version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 79
start: 3 20 119 21 49 52
data:
$ID,574
$MISSION,3
$DIVE,79
$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,270
$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,32
$R_STBD_OVSHOOT,57
$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
$GPS1,200319,213855,-2952.5959,3112.3787,7,0.9,37,-24.9,0.3,322.1,10,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-66.9
$GPS2,200319,214930,-2952.4189,3112.4709,6,0.8,16,-24.9,1.0,80.4,11,9.8
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-2943.448,3105.549
$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,351.1,20000,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,20,-0.88,-92.5,70,1816,628,549,0.0,0.0,0,112,0.00,0.00,-89.30,0.000,16386,0.000,0.000,66,1817,2941,2915,2968,0,0,0,0,0,0,15.09,28.83,15.10
$GC,115,-0.88,-92.5,66,1817,2915,2968,3.3,-5.9,16,141,13.85,2.38,-2.53,0.000,18948,0.301,0.079,2467,408,3080,3069,3091,0,0,0,0,0,0,14.75,13.97,14.96
$GC,329,-0.88,-92.5,2467,407,3073,3088,51.0,-16.5,57,335,0.00,2.25,0.00,0.000,3078,0.000,0.038,2464,1798,3080,3074,3087,0,0,0,0,0,0,15.06,14.98,15.07
$GC,399,-0.88,-92.5,2464,1801,3077,3085,63.3,-19.2,70,406,0.00,0.00,0.00,0.000,2054,0.000,0.000,2464,1801,3081,3077,3085,0,0,0,0,0,0,15.18,15.18,15.18
$GC,469,-0.88,-92.5,2464,1801,3077,3085,74.1,-15.3,83,474,0.00,0.00,0.00,0.000,2054,0.000,0.000,2464,1801,3081,3077,3085,0,0,0,0,0,0,15.19,15.20,15.19
$GC,535,-0.88,-92.5,2464,1801,3077,3085,82.6,-11.8,96,542,0.00,2.35,0.00,0.000,2564,0.000,0.060,2464,399,3081,3077,3085,0,0,0,0,0,0,15.19,14.95,15.20
$GC,575,-0.88,-92.5,2461,399,3078,3085,87.9,-13.4,103,582,0.00,2.30,0.00,0.000,3078,0.000,0.039,2462,1814,3081,3077,3085,0,0,0,0,0,0,15.04,14.97,15.04
$GC,644,-0.88,-92.5,2463,1817,3078,3085,98.2,-14.3,116,651,0.00,2.30,0.00,0.000,2308,0.000,0.056,2464,3218,3081,3078,3085,0,0,0,0,0,0,15.20,15.01,15.21
$GC,748,-0.88,-92.5,2464,3218,3078,3084,114.3,-14.8,136,756,0.00,2.30,0.00,0.000,3078,0.000,0.044,2464,1807,3081,3078,3084,0,0,0,0,0,0,15.11,15.02,15.12
$GC,819,-0.88,-92.5,2464,1807,3078,3084,126.1,-16.4,149,825,0.00,2.35,0.00,0.000,2308,0.000,0.054,2457,3226,3081,3078,3084,0,0,0,0,0,0,15.21,15.02,15.21
$GC,908,-0.88,-92.5,2457,3226,3078,3084,138.9,-12.7,166,916,0.08,2.33,0.00,0.000,3078,0.270,0.044,2472,1801,3080,3077,3084,0,0,0,0,0,0,14.94,15.03,15.07
$GC,978,-0.88,-92.5,2472,1802,3078,3084,148.8,-15.0,179,985,0.00,2.35,0.00,0.000,2308,0.000,0.054,2465,3222,3081,3078,3084,0,0,0,0,0,0,15.26,15.02,15.25
$GC,1069,-0.88,-92.5,2462,3222,3078,3084,161.5,-12.9,196,1076,0.00,2.30,0.00,0.000,3078,0.000,0.044,2465,1814,3080,3078,3083,0,0,0,0,0,0,15.12,15.04,15.13
$GC,1139,-0.88,-92.5,2464,1819,3078,3083,171.2,-14.6,209,1145,0.00,0.00,0.00,0.000,2054,0.000,0.000,2465,1814,3080,3078,3083,0,0,0,0,0,0,15.23,15.23,15.23
$STATE,1174,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1175,begin apogee
$GC,1178,-0.17,0.0,2465,1814,3078,3083,176.7,-15.4,216,1253,1.17,0.00,67.90,0.981,10246,0.174,0.000,2696,1813,2701,2715,2687,0,0,0,0,0,0,14.93,14.73,14.32
$STATE,1255,end apogee,CONTROL_FINISHED_OK
$STATE,1256,begin climb
$GC,1257,0.88,92.5,2696,1813,2715,2687,180.6,0.0,229,1340,1.52,2.42,73.60,0.981,10500,0.075,0.048,3031,3216,2321,2341,2301,0,0,0,0,0,0,14.74,14.55,14.14
$GC,1402,0.89,97.7,3031,3216,2335,2302,174.3,9.6,254,1415,0.00,2.38,4.72,0.662,11270,0.000,0.047,3033,1800,2301,2320,2283,0,0,0,0,0,0,14.77,14.70,14.26
$GC,1478,0.89,102.5,3032,1800,2319,2283,166.9,9.6,268,1485,0.00,0.00,5.25,0.693,10246,0.000,0.000,3033,1800,2284,2304,2265,0,0,0,0,0,0,15.00,14.81,14.39
