version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 151
start: 3 27 119 2 26 13
data:
$ID,574
$MISSION,3
$DIVE,151
$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,35
$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
$GPS1,270319,021815,-3007.5444,3059.6875,7,1.0,24,-25.1,0.0,298.6,9,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-71.6
$GPS2,270319,022551,-3007.5293,3059.6035,7,1.1,25,-25.1,0.0,328.9,9,9.7
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3005.051,3047.456
$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,308.4,20000,-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,19,begin dive
$GC,20,-0.88,-92.5,93,1804,621,556,0.0,0.0,0,107,0.00,0.00,-83.55,0.000,16386,0.000,0.000,87,1804,2867,2840,2895,0,0,0,0,0,0,15.10,28.83,15.11
$GC,110,-0.88,-92.5,87,1804,2836,2895,3.5,-6.9,15,136,13.68,2.35,-3.67,0.000,19204,0.293,0.076,2458,3211,3079,3069,3090,0,0,0,0,0,0,14.75,14.23,14.97
$GC,243,-0.88,-92.5,2457,3211,3072,3087,43.3,-17.7,40,250,0.08,2.33,0.00,0.000,3078,0.270,0.048,2472,1807,3079,3073,3086,0,0,0,0,0,0,14.86,14.96,15.00
$GC,312,-0.88,-92.5,2470,1807,3074,3086,54.6,-17.2,53,320,0.00,0.00,0.00,0.000,2054,0.000,0.000,2472,1806,3080,3074,3086,0,0,0,0,0,0,15.19,15.19,15.19
$GC,383,-0.88,-92.5,2472,1806,3074,3086,65.5,-15.5,66,391,0.00,2.30,0.00,0.000,2308,0.000,0.046,2464,3211,3079,3074,3084,0,0,0,0,0,0,15.19,15.00,15.19
$GC,414,-0.88,-92.5,2463,3211,3074,3085,70.2,-15.5,71,421,0.00,2.30,0.00,0.000,3078,0.000,0.044,2464,1810,3079,3074,3085,0,0,0,0,0,0,15.03,14.98,15.03
$GC,484,-0.88,-92.5,2463,1806,3075,3085,81.6,-16.4,84,489,0.00,0.00,0.00,0.000,2054,0.000,0.000,2464,1806,3080,3075,3086,0,0,0,0,0,0,15.20,15.20,15.20
$GC,552,-0.88,-92.5,2464,1806,3076,3086,92.5,-14.4,97,559,0.00,2.35,0.00,0.000,2564,0.000,0.063,2463,400,3079,3075,3084,0,0,0,0,0,0,15.21,15.00,15.22
$GC,606,-0.88,-92.5,2463,399,3076,3085,99.3,-12.5,107,615,0.10,2.25,0.00,0.000,3078,0.264,0.034,2473,1806,3081,3076,3086,0,0,0,0,0,0,14.91,15.03,15.06
$GC,677,-0.88,-92.5,2472,1808,3077,3085,108.9,-13.3,120,684,0.00,2.30,0.00,0.000,2308,0.000,0.051,2473,3215,3081,3077,3085,0,0,0,0,0,0,15.23,15.02,15.23
$GC,720,-0.88,-92.5,2472,3214,3076,3085,114.4,-13.5,128,728,0.00,2.30,0.00,0.000,3078,0.000,0.044,2473,1807,3080,3076,3085,0,0,0,0,0,0,15.08,14.98,15.09
$GC,791,-0.88,-92.5,2473,1807,3077,3085,124.7,-14.7,141,799,0.00,2.30,0.00,0.000,2308,0.000,0.047,2465,3212,3080,3077,3084,0,0,0,0,0,0,15.23,15.03,15.23
$GC,866,-0.88,-92.5,2465,3212,3077,3085,134.7,-12.7,155,874,0.00,2.30,0.00,0.000,3078,0.000,0.043,2465,1803,3081,3077,3085,0,0,0,0,0,0,15.09,15.01,15.10
$GC,936,-0.88,-92.5,2465,1803,3078,3085,144.4,-14.6,168,944,0.00,0.00,0.00,0.000,2054,0.000,0.000,2465,1803,3081,3077,3085,0,0,0,0,0,0,15.23,15.24,15.24
$GC,1007,-0.88,-92.5,2465,1803,3077,3085,154.4,-12.6,181,1014,0.00,2.33,0.00,0.000,2308,0.000,0.047,2455,3220,3080,3077,3083,0,0,0,0,0,0,15.23,15.04,15.24
$GC,1096,-0.88,-92.5,2454,3218,3076,3085,165.8,-11.5,198,1104,0.08,2.30,0.00,0.000,3078,0.269,0.043,2469,1812,3081,3077,3085,0,0,0,0,0,0,14.92,15.02,15.06
$STATE,1129,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1129,begin apogee
$GC,1133,-0.17,0.0,2470,1811,3076,3085,170.7,-14.2,204,1208,1.12,0.00,67.88,0.940,10246,0.171,0.000,2694,1817,2700,2716,2684,0,0,0,0,0,0,14.92,14.76,14.33
$STATE,1210,end apogee,CONTROL_FINISHED_OK
$STATE,1210,begin climb
$GC,1212,0.88,92.5,2694,1812,2716,2684,173.7,0.0,217,1295,1.52,2.42,73.07,0.941,10756,0.075,0.063,3030,399,2321,2343,2300,0,0,0,0,0,0,14.76,14.54,14.20
$GC,1323,0.92,122.7,3030,399,2341,2299,169.4,7.8,235,1354,0.00,2.30,24.92,0.897,11270,0.000,0.034,3030,1806,2198,2224,2172,0,0,0,0,0,0,14.78,14.71,14.23
