version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 24
start: 3 16 119 2 3 28
data:
$ID,574
$MISSION,3
$DIVE,24
$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,38
$R_STBD_OVSHOOT,54
$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
$GPS1,160319,015349,-2837.9441,3225.1233,7,1.1,20,-23.6,2.4,182.9,8,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-72.3
$GPS2,160319,020302,-2838.4880,3224.9099,7,1.1,19,-23.6,2.0,189.1,8,9.0
$SPEED_LIMITS,0.173,0.187
$TGT_NAME,HEADING
$TGT_LATLONG,-2838.488,3237.215
$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,68.6,20000,-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,19,-1.01,-73.0,83,1937,627,566,0.0,0.0,0,104,0.00,0.00,-82.70,0.000,16386,0.000,0.000,83,1937,2920,2895,2946,0,0,0,0,0,0,15.16,28.83,15.16
$GC,106,-1.01,-73.0,83,1936,2895,2946,3.9,-8.5,14,132,13.40,2.33,-3.00,0.000,18948,0.288,0.079,2452,523,3100,3089,3112,0,0,0,0,0,0,14.84,14.10,15.03
$GC,218,-1.01,-73.0,2452,523,3091,3111,38.1,-19.1,35,225,0.00,2.28,0.00,0.000,3078,0.000,0.039,2445,1937,3101,3092,3110,0,0,0,0,0,0,15.11,15.04,15.12
$GC,288,-1.01,-73.0,2445,1940,3094,3108,52.1,-19.0,48,294,0.00,0.00,0.00,0.000,2054,0.000,0.000,2445,1939,3101,3095,3108,0,0,0,0,0,0,15.23,15.23,15.23
$GC,356,-1.01,-73.0,2445,1940,3095,3108,64.1,-16.8,61,363,0.00,2.35,0.00,0.000,2564,0.000,0.057,2445,528,3101,3095,3108,0,0,0,0,0,0,15.26,15.04,15.26
$GC,389,-1.01,-73.0,2445,528,3095,3108,69.9,-17.4,67,397,0.08,2.30,0.00,0.000,3078,0.311,0.041,2454,1944,3101,3095,3108,0,0,0,0,0,0,14.92,15.02,15.06
$GC,461,-1.01,-73.0,2453,1947,3096,3107,81.9,-17.0,80,467,0.00,2.35,0.00,0.000,2564,0.000,0.059,2454,535,3101,3096,3107,0,0,0,0,0,0,15.28,15.07,15.28
$GC,474,-1.01,-73.0,2454,535,3096,3107,84.0,-16.2,82,480,0.00,2.28,0.00,0.000,3078,0.000,0.041,2450,1948,3101,3096,3107,0,0,0,0,0,0,15.11,15.04,15.11
$GC,542,-1.01,-73.0,2450,1951,3096,3107,93.7,-12.7,95,549,0.00,2.28,0.00,0.000,2308,0.000,0.058,2450,3344,3101,3096,3107,0,0,0,0,0,0,15.28,15.07,15.28
$GC,561,-1.01,-73.0,2450,3344,3096,3106,95.6,-10.9,98,568,0.00,2.25,0.00,0.000,3078,0.000,0.041,2450,1935,3101,3096,3107,0,0,0,0,0,0,15.17,15.09,15.19
$GC,631,-1.01,-73.0,2450,1932,3096,3106,104.1,-15.1,111,638,0.00,2.30,0.00,0.000,2564,0.000,0.063,2453,542,3101,3097,3106,0,0,0,0,0,0,15.29,15.08,15.30
$GC,777,-1.01,-73.0,2450,542,3096,3106,128.0,-16.5,138,783,0.00,2.25,0.00,0.000,3078,0.000,0.040,2450,1942,3103,3101,3105,0,0,0,0,0,0,15.18,15.11,15.20
$GC,845,-1.01,-73.0,2450,1944,3096,3106,137.8,-13.8,151,851,0.00,2.33,0.00,0.000,2564,0.000,0.058,2450,535,3101,3097,3106,0,0,0,0,0,0,15.30,15.07,15.30
$GC,883,-1.01,-73.0,2444,535,3096,3106,143.9,-16.3,158,890,0.00,2.25,0.00,0.000,3078,0.000,0.041,2450,1939,3101,3096,3106,0,0,0,0,0,0,15.19,15.11,15.20
