version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 154
start: 3 27 119 5 7 51
data:
$ID,574
$MISSION,3
$DIVE,154
$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,20
$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,95
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53998
$MASS_COMP,0
$NAV_MODE,3
$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,515.36688
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,259
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$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,2759
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,30
$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,1812
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,55
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2701
$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
$GPS1,270319,050111,-3006.9016,3058.9314,8,1.2,18,-25.1,0.9,241.5,8,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-70.9
$GPS2,270319,050728,-3006.9092,3058.9229,7,1.2,19,-25.1,0.0,126.2,8,9.7
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3012.196,3109.818
$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,144.4,20000,-23.0,-9.980,-25.43,1422
$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,20,-0.88,-92.5,81,1806,622,556,0.0,0.0,0,103,0.00,0.00,-80.68,0.000,16386,0.000,0.000,76,1807,2758,2738,2779,0,0,0,0,0,0,15.12,28.83,15.14
$GC,106,-0.88,-92.5,76,1806,2738,2786,3.1,-4.4,14,132,13.62,2.40,-6.12,0.000,18948,0.287,0.076,2468,391,3079,3074,3084,0,0,0,0,0,0,14.78,13.95,14.99
$GC,225,-0.88,-92.5,2467,391,3074,3083,32.7,-21.0,36,233,0.05,2.30,0.00,0.000,3078,0.361,0.036,2468,1809,3079,3074,3084,0,0,0,0,0,0,14.82,14.97,15.00
$GC,296,-0.88,-92.5,2468,1813,3076,3083,47.6,-19.2,49,303,0.00,2.30,0.00,0.000,2308,0.000,0.050,2458,3219,3079,3076,3083,0,0,0,0,0,0,15.21,15.00,15.21
$GC,349,-0.88,-92.5,2459,3219,3077,3083,56.2,-14.4,59,356,0.05,2.30,0.00,0.000,3078,0.326,0.042,2469,1803,3080,3077,3083,0,0,0,0,0,0,14.83,14.97,15.00
$GC,420,-0.88,-92.5,2469,1803,3077,3083,67.7,-15.7,72,427,0.00,2.33,0.00,0.000,2308,0.000,0.050,2464,3218,3079,3077,3082,0,0,0,0,0,0,15.22,15.00,15.22
$GC,627,-0.88,-92.5,2464,3218,3076,3082,99.0,-13.5,112,635,0.00,2.30,0.00,0.000,3078,0.000,0.044,2464,1806,3079,3077,3082,0,0,0,0,0,0,15.14,15.04,15.14
$GC,698,-0.88,-92.5,2464,1807,3077,3082,108.7,-13.8,125,705,0.00,2.33,0.00,0.000,2564,0.000,0.060,2464,408,3080,3078,3082,0,0,0,0,0,0,15.24,15.04,15.25
$STATE,721,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,721,begin apogee
$GC,728,-0.17,0.0,2455,1818,3078,3082,112.8,-16.5,129,802,1.23,0.00,67.05,0.864,10246,0.167,0.000,2699,1821,2699,2716,2682,0,0,0,0,0,0,14.94,14.78,14.32
$STATE,805,end apogee,CONTROL_FINISHED_OK
$STATE,805,begin climb
$GC,807,0.88,92.5,2698,1821,2715,2681,116.9,0.0,142,888,1.50,0.00,72.25,0.864,10246,0.079,0.000,3028,1822,2321,2344,2298,0,0,0,0,0,0,14.79,14.57,14.29
$GC,951,0.90,105.1,3028,1821,2341,2294,110.6,9.1,167,970,0.00,2.45,10.80,0.755,10756,0.000,0.063,3033,376,2269,2293,2245,0,0,0,0,0,0,14.99,14.73,14.39
$GC,992,0.90,105.1,3033,376,2293,2245,106.3,10.3,174,999,0.00,2.33,0.00,0.000,3078,0.000,0.033,3033,1811,2268,2292,2245,0,0,0,0,0,0,14.86,14.79,14.88
$GC,1062,0.90,105.1,3033,1812,2292,2242,98.7,11.1,187,1068,0.00,2.40,0.00,0.000,2564,0.000,0.063,3033,396,2267,2292,2242,0,0,0,0,0,0,15.08,14.82,15.08
$GC,1137,0.90,105.1,3033,396,2290,2242,88.1,15.2,201,1143,0.00,2.25,0.00,0.000,3078,0.000,0.034,3033,1800,2266,2290,2242,0,0,0,0,0,0,14.99,14.95,15.00
$GC,1206,0.93,137.0,3033,1803,2290,2241,82.7,7.7,214,1236,0.00,2.33,25.33,0.809,10500,0.000,0.044,3033,3207,2140,2170,2111,0,0,0,0,0,0,15.16,14.88,14.38
$GC,1714,1.02,209.1,3033,3207,2164,2107,40.5,4.8,314,1779,0.15,2.30,54.45,0.811,11270,0.129,0.045,3086,1800,1844,1879,1810,0,0,0,0,0,0,15.03,15.03,14.38
$GC,1842,1.02,209.1,3086,1800,1877,1807,30.2,11.7,337,1849,0.00,2.38,0.00,0.000,516,0.000,0.064,3096,392,1841,1876,1807,0,0,0,0,0,0,15.09,14.85,15.09
$GC,1886,1.02,209.1,3096,394,1873,1806,24.8,13.3,345,1893,0.00,2.28,0.00,0.000,5126,0.000,0.033,3096,1807,1840,1874,1806,0,0,0,0,0,0,15.02,14.95,15.03
$GC,1955,1.02,209.1,3096,1810,1873,1804,16.6,11.8,358,1962,0.00,2.38,0.00,0.000,4612,0.000,0.061,3106,391,1838,1873,1804,0,0,0,0,0,0,15.15,14.95,15.16
$STATE,2093,end climb,SURFACE_DEPTH_REACHED
$STATE,2093,begin surface coast
$FINISH,0.6,1.023544
$STATE,2125,end surface coast,CONTROL_FINISHED_OK
$STATE,2125,begin surface
$SM_CCo,2150,171.00,0.764,0,0,598,515.37
$SM_GC,0.93,13.82,2.33,171.00,0.052,0.032,0.764,128,1813,598,-8.17,-1.41,515.37,0,0,0,0,0,0,15.01,15.04,14.32
$IRIDIUM_FIX,-2955.02,3058.25,270319,041524
$TT8_MAMPS,0.021721,0.898051
$HUMID,41.17
$INTERNAL_PRESSURE,9.576
$TCM_TEMP,22.70
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,85.1,37.0
$SC_FREEKB,3843040
$24V_AH,13.95,67.926
$10V_AH,14.00,0.000
$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,30.425,41.950,229.875,171.000,0.000,25.078,16.537,167.839,4.750,0.000,21.772,876.471,337.018,501.718,909.660,88.095,0.000,862.627,0.000,597.794,0.000,16.208,0.000
$DEVICE_MAMPS,361.080,75.735,864.450,764.235,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2163.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.799,0.000,0.000,0.000
$MEM,340928
$DATA_FILE_SIZE,10104,391
$CAP_FILE_SIZE,70329,0
$CFSIZE,2097086464,2065661952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.122,19.97,1
$GPS,270319,054749,-3006.831,3059.144,7,1.0,38,-25.1,0.3,58.6,8,8.6