version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 150
start: 3 27 119 1 19 30
data:
$ID,574
$MISSION,3
$DIVE,150
$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,29
$R_STBD_OVSHOOT,52
$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
$GPS1,270319,011044,-3007.8057,3100.1726,7,0.9,13,-25.1,0.0,290.4,9,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-70.7
$GPS2,270319,011907,-3007.7766,3100.0557,7,0.9,13,-25.1,0.6,278.4,9,10.0
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3005.490,3047.857
$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,307.3,20000,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.88,-92.5,73,1811,620,558,0.0,0.0,0,107,0.00,0.00,-84.72,0.000,16386,0.000,0.000,68,1812,2901,2875,2928,0,0,0,0,0,0,15.08,28.83,15.08
$GC,111,-0.88,-92.5,68,1812,2876,2930,3.6,-8.0,15,137,13.75,2.33,-3.00,0.000,18948,0.289,0.066,2468,388,3079,3065,3094,0,0,0,0,0,0,14.73,14.01,14.95
$GC,144,-0.88,-92.5,2467,388,3066,3093,19.4,-46.0,20,151,0.05,2.33,0.00,0.000,3078,0.376,0.042,2468,1800,3080,3068,3093,0,0,0,0,0,0,14.72,14.88,14.90
$GC,214,-0.88,-92.5,2467,1804,3072,3087,39.5,-28.3,33,219,0.00,0.00,0.00,0.000,2054,0.000,0.000,2468,1804,3079,3072,3087,0,0,0,0,0,0,15.14,15.14,15.14
$GC,281,-0.88,-92.5,2466,1803,3074,3086,54.9,-17.7,46,289,0.00,2.33,0.00,0.000,2308,0.000,0.050,2459,3224,3079,3073,3086,0,0,0,0,0,0,15.17,14.96,15.17
$GC,321,-0.88,-92.5,2458,3223,3073,3084,60.9,-12.8,53,328,0.05,2.33,0.00,0.000,3078,0.324,0.042,2468,1804,3079,3073,3086,0,0,0,0,0,0,14.85,14.97,15.01
$GC,392,-0.88,-92.5,2469,1804,3074,3085,72.1,-18.0,66,399,0.00,0.00,0.00,0.000,2054,0.000,0.000,2469,1804,3079,3073,3085,0,0,0,0,0,0,15.19,15.19,15.19
$GC,462,-0.88,-92.5,2469,1804,3074,3086,84.4,-18.0,79,469,0.00,0.00,0.00,0.000,2054,0.000,0.000,2469,1804,3079,3073,3085,0,0,0,0,0,0,15.19,15.20,15.20
$GC,531,-0.88,-92.5,2469,1804,3074,3085,96.6,-16.1,92,538,0.00,2.33,0.00,0.000,2564,0.000,0.061,2469,406,3079,3074,3085,0,0,0,0,0,0,15.20,14.99,15.21
$GC,555,-0.88,-92.5,2469,407,3074,3085,100.1,-14.2,96,562,0.00,2.28,0.00,0.000,3078,0.000,0.035,2462,1825,3080,3075,3085,0,0,0,0,0,0,15.07,15.00,15.08
$GC,625,-0.88,-92.5,2461,1828,3075,3085,111.5,-16.9,109,631,0.00,2.25,0.00,0.000,2308,0.000,0.050,2451,3212,3080,3075,3085,0,0,0,0,0,0,15.21,14.96,15.21
$GC,653,-0.88,-92.5,2450,3212,3075,3085,116.7,-17.7,114,662,0.10,2.28,0.00,0.000,3078,0.239,0.044,2471,1812,3080,3075,3085,0,0,0,0,0,0,14.92,15.02,15.06
$GC,725,-0.88,-92.5,2470,1812,3076,3085,128.5,-16.4,127,731,0.00,2.30,0.00,0.000,2308,0.000,0.050,2463,3213,3080,3076,3085,0,0,0,0,0,0,15.22,14.99,15.22
$GC,799,-0.88,-92.5,2462,3213,3076,3085,139.7,-13.4,141,808,0.00,2.30,0.00,0.000,3078,0.000,0.044,2463,1803,3080,3076,3085,0,0,0,0,0,0,15.06,14.97,15.07
$GC,871,-0.88,-92.5,2462,1803,3076,3085,149.8,-14.0,154,879,0.00,2.33,0.00,0.000,2308,0.000,0.050,2454,3212,3080,3076,3085,0,0,0,0,0,0,15.23,15.02,15.23
