version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 25
start: 3 16 119 3 3 27
data:
$ID,574
$MISSION,3
$DIVE,25
$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,37
$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
$GPS1,160319,025353,-2840.4106,3224.1943,8,1.0,22,-23.6,1.5,164.4,9,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-72.4
$GPS2,160319,030302,-2840.9436,3223.9622,7,1.1,24,-23.6,1.5,205.8,9,9.5
$SPEED_LIMITS,0.173,0.187
$TGT_NAME,HEADING
$TGT_LATLONG,-2840.944,3236.271
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,19,-1.01,-73.0,85,1932,632,562,0.0,0.0,0,100,0.00,0.00,-78.38,0.000,16386,0.000,0.000,83,1933,2755,2732,2779,0,0,0,0,0,0,15.15,28.83,15.16
$GC,103,-1.01,-73.0,83,1933,2733,2779,3.4,-5.9,14,129,13.38,2.35,-6.12,0.000,18948,0.287,0.077,2452,531,3101,3094,3108,0,0,0,0,0,0,14.84,14.07,15.02
$GC,266,-1.01,-73.0,2451,530,3095,3108,46.1,-20.3,45,273,0.00,2.28,0.00,0.000,3078,0.000,0.041,2447,1936,3101,3095,3108,0,0,0,0,0,0,15.13,15.04,15.14
$GC,336,-1.01,-73.0,2447,1938,3096,3106,59.5,-19.2,58,343,0.00,2.30,0.00,0.000,2308,0.000,0.057,2447,3342,3101,3097,3106,0,0,0,0,0,0,15.26,15.04,15.26
$GC,359,-1.01,-73.0,2447,3342,3096,3106,63.9,-18.1,62,366,0.00,2.28,0.00,0.000,3078,0.000,0.043,2447,1929,3101,3096,3106,0,0,0,0,0,0,15.09,15.02,15.10
$GC,429,-1.01,-73.0,2447,1929,3097,3106,76.5,-17.8,75,435,0.00,2.30,0.00,0.000,2564,0.000,0.060,2447,530,3101,3097,3106,0,0,0,0,0,0,15.26,15.06,15.26
$GC,472,-1.01,-73.0,2446,529,3096,3106,84.8,-19.7,83,479,0.00,2.28,0.00,0.000,3078,0.000,0.041,2447,1941,3101,3097,3106,0,0,0,0,0,0,15.16,15.08,15.17
$GC,543,-1.01,-73.0,2446,1944,3097,3106,98.5,-19.8,96,550,0.00,0.00,0.00,0.000,2054,0.000,0.000,2447,1944,3101,3097,3105,0,0,0,0,0,0,15.27,15.28,15.27
$GC,613,-1.01,-73.0,2447,1944,3097,3105,110.3,-17.6,109,619,0.00,0.00,0.00,0.000,2054,0.000,0.000,2447,1944,3101,3097,3105,0,0,0,0,0,0,15.28,15.28,15.28
$GC,681,-1.01,-73.0,2452,1944,3098,3105,121.2,-13.9,122,687,0.00,2.33,0.00,0.000,2564,0.000,0.057,2447,536,3101,3097,3105,0,0,0,0,0,0,15.29,15.07,15.29
$GC,759,-1.01,-73.0,2446,536,3098,3105,134.8,-15.6,137,767,0.00,2.28,0.00,0.000,3078,0.000,0.040,2447,1945,3101,3097,3105,0,0,0,0,0,0,15.14,15.06,15.14
$GC,831,-1.01,-73.0,2444,1947,3098,3105,145.1,-14.0,150,838,0.00,2.33,0.00,0.000,2564,0.000,0.059,2447,539,3103,3098,3109,0,0,0,0,0,0,15.30,15.09,15.30
$GC,886,-1.01,-73.0,2447,539,3097,3105,154.0,-17.8,160,894,0.00,2.25,0.00,0.000,3078,0.000,0.040,2446,1941,3101,3097,3105,0,0,0,0,0,0,15.19,15.11,15.20
$GC,956,-1.01,-73.0,2446,1942,3098,3105,163.5,-14.1,173,963,0.00,2.30,0.00,0.000,2308,0.000,0.059,2447,3349,3101,3098,3105,0,0,0,0,0,0,15.30,15.09,15.30
$STATE,1034,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1034,begin apogee
$GC,1040,-0.18,0.0,2446,1950,3097,3104,174.8,-13.0,188,1099,1.35,0.00,53.72,1.082,10246,0.161,0.000,2718,1947,2800,2813,2787,0,0,0,0,0,0,15.02,14.85,14.35
$STATE,1101,end apogee,CONTROL_FINISHED_OK
$STATE,1101,begin climb