$GC,1415,0.92,122.7,3030,1806,2221,2168,159.5,12.8,252,1422,0.00,2.33,0.00,0.000,2308,0.000,0.050,3030,3205,2194,2220,2168,0,0,0,0,0,0,14.97,14.78,14.97
$GC,1549,0.92,122.7,3030,3204,2217,2167,142.4,11.7,278,1557,0.00,2.33,0.00,0.000,3078,0.000,0.047,3033,1801,2192,2217,2167,0,0,0,0,0,0,14.99,14.90,15.00
$GC,1620,0.92,122.7,3033,1801,2217,2166,134.6,11.5,291,1626,0.00,0.00,0.00,0.000,2054,0.000,0.000,3033,1801,2191,2217,2166,0,0,0,0,0,0,15.13,15.13,15.13
$GC,1687,0.92,122.7,3033,1801,2216,2166,127.2,10.6,304,1694,0.00,2.30,0.00,0.000,2308,0.000,0.048,3033,3201,2190,2215,2166,0,0,0,0,0,0,15.15,14.90,15.16
$GC,1811,0.95,152.9,3033,3202,2214,2166,115.7,7.8,328,1841,0.00,2.30,23.40,0.869,11270,0.000,0.046,3037,1800,2075,2105,2046,0,0,0,0,0,0,15.08,14.99,14.42
$GC,1903,0.95,152.9,3037,1800,2103,2045,105.5,13.5,345,1909,0.00,0.00,0.00,0.000,2054,0.000,0.000,3037,1800,2073,2103,2044,0,0,0,0,0,0,15.12,15.12,15.12
$GC,1970,0.95,152.9,3037,1800,2102,2044,96.5,11.7,358,1978,0.00,2.38,0.00,0.000,2564,0.000,0.067,3037,396,2072,2101,2043,0,0,0,0,0,0,15.15,14.93,15.15
$GC,2089,0.95,152.9,3037,396,2098,2043,83.4,13.1,381,2096,0.00,2.28,0.00,0.000,3078,0.000,0.034,3038,1809,2070,2098,2042,0,0,0,0,0,0,15.08,15.01,15.09
$GC,2158,0.95,152.9,3037,1810,2098,2042,75.6,11.4,394,2165,0.00,0.00,0.00,0.000,2054,0.000,0.000,3037,1810,2070,2099,2042,0,0,0,0,0,0,15.19,15.20,15.21
$GC,2227,0.95,152.9,3037,1810,2098,2041,67.9,11.3,407,2233,0.00,0.00,0.00,0.000,2054,0.000,0.000,3037,1809,2070,2098,2042,0,0,0,0,0,0,15.20,15.21,15.21
$GC,2294,0.95,152.9,3037,1810,2098,2041,59.7,12.3,420,2300,0.00,0.00,0.00,0.000,2054,0.000,0.000,3037,1810,2069,2098,2041,0,0,0,0,0,0,15.22,15.22,15.22
$GC,2362,0.95,152.9,3036,1810,2098,2041,51.7,10.5,433,2369,0.00,2.25,0.00,0.000,2308,0.000,0.048,3037,3198,2069,2097,2041,0,0,0,0,0,0,15.21,14.96,15.22
$GC,2426,0.95,152.9,3037,3198,2097,2041,44.0,12.6,445,2433,0.00,2.30,0.00,0.000,3078,0.000,0.047,3038,1799,2068,2096,2040,0,0,0,0,0,0,15.12,15.02,15.13
$GC,2495,1.01,197.2,3037,1799,2096,2041,38.5,6.8,458,2538,0.08,2.35,33.92,0.819,10756,0.203,0.066,3081,396,1894,1926,1862,0,0,0,0,0,0,14.96,14.88,14.41
$GC,2715,1.06,235.3,3081,395,1922,1858,18.5,7.2,500,2745,0.00,2.28,22.62,0.893,11270,0.000,0.034,3081,1822,1740,1779,1701,0,0,0,0,0,0,15.07,14.98,14.45
$GC,2807,1.06,235.3,3081,1823,1774,1698,10.8,10.0,517,2814,0.00,2.25,0.00,0.000,2308,0.000,0.048,3079,3194,1736,1774,1698,0,0,0,0,0,0,15.10,14.86,15.11
$STATE,2889,end climb,SURFACE_DEPTH_REACHED
$STATE,2889,begin surface coast
$FINISH,0.3,1.018127
$STATE,2921,end surface coast,CONTROL_FINISHED_OK
$STATE,2921,begin surface
$SM_CCo,2945,161.15,0.773,0,0,599,515.37
$SM_GC,0.92,13.70,2.33,161.15,0.043,0.049,0.773,110,1816,599,-8.21,1.22,515.37,0,0,0,0,0,0,14.99,14.97,14.29
$IRIDIUM_FIX,-2955.02,3101.67,270319,011342
$TT8_MAMPS,0.020972,0.956473
$HUMID,41.69
$INTERNAL_PRESSURE,9.56623
$TCM_TEMP,22.60
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,145.3,35.0
$SC_FREEKB,3844576
$24V_AH,14.20,67.475
$10V_AH,13.98,0.000
$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,30.350,60.075,245.825,161.150,0.000,22.293,16.435,217.626,9.500,0.000,26.253,1226.700,457.663,560.460,1212.445,115.416,0.000,1056.986,0.000,818.255,0.000,34.402,0.000
$DEVICE_MAMPS,292.995,75.735,940.950,773.415,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2973.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.458,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,13421,539
$CAP_FILE_SIZE,101251,0
$CFSIZE,2097086464,2066120704
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,612.18,0x2131c2,0,24
$CURRENT,0.083,3.96,1
$GPS,270319,031919,-3007.296,3059.278,9,0.9,39,-25.1,0.5,40.3,11,8.1