version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 6
start: 3 15 119 11 5 15
data:
$ID,574
$MISSION,3
$DIVE,6
$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,80
$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,2000
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2807
$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,200
$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
$GPS1,150319,110211,-2802.0750,3237.4480,8,0.7,15,-22.8,1.5,196.2,10,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-70.3
$GPS2,150319,110449,-2802.1921,3237.4070,8,0.7,14,-22.8,1.5,183.0,10,9.7
$SPEED_LIMITS,0.173,0.193
$TGT_NAME,HEADING
$TGT_LATLONG,-2802.192,3249.642
$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,67.8,20000,-25.1,-9.980,-27.37,1198
$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,-0.99,-77.9,105,1999,645,555,0.0,0.0,0,102,0.00,0.00,-80.57,0.000,16386,0.000,0.000,103,1998,2891,2861,2922,0,0,0,0,0,0,15.33,28.83,15.33
$GC,104,-0.99,-77.9,103,1998,2861,2922,3.9,-9.5,14,130,13.05,2.28,-4.05,0.000,18692,0.279,0.067,2450,3415,3126,3113,3140,0,0,0,0,0,0,14.92,14.12,15.13
$GC,197,-0.99,-77.9,2450,3415,3114,3139,31.1,-18.4,31,204,0.05,2.28,0.00,0.000,3078,0.338,0.046,2460,2001,3126,3115,3137,0,0,0,0,0,0,14.97,15.12,15.16
$GC,266,-0.99,-77.9,2459,2000,3118,3135,43.8,-16.1,44,273,0.00,2.30,0.00,0.000,2564,0.000,0.059,2460,589,3126,3118,3134,0,0,0,0,0,0,15.34,15.11,15.34
$GC,299,-0.99,-77.9,2459,589,3119,3134,50.4,-20.9,50,306,0.00,2.28,0.00,0.000,3078,0.000,0.041,2454,2008,3126,3120,3133,0,0,0,0,0,0,15.16,15.08,15.17
$GC,368,-0.99,-77.9,2454,2010,3120,3133,63.4,-17.0,63,374,0.00,0.00,0.00,0.000,2054,0.000,0.000,2454,2011,3126,3120,3133,0,0,0,0,0,0,15.33,15.33,15.33
$GC,435,-0.99,-77.9,2454,2011,3120,3133,75.0,-17.1,76,443,0.00,2.28,0.00,0.000,2308,0.000,0.059,2454,3411,3126,3120,3133,0,0,0,0,0,0,15.34,15.09,15.34
$GC,469,-0.99,-77.9,2453,3411,3120,3133,80.3,-15.4,82,476,0.00,2.25,0.00,0.000,3078,0.000,0.040,2454,1992,3126,3120,3133,0,0,0,0,0,0,15.16,15.09,15.17
$GC,538,-0.99,-77.9,2453,1992,3120,3132,91.3,-16.7,95,544,0.00,2.25,0.00,0.000,2564,0.000,0.058,2453,602,3126,3120,3132,0,0,0,0,0,0,15.34,15.13,15.34
$GC,651,-0.99,-77.9,2453,602,3121,3131,113.3,-20.4,117,659,0.05,2.25,0.00,0.000,3078,0.377,0.041,2460,2003,3125,3121,3130,0,0,0,0,0,0,15.00,15.16,15.18
$GC,721,-0.99,-77.9,2459,2005,3121,3129,126.4,-19.5,130,727,0.00,2.28,0.00,0.000,2308,0.000,0.058,2453,3405,3125,3121,3130,0,0,0,0,0,0,15.35,15.13,15.35
$GC,763,-0.99,-77.9,2453,3405,3120,3130,134.1,-17.4,138,770,0.00,2.25,0.00,0.000,3078,0.000,0.045,2453,1999,3125,3121,3129,0,0,0,0,0,0,15.23,15.15,15.24
$GC,832,-0.99,-77.9,2452,1999,3121,3129,145.6,-16.1,151,839,0.00,2.30,0.00,0.000,2564,0.000,0.060,2452,594,3123,3118,3129,0,0,0,0,0,0,15.35,15.14,15.34
$GC,875,-0.99,-77.9,2453,594,3121,3129,152.8,-18.1,159,883,0.05,2.28,0.00,0.000,3078,0.373,0.039,2460,2009,3125,3121,3129,0,0,0,0,0,0,14.98,15.13,15.16
$GC,945,-0.99,-77.9,2459,2012,3120,3128,163.9,-16.0,172,952,0.00,2.33,0.00,0.000,2564,0.000,0.060,2460,596,3124,3121,3128,0,0,0,0,0,0,15.35,15.11,15.35
