC,952,1.01,73.0,2716,1957,2813,2786,146.2,0.0,170,1020,1.73,2.35,57.10,1.051,10500,0.070,0.052,3101,3355,2500,2509,2491,0,0,0,0,0,0,14.85,14.69,14.23
$GC,1097,1.04,95.5,3101,3355,2503,2490,142.0,7.9,196,1123,0.00,2.30,18.42,0.988,11270,0.000,0.044,3111,1946,2411,2420,2402,0,0,0,0,0,0,14.92,14.85,14.33
$GC,1184,1.05,105.8,3111,1946,2416,2397,135.8,9.0,212,1203,0.00,2.35,9.48,0.909,10756,0.000,0.061,3118,551,2366,2376,2357,0,0,0,0,0,0,15.09,14.85,14.37
$GC,1706,1.13,163.4,3117,551,2367,2352,98.2,4.7,315,1760,0.00,2.25,44.70,1.068,11270,0.000,0.036,3118,1962,2131,2149,2114,0,0,0,0,0,0,15.18,15.11,14.38
$GC,1821,1.13,163.4,3117,1963,2145,2111,87.7,12.2,336,1828,0.00,2.25,0.00,0.000,2308,0.000,0.052,3117,3344,2126,2143,2110,0,0,0,0,0,0,15.11,14.93,15.11
$GC,2330,1.15,184.6,3118,3343,2138,2105,36.3,8.0,437,2355,0.00,2.25,16.42,0.945,11270,0.000,0.046,3127,1949,2045,2065,2026,0,0,0,0,0,0,15.18,15.10,14.50
$GC,2417,1.20,225.1,3126,1947,2062,2023,29.8,6.3,453,2454,0.08,2.35,31.45,0.838,10500,0.199,0.054,3161,3343,1881,1903,1859,0,0,0,0,0,0,15.02,14.88,14.51
$STATE,2825,end climb,SURFACE_DEPTH_REACHED
$STATE,2825,begin surface coast
$FINISH,0.0,1.022816
$STATE,2882,end surface coast,CONTROL_FINISHED_OK
$STATE,2882,begin surface
$SM_CCo,2906,178.88,0.774,0,0,598,539.90
$SM_CCo,3087,-0.30,0.000,0,0,600,539.90
$SM_CCo,3090,0.00,0.000,0,0,600,539.90
$SM_GC,0.78,14.02,2.33,0.00,0.056,0.048,0.000,124,1942,600,-8.26,1.24,539.90,0,0,0,0,0,0,15.07,15.09,14.91
$IRIDIUM_FIX,-2821.19,3227.90,160319,000035
$TT8_MAMPS,0.020972,0.832888
$HUMID,42.12
$INTERNAL_PRESSURE,9.63459
$TCM_TEMP,23.00
$XPDR_PINGS,25
$ALTIM_BOTTOM_PING,115.9,36.5
$SC_FREEKB,3911040
$24V_AH,13.93,35.860
$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,30.525,41.425,231.225,178.875,0.000,22.638,41.727,293.128,10.000,0.000,18.156,1244.288,504.237,513.396,1296.521,56.014,0.000,970.215,0.000,824.776,0.000,25.335,0.000
$DEVICE_MAMPS,542.385,72.675,1067.940,774.180,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2919.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.527,0.000,0.000,0.000
$MEM,340936
$DATA_FILE_SIZE,13437,544
$CAP_FILE_SIZE,91512,0
$CFSIZE,2097086464,2091024384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,1.408,199.87,1
$GPS,160319,015349,-2837.944,3225.123,7,1.1,20,-23.6,2.4,182.9,8,8.8