version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 7
start: 3 15 119 11 59 18
data:
$ID,574
$MISSION,3
$DIVE,7
$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,41
$R_STBD_OVSHOOT,49
$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,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
$GPS1,150319,115610,-2803.7163,3237.3835,8,0.9,20,-22.8,1.9,198.5,9,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-71.1
$GPS2,150319,115853,-2803.8540,3237.3503,8,1.0,18,-22.8,1.3,183.2,8,9.9
$SPEED_LIMITS,0.173,0.193
$TGT_NAME,HEADING
$TGT_LATLONG,-2803.854,3249.588
$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,18,-0.99,-77.9,98,2013,645,555,0.0,0.0,0,97,0.00,0.00,-76.50,0.000,16386,0.000,0.000,96,2014,2701,2678,2725,0,0,0,0,0,0,15.24,28.83,15.25
$GC,100,-0.99,-77.9,95,2014,2679,2729,3.0,-4.2,13,126,13.25,2.30,-7.85,0.000,18692,0.285,0.073,2451,3400,3126,3120,3133,0,0,0,0,0,0,14.88,14.08,15.09
$GC,173,-0.99,-77.9,2450,3403,3120,3134,25.0,-22.7,26,180,0.05,2.28,0.00,0.000,3078,0.337,0.049,2460,2002,3127,3121,3134,0,0,0,0,0,0,14.92,15.06,15.09
$GC,242,-0.99,-77.9,2460,2002,3122,3133,37.9,-16.9,39,249,0.00,2.33,0.00,0.000,2564,0.000,0.063,2461,589,3127,3122,3133,0,0,0,0,0,0,15.28,15.07,15.28
$GC,301,-0.99,-77.9,2460,589,3123,3133,48.8,-16.1,50,307,0.00,2.28,0.00,0.000,3078,0.000,0.041,2457,1999,3128,3125,3132,0,0,0,0,0,0,15.18,15.09,15.19
$GC,371,-0.99,-77.9,2457,2000,3126,3130,60.1,-17.4,63,378,0.00,2.30,0.00,0.000,2308,0.000,0.061,2457,3402,3128,3126,3130,0,0,0,0,0,0,15.30,15.07,15.30
$GC,410,-0.99,-77.9,2457,3401,3126,3131,66.7,-15.1,70,417,0.00,2.28,0.00,0.000,3078,0.000,0.044,2457,1990,3128,3126,3130,0,0,0,0,0,0,15.16,15.08,15.17
$GC,480,-0.99,-77.9,2457,1990,3126,3130,76.9,-14.4,83,487,0.00,2.28,0.00,0.000,2564,0.000,0.060,2457,598,3128,3126,3130,0,0,0,0,0,0,15.30,15.07,15.30
$GC,580,-0.99,-77.9,2461,597,3127,3130,93.9,-17.5,102,587,0.00,2.28,0.00,0.000,3078,0.000,0.044,2457,2005,3128,3127,3129,0,0,0,0,0,0,15.19,15.09,15.20
$GC,649,-0.99,-77.9,2457,2008,3127,3129,104.5,-14.5,115,657,0.00,0.00,0.00,0.000,2054,0.000,0.000,2457,2008,3128,3127,3129,0,0,0,0,0,0,15.31,15.32,15.32
$GC,719,-0.99,-77.9,2457,2008,3127,3129,114.4,-14.2,128,726,0.00,0.00,0.00,0.000,2054,0.000,0.000,2457,2008,3129,3127,3131,0,0,0,0,0,0,15.32,15.32,15.32
$GC,788,-0.99,-77.9,2457,2009,3126,3127,124.5,-15.2,141,796,0.00,2.35,0.00,0.000,2564,0.000,0.061,2457,591,3128,3127,3129,0,0,0,0,0,0,15.31,15.07,15.31
$GC,840,-0.99,-77.9,2456,590,3127,3129,135.5,-26.5,150,846,0.00,2.28,0.00,0.000,3078,0.000,0.044,2456,2006,3127,3127,3128,0,0,0,0,0,0,15.19,15.10,15.20
$GC,910,-0.99,-77.9,2455,2009,3127,3128,148.4,-18.4,163,918,0.00,2.35,0.00,0.000,2564,0.000,0.066,2456,595,3127,3127,3127,0,0,0,0,0,0,15.33,15.09,15.33
$GC,977,-0.99,-77.9,2455,595,3127,3128,160.4,-19.6,175,985,0.00,2.28,0.00,0.000,3078,0.000,0.045,2454,2001,3127,3127,3128,0,0,0,0,0,0,15.21,15.13,15.23
$GC,1047,-0.99,-77.9,2453,2004,3127,3127,171.4,-16.1,188,1054,0.00,2.33,0.00,0.000,2564,0.000,0.061,2453,592,3127,3127,3127,0,0,0,0,0,0,15.31,15.11,15.33