$GC,912,-0.88,-92.5,2454,3213,3076,3085,155.6,-14.3,161,919,0.08,2.30,0.00,0.000,3078,0.265,0.044,2469,1806,3080,3076,3084,0,0,0,0,0,0,14.92,15.03,15.07
$GC,982,-0.88,-92.5,2469,1805,3076,3085,165.8,-15.2,174,988,0.00,0.00,0.00,0.000,2054,0.000,0.000,2469,1805,3080,3076,3085,0,0,0,0,0,0,15.23,15.23,15.23
$GC,1054,-0.88,-92.5,2469,1805,3076,3084,175.2,-14.1,187,1060,0.00,2.33,0.00,0.000,2308,0.000,0.050,2463,3215,3080,3076,3084,0,0,0,0,0,0,15.24,14.97,15.24
$GC,1111,-0.88,-92.5,2463,3216,3076,3085,183.5,-13.5,197,1117,0.00,2.30,0.00,0.000,3078,0.000,0.045,2463,1813,3079,3074,3085,0,0,0,0,0,0,15.12,15.03,15.13
$GC,1180,-0.88,-92.5,2463,1813,3076,3084,193.4,-14.6,210,1187,0.00,2.35,0.00,0.000,2564,0.000,0.061,2462,405,3080,3076,3084,0,0,0,0,0,0,15.23,14.97,15.24
$GC,1194,-0.88,-92.5,2463,405,3076,3084,195.7,-15.0,212,1200,0.00,2.28,0.00,0.000,3078,0.000,0.037,2461,1814,3080,3076,3084,0,0,0,0,0,0,15.07,15.00,15.08
$STATE,1262,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1263,begin apogee
$GC,1267,-0.17,0.0,2461,1817,3076,3084,205.7,-14.1,225,1342,1.20,0.00,67.93,0.985,10246,0.167,0.000,2698,1818,2699,2716,2683,0,0,0,0,0,0,14.92,14.77,14.33
$STATE,1344,end apogee,CONTROL_FINISHED_OK
$STATE,1344,begin climb
$GC,1346,0.88,92.5,2698,1818,2716,2683,209.1,0.0,238,1429,1.50,2.45,73.30,0.994,10756,0.070,0.061,3029,396,2321,2343,2300,0,0,0,0,0,0,14.76,14.52,14.19
$GC,1486,0.88,92.5,3033,396,2340,2297,201.6,10.1,262,1493,0.00,2.30,0.00,0.000,3078,0.000,0.034,3033,1810,2317,2339,2296,0,0,0,0,0,0,14.85,14.78,14.85
$GC,1556,0.88,92.5,3033,1811,2339,2294,194.8,10.3,275,1563,0.00,2.28,0.00,0.000,2308,0.000,0.048,3033,3197,2316,2338,2294,0,0,0,0,0,0,15.03,14.78,15.03
$GC,1631,0.88,92.6,3033,3196,2336,2293,187.8,10.0,289,1637,0.00,2.33,0.00,0.000,3078,0.000,0.047,3037,1792,2315,2336,2294,0,0,0,0,0,0,14.92,14.85,14.94
$GC,1701,0.91,112.9,3037,1791,2335,2293,181.7,8.5,302,1720,0.00,0.00,16.62,0.907,10246,0.000,0.000,3037,1792,2240,2264,2216,0,0,0,0,0,0,15.12,14.87,14.42
$GC,1782,0.91,112.9,3037,1792,2262,2214,172.7,11.9,317,1787,0.00,0.00,0.00,0.000,2054,0.000,0.000,3037,1792,2237,2262,2213,0,0,0,0,0,0,15.09,15.09,15.09
$GC,1849,0.91,112.9,3037,1792,2268,2212,165.1,11.4,330,1855,0.00,0.00,0.00,0.000,2054,0.000,0.000,3037,1792,2236,2261,2212,0,0,0,0,0,0,15.12,15.13,15.13
$GC,1917,0.91,112.9,3037,1792,2260,2211,157.0,11.6,343,1925,0.00,2.35,0.00,0.000,2308,0.000,0.048,3037,3204,2235,2259,2211,0,0,0,0,0,0,15.15,14.97,15.16
$GC,2148,0.91,112.9,3037,3204,2257,2211,130.0,10.3,388,2154,0.00,2.33,0.00,0.000,3078,0.000,0.047,3040,1795,2233,2256,2211,0,0,0,0,0,0,15.07,14.97,15.09
$GC,2217,0.91,112.9,3039,1794,2257,2210,122.9,10.7,401,2222,0.00,0.00,0.00,0.000,2054,0.000,0.000,3040,1795,2233,2256,2210,0,0,0,0,0,0,15.21,15.21,15.21
$GC,2284,0.91,112.9,3039,1795,2257,2210,115.5,11.3,414,2291,0.00,2.35,0.00,0.000,2564,0.000,0.068,3040,399,2233,2256,2210,0,0,0,0,0,0,15.21,14.99,15.21
