version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 39
start: 3 17 119 7 33 44
data:
$ID,574
$MISSION,3
$DIVE,39
$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,177
$T_ABORT,363
$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,85
$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,304
$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,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,1850
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,56
$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
$GPS1,170319,071604,-2933.3735,3148.1528,7,0.9,41,-24.7,1.3,208.5,10,9.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-66.5
$GPS2,170319,073321,-2934.2983,3147.5420,5,0.8,14,-24.7,2.3,208.4,11,9.7
$SPEED_LIMITS,0.173,0.199
$TGT_NAME,HEADING
$TGT_LATLONG,-2928.260,3137.258
$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,13.7,20000,-24.3,-9.980,-26.67,1272
$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,-0.91,-82.7,82,1867,635,563,0.0,0.0,0,107,0.00,0.00,-85.20,0.000,16386,0.000,0.000,80,1867,2913,2886,2941,0,0,0,0,0,0,15.07,28.83,15.07
$GC,109,-0.91,-82.7,80,1867,2886,2941,3.4,-6.1,15,135,13.75,2.25,-3.92,0.000,18692,0.293,0.070,2474,3247,3137,3130,3145,0,0,0,0,0,0,14.75,14.28,14.95
$GC,167,-0.91,-82.7,2473,3248,3131,3144,22.3,-20.4,25,175,0.08,2.30,0.00,0.000,3078,0.287,0.048,2488,1852,3137,3132,3143,0,0,0,0,0,0,14.83,14.92,14.97
$GC,236,-0.91,-82.7,2487,1853,3134,3141,36.0,-16.9,38,243,0.00,2.33,0.00,0.000,2308,0.000,0.054,2488,3249,3137,3134,3140,0,0,0,0,0,0,15.15,14.95,15.16
$GC,300,-0.91,-82.7,2487,3248,3134,3140,45.4,-13.0,50,307,0.00,2.30,0.00,0.000,3078,0.000,0.044,2487,1845,3137,3134,3140,0,0,0,0,0,0,15.03,14.95,15.04
$GC,370,-0.91,-82.7,2487,1845,3134,3139,55.6,-15.6,63,377,0.00,2.35,0.00,0.000,2564,0.000,0.064,2487,440,3137,3135,3139,0,0,0,0,0,0,15.19,14.97,15.19
$GC,414,-0.91,-82.7,2487,438,3135,3139,63.0,-17.4,71,421,0.00,2.28,0.00,0.000,3078,0.000,0.039,2484,1843,3137,3135,3139,0,0,0,0,0,0,15.04,14.97,15.05
$GC,483,-0.91,-82.7,2484,1846,3135,3138,73.8,-15.4,84,490,0.00,2.33,0.00,0.000,2308,0.000,0.055,2485,3262,3137,3136,3138,0,0,0,0,0,0,15.19,15.00,15.20
$GC,542,-0.91,-82.7,2485,3262,3135,3138,82.2,-13.3,95,549,0.00,2.30,0.00,0.000,3078,0.000,0.044,2485,1848,3137,3136,3138,0,0,0,0,0,0,15.10,15.02,15.11
$GC,611,-0.91,-82.7,2484,1849,3136,3138,91.5,-14.9,108,618,0.00,2.35,0.00,0.000,2308,0.000,0.055,2483,3258,3136,3135,3138,0,0,0,0,0,0,15.22,15.02,15.22
$GC,674,-0.91,-82.7,2484,3258,3135,3137,99.1,-12.6,120,681,0.00,2.30,0.00,0.000,3078,0.000,0.044,2484,1847,3137,3136,3138,0,0,0,0,0,0,15.07,14.99,15.09
$GC,744,-0.91,-82.7,2483,1847,3136,3138,108.7,-14.4,133,749,0.00,0.00,0.00,0.000,2054,0.000,0.000,2484,1847,3136,3136,3137,0,0,0,0,0,0,15.22,15.23,15.22
$GC,811,-0.91,-82.7,2484,1847,3136,3138,118.7,-15.3,146,818,0.00,0.00,0.00,0.000,2054,0.000,0.000,2485,1848,3137,3136,3138,0,0,0,0,0,0,15.23,15.24,15.24
$GC,882,-0.91,-82.7,2484,1847,3136,3138,129.1,-13.7,159,888,0.00,2.33,0.00,0.000,2308,0.000,0.054,2477,3258,3136,3136,3137,0,0,0,0,0,0,15.24,15.04,15.24
$GC,951,-0.91,-82.7,2477,3257,3135,3138,139.2,-16.2,172,959,0.00,2.30,0.00,0.000,3078,0.000,0.044,2477,1847,3136,3136,3137,0,0,0,0,0,0,15.14,15.05,15.14
$GC,1021,-0.91,-82.7,2477,1846,3136,3137,149.3,-16.1,185,1028,0.00,2.33,0.00,0.000,2308,0.000,0.056,2477,3253,3136,3136,3136,0,0,0,0,0,0,15.25,15.04,15.26
$GC,1075,-0.91,-82.7,2477,3253,3135,3137,156.2,-13.0,195,1082,0.00,2.30,0.00,0.000,3078,0.000,0.044,2477,1843,3136,3136,3137,0,0,0,0,0,0,15.12,15.04,15.12
$GC,1144,-0.91,-82.7,2476,1843,3136,3136,165.5,-13.7,208,1150,0.00,0.00,0.00,0.000,2054,0.000,0.000,2477,1843,3136,3136,3136,0,0,0,0,0,0,15.23,15.24,15.24