$GC,989,-0.99,-77.9,2460,595,3121,3128,171.7,-17.9,180,997,0.00,2.28,0.00,0.000,3078,0.000,0.048,2460,1999,3124,3121,3128,0,0,0,0,0,0,15.17,15.07,15.18
$GC,1060,-0.99,-77.9,2459,2003,3122,3125,180.3,-4.4,193,1066,0.00,2.33,0.00,0.000,2564,0.000,0.063,2460,593,3123,3122,3124,0,0,0,0,0,0,15.35,15.11,15.34
$STATE,1187,end dive,NO_VERTICAL_VELOCITY
$STATE,1187,begin apogee
$GC,1193,-0.18,0.0,2460,2011,3122,3124,180.5,0.0,218,1256,1.17,0.00,56.22,1.073,10246,0.075,0.000,2728,2015,2806,2822,2791,0,0,0,0,0,0,15.11,14.83,14.35
$STATE,1258,end apogee,CONTROL_FINISHED_OK
$STATE,1258,begin climb
$GC,1259,0.99,77.9,2729,2015,2822,2791,180.5,0.0,229,1334,1.62,2.47,61.38,1.086,11012,0.077,0.079,3088,610,2485,2507,2463,0,0,0,0,0,0,14.88,14.66,14.20
$GC,1406,1.13,193.5,3088,609,2501,2462,180.4,0.1,255,1501,0.17,2.30,87.62,1.083,11270,0.099,0.052,3157,1993,2018,2049,1987,0,0,0,0,0,0,14.92,14.88,14.19
$GC,1564,1.27,309.1,3156,1995,2042,1981,180.4,0.1,283,1660,0.08,2.45,88.40,1.100,10756,0.184,0.067,3213,596,1546,1581,1511,0,0,0,0,0,0,14.86,14.63,14.16
$GC,1987,1.27,309.1,3212,596,1572,1504,73.0,32.8,364,1995,0.08,2.28,0.00,0.000,5126,0.337,0.038,3200,2015,1537,1572,1503,0,0,0,0,0,0,14.90,15.07,15.09
$GC,2057,1.27,309.1,3200,2017,1572,1502,51.7,28.5,377,2063,0.00,0.00,0.00,0.000,4102,0.000,0.000,3200,2017,1537,1572,1502,0,0,0,0,0,0,15.26,15.27,15.26
$GC,2125,1.27,309.1,3200,2017,1572,1500,34.1,23.7,390,2131,0.00,2.35,0.00,0.000,4612,0.000,0.067,3209,600,1536,1572,1501,0,0,0,0,0,0,15.28,15.02,15.28
$GC,2213,1.27,309.1,3210,600,1572,1500,15.9,18.9,407,2221,0.05,2.25,0.00,0.000,5126,0.370,0.040,3200,2010,1535,1571,1500,0,0,0,0,0,0,14.95,15.09,15.14
$GC,2283,1.27,309.1,3200,2010,1570,1498,5.4,15.8,420,2289,0.00,0.00,0.00,0.000,4102,0.000,0.000,3200,2010,1534,1571,1498,0,0,0,0,0,0,15.30,15.30,15.30
$STATE,2300,end climb,SURFACE_DEPTH_REACHED
$STATE,2300,begin surface coast
$FINISH,0.1,1.022693
$STATE,2315,end surface coast,CONTROL_FINISHED_OK
$STATE,2315,begin surface
$SM_CCo,2336,129.60,0.760,0,0,598,541.37
$SM_CCo,2468,-0.25,0.000,0,0,599,541.37
$SM_CCo,2471,-0.10,0.000,0,0,600,541.37
$SM_GC,0.81,14.10,0.00,-0.10,0.051,0.000,0.000,124,2011,600,-8.26,0.31,541.37,0,0,0,0,0,0,15.11,15.32,14.79
$IRIDIUM_FIX,-2749.41,3239.13,150319,105843
$TT8_MAMPS,0.021721,0.980441
$HUMID,43.66
$INTERNAL_PRESSURE,9.6053
$TCM_TEMP,21.70
$XPDR_PINGS,93
$SC_FREEKB,3919744
$24V_AH,14.00,33.064
$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,30.475,50.575,293.625,129.600,0.000,0.000,0.000,0.000,23.250,0.000,15.168,932.492,362.629,534.302,684.375,34.512,0.000,938.459,0.000,645.306,0.000,1.024,0.000
$DEVICE_MAMPS,377.145,78.795,1100.070,760.410,0.000,0.000,0.000,0.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2300.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,37.613,0.000,0.000,0.000
$MEM,340920
$DATA_FILE_SIZE,10105,426
$CAP_FILE_SIZE,114124,0
$CFSIZE,2097086464,2093776896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.907,186.77,1
$GPS,150319,114721,-2803.285,3237.445,8,0.8,18,-22.8,1.5,180.0,10,10.0