$STATE,1070,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1070,begin apogee
$GC,1076,-0.18,0.0,2453,2007,3127,3127,175.2,-16.0,192,1139,1.35,0.00,57.20,1.092,10246,0.180,0.000,2720,2010,2807,2823,2791,0,0,0,0,0,0,15.00,14.84,14.33
$STATE,1141,end apogee,CONTROL_FINISHED_OK
$STATE,1141,begin climb
$GC,1143,0.99,77.9,2720,2010,2824,2791,178.3,0.0,203,1212,1.67,2.45,61.40,1.117,11012,0.073,0.060,3101,592,2487,2500,2474,0,0,0,0,0,0,14.84,14.67,14.19
$GC,1715,1.08,154.0,3102,594,2487,2464,160.8,3.4,314,1782,0.05,2.30,57.95,1.135,11270,0.281,0.041,3123,2023,2177,2196,2158,0,0,0,0,0,0,15.00,15.09,14.28
$GC,1845,1.08,154.0,3123,2023,2190,2153,149.2,14.2,337,1851,0.00,2.40,0.00,0.000,2564,0.000,0.066,3128,600,2171,2190,2153,0,0,0,0,0,0,15.09,14.89,15.10
$GC,2353,1.08,154.0,3127,601,2181,2148,79.3,11.1,438,2360,0.00,2.25,0.00,0.000,3078,0.000,0.041,3127,2002,2164,2181,2148,0,0,0,0,0,0,15.14,15.07,15.14
$GC,2422,1.08,154.0,3127,2004,2181,2148,71.5,12.1,451,2429,0.00,2.33,0.00,0.000,2564,0.000,0.065,3131,600,2163,2180,2147,0,0,0,0,0,0,15.29,15.04,15.29
$GC,2731,1.19,242.8,3131,600,2178,2145,42.0,2.4,512,2809,0.08,2.25,65.90,1.061,11270,0.210,0.041,3159,2009,1813,1839,1788,0,0,0,0,0,0,15.08,15.12,14.30
$GC,2871,1.19,242.8,3158,2009,1836,1782,31.0,11.2,537,2878,0.00,2.38,0.00,0.000,2564,0.000,0.067,3161,600,1808,1835,1781,0,0,0,0,0,0,15.09,14.89,15.09
$GC,2945,1.19,242.8,3161,600,1834,1779,22.2,12.5,551,2951,0.00,2.28,0.00,0.000,3078,0.000,0.041,3161,2003,1806,1834,1778,0,0,0,0,0,0,15.05,14.98,15.07
$GC,3013,1.19,242.8,3161,2005,1834,1777,14.4,11.5,564,3020,0.00,2.30,0.00,0.000,2308,0.000,0.060,3161,3405,1804,1832,1777,0,0,0,0,0,0,15.19,14.94,15.19
$STATE,3205,end climb,SURFACE_DEPTH_REACHED
$STATE,3205,begin surface coast
$FINISH,-0.0,1.022576
$STATE,3277,end surface coast,CONTROL_FINISHED_OK
$STATE,3277,begin surface
$SM_CCo,3300,172.05,0.766,0,0,596,541.37
$SM_CCo,3475,-0.32,0.000,0,0,599,541.37
$SM_CCo,3478,-0.03,0.000,0,0,599,541.37
$SM_GC,0.79,14.00,2.35,-0.03,0.054,0.052,0.000,127,1999,599,-8.26,1.07,541.37,0,0,0,0,0,0,15.07,15.07,14.43
$IRIDIUM_FIX,-2751.85,3235.02,150319,114929
$TT8_MAMPS,0.021721,0.874832
$HUMID,43.62
$INTERNAL_PRESSURE,9.63459
$TCM_TEMP,22.60
$XPDR_PINGS,37
$ALTIM_BOTTOM_PING,150.3,34.0
$SC_FREEKB,3919232
$24V_AH,13.93,33.263
$10V_AH,13.43,0.000
$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,30.450,55.475,242.450,172.050,0.000,0.000,0.000,0.000,14.750,0.000,19.146,1407.802,574.095,540.747,993.566,43.479,0.000,1052.682,0.000,933.135,0.000,35.964,0.000
$DEVICE_MAMPS,337.365,73.440,1135.260,765.765,0.000,0.000,0.000,0.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3263.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,37.230,0.000,0.000,0.000
$MEM,340968
$DATA_FILE_SIZE,16704,616
$CAP_FILE_SIZE,111370,0
$CFSIZE,2097086464,2093613056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,1.071,189.36,1
$GPS,150319,125843,-2805.813,3237.108,8,1.2,49,-22.9,1.6,195.8,7,4.8