$GC,1214,-0.91,-82.7,2477,1843,3136,3136,175.1,-13.7,221,1220,0.00,0.00,0.00,0.000,2054,0.000,0.000,2478,1844,3136,3136,3136,0,0,0,0,0,0,15.24,15.26,15.25
$GC,1285,-0.91,-82.7,2477,1843,3136,3138,184.1,-12.5,234,1292,0.00,2.33,0.00,0.000,2308,0.000,0.054,2471,3251,3136,3136,3136,0,0,0,0,0,0,15.26,15.03,15.26
$GC,1324,-0.91,-82.7,2470,3251,3135,3136,188.8,-11.5,241,1331,0.08,2.28,0.00,0.000,3078,0.271,0.044,2487,1851,3135,3135,3136,0,0,0,0,0,0,14.94,15.02,15.07
$GC,1394,-0.91,-82.7,2486,1850,3135,3135,196.5,-11.6,254,1401,0.00,2.33,0.00,0.000,2308,0.000,0.058,2481,3251,3135,3135,3135,0,0,0,0,0,0,15.25,15.01,15.26
$STATE,1442,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1442,begin apogee
$GC,1448,-0.17,0.0,2481,1796,3135,3135,202.3,-11.0,263,1517,1.23,0.00,59.97,1.008,10246,0.159,0.000,2728,1796,2800,2816,2785,0,0,0,0,0,0,14.97,14.68,14.31
$STATE,1519,end apogee,CONTROL_FINISHED_OK
$STATE,1519,begin climb
$GC,1520,0.91,82.7,2728,1796,2816,2785,205.4,0.0,275,1595,1.58,2.42,65.55,1.021,10500,0.054,0.050,3095,3205,2459,2473,2446,0,0,0,0,0,0,14.81,14.59,14.13
$GC,2099,1.02,167.6,3095,3205,2463,2442,186.7,3.1,387,2170,0.00,2.33,65.93,1.014,11270,0.000,0.047,3101,1795,2116,2137,2095,0,0,0,0,0,0,15.09,15.01,14.23
$GC,2232,1.02,167.6,3100,1795,2132,2091,172.2,14.4,411,2239,0.00,2.38,0.00,0.000,2308,0.000,0.050,3101,3211,2111,2132,2091,0,0,0,0,0,0,15.00,14.79,15.00
$GC,2740,1.02,167.6,3100,3211,2125,2084,92.7,13.7,512,2747,0.00,2.33,0.00,0.000,3078,0.000,0.047,3104,1798,2104,2125,2083,0,0,0,0,0,0,15.09,15.02,15.10
$GC,2809,1.02,167.6,3104,1798,2124,2084,85.3,11.0,525,2816,0.00,2.33,0.00,0.000,2308,0.000,0.050,3104,3207,2105,2124,2086,0,0,0,0,0,0,15.21,15.02,15.22
$GC,3093,1.02,167.6,3104,3207,2123,2082,47.1,13.4,581,3099,0.00,2.33,0.00,0.000,5126,0.000,0.048,3114,1794,2102,2122,2082,0,0,0,0,0,0,15.13,15.04,15.14
$GC,3161,1.02,167.6,3113,1794,2122,2082,38.2,12.1,594,3168,0.00,2.33,0.00,0.000,260,0.000,0.052,3114,3212,2102,2122,2082,0,0,0,0,0,0,15.23,15.00,15.23
$GC,3671,1.13,259.3,3113,3212,2120,2081,21.9,2.6,695,3736,0.00,2.33,58.40,0.971,11270,0.000,0.047,3122,1790,1741,1769,1714,0,0,0,0,0,0,15.11,15.02,14.35
$GC,3797,1.13,259.3,3121,1790,1769,1709,9.8,12.4,718,3804,0.00,2.38,0.00,0.000,2308,0.000,0.054,3122,3202,1739,1770,1709,0,0,0,0,0,0,15.04,14.83,15.04
$STATE,3855,end climb,SURFACE_DEPTH_REACHED
$STATE,3855,begin surface coast
$FINISH,0.3,1.023432
$STATE,3876,end surface coast,CONTROL_FINISHED_OK
$STATE,3876,begin surface
$SM_CCo,3899,165.45,0.793,0,0,598,539.90
$SM_CCo,4068,-0.30,0.000,0,0,600,539.90
$SM_CCo,4071,0.00,0.000,0,0,600,539.90
$SM_GC,0.75,13.98,2.30,0.00,0.054,0.055,0.000,127,1857,600,-8.25,1.10,539.90,0,0,0,0,0,0,14.92,14.91,14.82
$IRIDIUM_FIX,-2922.76,3119.08,170319,072312
$TT8_MAMPS,0.020223,0.568491
$HUMID,40.94
$INTERNAL_PRESSURE,9.55647
$TCM_TEMP,22.50
$XPDR_PINGS,54
$ALTIM_BOTTOM_PING,180.8,31.4
$SC_FREEKB,3902720
$24V_AH,13.87,39.835
$10V_AH,13.88,0.000
$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,30.675,65.075,249.850,165.450,0.000,73.137,74.562,545.857,20.500,0.000,15.153,1681.318,802.509,561.941,1978.280,90.890,0.000,1166.092,0.000,1104.305,0.000,45.516,0.000
$DEVICE_MAMPS,292.995,69.615,1020.510,793.305,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3942.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.405,0.000,0.000,0.000
$MEM,340912
$DATA_FILE_SIZE,20050,733
$CAP_FILE_SIZE,127997,0
$CFSIZE,2097086464,2087976960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,1.130,209.00,1
$GPS,170319,084230,-2936.238,3145.963,5,1.0,17,-24.7,1.4,207.8,8,9.7