$GC,2353,0.91,112.9,3039,399,2255,2210,107.6,11.5,427,2361,0.00,2.25,0.00,0.000,3078,0.000,0.035,3039,1807,2232,2254,2210,0,0,0,0,0,0,15.11,15.02,15.12
$GC,2424,0.91,112.9,3039,1807,2255,2210,100.2,10.6,440,2431,0.00,2.25,0.00,0.000,2308,0.000,0.050,3040,3190,2232,2255,2210,0,0,0,0,0,0,15.21,15.02,15.22
$GC,2573,0.92,123.3,3039,3190,2253,2209,84.7,9.2,469,2586,0.00,2.30,8.45,0.765,11270,0.000,0.051,3040,1802,2197,2222,2173,0,0,0,0,0,0,15.11,15.00,14.50
$GC,2649,1.01,195.7,3040,1802,2221,2172,80.1,4.7,483,2714,0.08,2.40,56.50,0.881,10756,0.208,0.068,3074,388,1901,1935,1868,0,0,0,0,0,0,14.91,14.72,14.33
$GC,2832,1.01,195.7,3073,388,1926,1866,58.5,17.2,517,2839,0.00,2.28,0.00,0.000,3078,0.000,0.036,3074,1786,1895,1926,1865,0,0,0,0,0,0,14.96,14.89,14.97
$GC,2902,1.01,195.7,3073,1789,1926,1862,47.0,16.9,530,2908,0.00,2.33,0.00,0.000,2308,0.000,0.048,3074,3210,1893,1926,1861,0,0,0,0,0,0,15.12,14.88,15.13
$GC,2960,1.01,195.7,3073,3210,1924,1861,38.6,13.2,541,2966,0.00,2.35,0.00,0.000,3078,0.000,0.049,3077,1800,1892,1924,1861,0,0,0,0,0,0,15.04,14.95,15.05
$GC,3029,1.02,205.2,3077,1801,1924,1860,31.5,9.3,554,3042,0.00,0.00,6.45,0.654,10246,0.000,0.000,3077,1802,1865,1898,1833,0,0,0,0,0,0,15.16,14.83,14.45
$GC,3105,1.05,228.7,3077,1800,1898,1834,25.3,8.3,568,3130,0.00,2.38,15.55,0.939,10756,0.000,0.071,3077,395,1766,1800,1732,0,0,0,0,0,0,15.15,14.83,14.45
$GC,3142,1.14,301.8,3077,395,1803,1732,22.9,4.7,574,3196,0.12,2.30,46.75,0.935,11270,0.142,0.035,3119,1820,1468,1508,1429,0,0,0,0,0,0,14.88,14.90,14.32
$GC,3258,1.14,301.8,3119,1820,1507,1425,8.3,13.8,595,3266,0.00,2.28,0.00,0.000,2308,0.000,0.049,3119,3190,1466,1508,1424,0,0,0,0,0,0,15.02,14.82,15.02
$STATE,3296,end climb,SURFACE_DEPTH_REACHED
$STATE,3296,begin surface coast
$FINISH,0.5,1.023299
$STATE,3313,end surface coast,CONTROL_FINISHED_OK
$STATE,3313,begin surface
$SM_CCo,3338,125.15,0.771,0,0,600,515.37
$SM_GC,0.88,13.98,2.33,125.15,0.049,0.039,0.771,127,1809,600,-8.17,0.99,515.37,0,0,0,0,0,0,14.88,14.88,14.28
$IRIDIUM_FIX,-2955.02,3059.54,260319,235438
$TT8_MAMPS,0.020972,0.949732
$HUMID,42.12
$INTERNAL_PRESSURE,9.5467
$TCM_TEMP,22.10
$XPDR_PINGS,20
$ALTIM_BOTTOM_PING,180.0,35.3
$SC_FREEKB,3845088
$24V_AH,14.01,67.306
$10V_AH,13.97,0.000
$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,30.900,78.700,291.550,125.150,0.000,24.844,16.188,264.234,12.000,0.000,14.348,1376.054,508.238,593.676,1359.054,135.659,0.000,1155.958,0.000,915.486,0.000,45.100,0.000
$DEVICE_MAMPS,376.380,71.145,993.735,771.120,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3375.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.268,0.000,0.000,0.000
$MEM,340928
$DATA_FILE_SIZE,16748,605
$CAP_FILE_SIZE,117532,0
$CFSIZE,2097086464,2066284544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.075,13.27,1
$GPS,270319,021815,-3007.544,3059.688,7,1.0,24,-25.1,0.0,298.6,9,10.0