$STATE,941,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,941,begin apogee
$GC,944,-0.18,0.0,2450,1941,3097,3105,152.9,-13.1,169,1004,1.35,0.00,53.78,1.046,10246,0.172,0.000,2719,1943,2800,2812,2788,0,0,0,0,0,0,15.01,14.85,14.38
$STATE,1005,end apogee,CONTROL_FINISHED_OK
$STATE,1006,begin climb
$GC,1007,1.01,73.0,2719,1943,2811,2787,153.3,0.0,179,1076,1.75,2.40,56.72,1.064,10756,0.049,0.060,3134,547,2501,2510,2493,0,0,0,0,0,0,14.87,14.66,14.20
$GC,1580,1.15,184.2,3134,547,2500,2487,134.5,-0.2,290,1675,0.00,2.28,85.15,1.096,11270,0.000,0.037,3134,1971,2048,2069,2027,0,0,0,0,0,0,15.16,15.09,14.23
$GC,1737,1.15,184.2,3133,1971,2064,2022,118.0,17.4,318,1743,0.00,2.40,0.00,0.000,2564,0.000,0.061,3134,545,2042,2062,2022,0,0,0,0,0,0,15.02,14.81,15.03
$GC,2245,1.15,184.2,3134,545,2055,2015,42.7,10.6,419,2251,0.00,2.25,0.00,0.000,3078,0.000,0.038,3134,1961,2034,2054,2015,0,0,0,0,0,0,15.16,15.08,15.17
$GC,2314,1.15,184.2,3134,1962,2054,2015,35.5,10.2,432,2320,0.00,2.35,0.00,0.000,2564,0.000,0.063,3134,544,2033,2054,2013,0,0,0,0,0,0,15.27,15.07,15.28
$GC,2582,1.29,301.1,3134,544,2052,2012,26.3,-0.7,485,2666,0.20,2.22,76.18,0.989,11270,0.113,0.037,3191,1948,1573,1605,1541,0,0,0,0,0,0,15.05,15.07,14.34
$GC,2727,1.29,301.1,3190,1948,1601,1533,11.5,17.1,511,2733,0.00,2.30,0.00,0.000,2308,0.000,0.052,3191,3346,1566,1601,1532,0,0,0,0,0,0,15.05,14.83,15.06
$STATE,2784,end climb,SURFACE_DEPTH_REACHED
$STATE,2785,begin surface coast
$FINISH,0.1,1.022698
$STATE,2800,end surface coast,CONTROL_FINISHED_OK
$STATE,2801,begin surface
$SM_CCo,2824,136.27,0.771,0,0,598,539.90
$SM_CCo,2963,-0.30,0.000,0,0,600,539.90
$SM_CCo,2966,-0.08,0.000,0,0,600,539.90
$SM_GC,0.83,14.23,2.35,-0.08,0.050,0.045,0.000,123,1938,600,-8.26,1.10,539.90,0,0,0,0,0,0,14.96,14.95,14.59
$IRIDIUM_FIX,-2823.64,3225.82,160319,005440
$TT8_MAMPS,0.020972,0.964712
$HUMID,43.06
$INTERNAL_PRESSURE,9.61506
$TCM_TEMP,22.70
$XPDR_PINGS,26
$ALTIM_BOTTOM_PING,125.6,37.2
$SC_FREEKB,3910528
$24V_AH,13.94,36.046
$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,31.000,46.075,271.825,136.275,0.000,24.396,47.306,320.647,10.750,0.000,21.064,1183.926,472.765,509.767,1311.806,57.211,0.000,966.602,0.000,796.338,0.000,28.372,0.000
$DEVICE_MAMPS,311.355,78.795,1096.245,771.120,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2842.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.791,0.000,0.000,0.000
$MEM,340960
$DATA_FILE_SIZE,13431,525
$CAP_FILE_SIZE,91325,0
$CFSIZE,2097086464,2090860544
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$INTR,0,889.01,0x2131c2,0,24
$CURRENT,1.297,200.17,1
$GPS,160319,025353,-2840.411,3224.194,8,1.0,22,-23.6,1.5,164.4,9,10.0