$GC,1547,0.90,105.7,3033,1797,2301,2263,160.2,9.7,281,1554,0.00,0.00,4.30,0.609,10246,0.000,0.000,3033,1800,2268,2288,2248,0,0,0,0,0,0,15.04,14.85,14.37
$GC,1617,0.90,105.7,3033,1800,2287,2248,153.2,10.0,294,1624,0.00,2.35,0.00,0.000,2308,0.000,0.050,3034,3212,2267,2287,2248,0,0,0,0,0,0,15.07,14.85,15.08
$GC,1836,0.90,109.7,3033,3212,2284,2246,131.6,9.7,337,1850,0.00,2.35,4.35,0.609,11270,0.000,0.048,3033,1794,2252,2272,2232,0,0,0,0,0,0,15.05,14.97,14.45
$GC,1912,0.92,121.0,3033,1794,2272,2232,124.4,9.2,351,1930,0.00,2.35,10.88,0.844,10500,0.000,0.050,3033,3211,2204,2225,2183,0,0,0,0,0,0,15.16,14.81,14.40
$GC,2072,0.92,121.0,3033,3211,2224,2182,107.5,10.5,382,2079,0.00,2.35,0.00,0.000,3078,0.000,0.050,3033,1797,2203,2224,2182,0,0,0,0,0,0,15.00,14.92,15.02
$GC,2142,0.92,121.0,3033,1797,2224,2181,100.8,10.3,395,2148,0.00,0.00,0.00,0.000,2054,0.000,0.000,3033,1797,2202,2224,2181,0,0,0,0,0,0,15.17,15.18,15.18
$GC,2209,0.92,121.0,3037,1797,2224,2181,93.6,10.0,408,2215,0.00,0.00,0.00,0.000,2054,0.000,0.000,3033,1797,2202,2224,2181,0,0,0,0,0,0,15.19,15.20,15.19
$GC,2277,0.92,121.0,3033,1797,2223,2177,85.9,10.9,421,2283,0.00,0.00,0.00,0.000,2054,0.000,0.000,3033,1797,2201,2223,2180,0,0,0,0,0,0,15.19,15.19,15.19
$GC,2344,0.92,121.0,3033,1800,2222,2180,78.0,11.8,434,2350,0.00,0.00,0.00,0.000,2054,0.000,0.000,3033,1797,2201,2222,2180,0,0,0,0,0,0,15.21,15.21,15.21
$GC,2413,0.95,148.0,3033,1797,2222,2180,71.6,8.0,447,2443,0.00,2.35,22.17,0.864,10756,0.000,0.069,3033,395,2092,2117,2068,0,0,0,0,0,0,15.21,14.90,14.48
$GC,2465,1.00,187.5,3033,395,2115,2068,67.9,7.1,456,2507,0.12,2.30,31.17,0.868,11270,0.145,0.037,3074,1818,1932,1961,1904,0,0,0,0,0,0,14.92,14.95,14.38
$GC,2570,1.00,187.5,3074,1818,1959,1901,54.2,15.9,475,2576,0.00,2.28,0.00,0.000,2308,0.000,0.051,3074,3193,1930,1959,1901,0,0,0,0,0,0,15.06,14.86,15.06
$GC,2608,1.00,187.5,3074,3192,1957,1901,47.6,16.8,482,2615,0.00,2.33,0.00,0.000,1030,0.000,0.050,3077,1802,1928,1956,1900,0,0,0,0,0,0,14.92,14.85,14.93
$GC,2678,1.00,187.5,3075,1802,1956,1899,37.1,14.7,495,2685,0.00,2.40,0.00,0.000,516,0.000,0.071,3077,391,1927,1955,1900,0,0,0,0,0,0,15.10,14.88,15.11
$GC,2796,1.00,187.5,3077,390,1951,1898,19.2,13.0,518,2804,0.00,2.28,0.00,0.000,1030,0.000,0.035,3077,1800,1926,1951,1902,0,0,0,0,0,0,15.04,14.98,15.06
$GC,2867,1.00,187.5,3077,1801,1951,1897,11.6,12.2,531,2873,0.00,2.40,0.00,0.000,516,0.000,0.069,3077,387,1923,1951,1896,0,0,0,0,0,0,15.16,14.90,15.16
$STATE,2954,end climb,SURFACE_DEPTH_REACHED
$STATE,2954,begin surface coast
$FINISH,0.4,1.012313
$STATE,2994,end surface coast,CONTROL_FINISHED_OK
$STATE,2994,begin surface
$SM_CCo,3018,193.90,0.799,0,0,599,515.37
$SM_GC,0.75,13.62,2.35,193.90,0.046,0.040,0.799,118,1801,599,-8.18,-1.61,515.37,0,0,0,0,0,0,15.02,15.01,14.23
$IRIDIUM_FIX,-2942.59,3113.17,200319,214136
$TT8_MAMPS,0.021721,0.76398
$HUMID,41.80
$INTERNAL_PRESSURE,9.48811
$TCM_TEMP,21.40
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,150.6,35.8
$SC_FREEKB,3881952
$24V_AH,13.97,50.000
$10V_AH,14.05,0.000
$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,30.375,56.075,224.350,193.900,0.000,49.524,60.793,265.402,10.250,0.000,17.360,1275.514,545.801,575.365,1367.689,90.554,0.000,1073.363,0.000,840.149,0.000,35.970,0.000
$DEVICE_MAMPS,301.410,78.795,980.730,798.660,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3050.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.575,0.000,0.000,0.000
$MEM,340904
$DATA_FILE_SIZE,13440,556
$CAP_FILE_SIZE,104888,0
$CFSIZE,2097086464,2080112640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.114,87.63,1
$GPS,200319,224416,-2952.160,3112.485,6,0.8,15,-24.9,1.3,27.1,10,9.6