$GC,1103,1.01,73.0,2718,1948,2812,2786,178.4,0.0,198,1168,1.70,2.42,57.28,1.101,10756,0.055,0.060,3121,540,2500,2510,2491,0,0,0,0,0,0,14.86,14.62,14.19
$GC,1175,1.17,196.2,3120,540,2507,2491,178.3,-1.3,209,1280,0.08,2.33,95.57,1.099,11270,0.197,0.036,3150,1969,1998,2019,1978,0,0,0,0,0,0,14.69,14.73,14.12
$GC,1342,1.17,196.2,3150,1975,2013,1973,153.0,22.6,239,1349,0.00,2.25,0.00,0.000,2308,0.000,0.052,3150,3339,1993,2013,1973,0,0,0,0,0,0,14.97,14.76,14.97
$GC,1456,1.17,196.2,3149,3340,2010,1971,127.0,22.1,261,1463,0.00,2.30,0.00,0.000,1030,0.000,0.051,3155,1949,1992,2010,1975,0,0,0,0,0,0,15.00,14.92,15.02
$GC,1525,1.17,196.2,3155,1949,2010,1969,111.9,21.0,274,1532,0.00,2.35,0.00,0.000,516,0.000,0.068,3155,543,1988,2008,1969,0,0,0,0,0,0,15.16,14.95,15.16
$GC,1808,1.17,196.2,3154,541,2004,1967,58.1,19.8,330,1815,0.00,2.25,0.00,0.000,3078,0.000,0.038,3155,1941,1987,2003,1971,0,0,0,0,0,0,15.11,15.04,15.11
$GC,1877,1.17,196.2,3154,1946,2003,1966,45.1,15.8,343,1883,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1942,1984,2003,1966,0,0,0,0,0,0,15.25,15.26,15.26
$GC,1945,1.17,196.2,3154,1942,2003,1966,35.3,13.8,356,1952,0.00,2.33,0.00,0.000,516,0.000,0.064,3161,542,1984,2003,1966,0,0,0,0,0,0,15.27,15.07,15.28
$GC,1984,1.17,196.2,3162,541,2003,1966,30.2,12.8,363,1990,0.00,2.25,0.00,0.000,1030,0.000,0.038,3161,1950,1984,2003,1966,0,0,0,0,0,0,15.11,15.05,15.13
$GC,2053,1.18,204.9,3161,1952,2002,1965,22.2,9.2,376,2060,0.00,0.00,3.20,0.590,8198,0.000,0.000,3162,1952,1964,1985,1943,0,0,0,0,0,0,15.27,15.05,14.57
$GC,2123,1.27,277.7,3161,1952,1983,1942,19.1,3.3,389,2176,0.00,2.40,43.62,0.916,10756,0.000,0.067,3161,548,1666,1695,1637,0,0,0,0,0,0,15.28,14.86,14.47
$STATE,2282,end climb,SURFACE_DEPTH_REACHED
$STATE,2282,begin surface coast
$FINISH,0.1,1.022721
$STATE,2308,end surface coast,CONTROL_FINISHED_OK
$STATE,2308,begin surface
$SM_CCo,2331,148.50,0.770,0,0,598,539.90
$SM_CCo,2482,-0.30,0.000,0,0,600,539.90
$SM_CCo,2485,-0.03,0.000,0,0,599,539.90
$SM_GC,0.85,14.10,2.30,-0.03,0.056,0.041,0.000,125,1946,599,-8.26,-1.33,539.90,0,0,0,0,0,0,15.00,15.02,14.43
$IRIDIUM_FIX,-2826.10,3232.60,160319,015614
$TT8_MAMPS,0.020972,0.889812
$HUMID,42.67
$INTERNAL_PRESSURE,9.61506
$TCM_TEMP,22.50
$XPDR_PINGS,27
$ALTIM_BOTTOM_PING,150.2,33.9
$SC_FREEKB,3910016
$24V_AH,13.95,36.223
$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,30.600,50.725,253.400,148.500,0.000,22.894,39.482,322.212,12.250,0.000,25.094,959.861,357.538,519.577,1156.254,57.712,0.000,920.980,0.000,644.236,0.000,36.328,0.000
$DEVICE_MAMPS,286.875,77.265,1100.835,769.590,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2348.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.763,0.000,0.000,0.000
$MEM,340936
$DATA_FILE_SIZE,10124,424
$CAP_FILE_SIZE,84950,0
$CFSIZE,2097086464,2090696704
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$INTR,0,1118.33,0x23609a,1,24
$CURRENT,1.464,198.46,1
$GPS,160319,034602,-2842.671,3223.424,8,0.9,33,-23.7,1.8,200.0,9,8.5