version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 152
start: 3 27 119 3 26 51
data:
$ID,574
$MISSION,3
$DIVE,152
$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,31
$R_STBD_OVSHOOT,64
$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
$GPS1,270319,031919,-3007.2959,3059.2781,9,0.9,39,-25.1,0.5,40.3,11,8.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-70.9
$GPS2,270319,032629,-3007.3025,3059.2478,8,0.9,15,-25.1,0.5,256.8,11,9.7
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3006.556,3046.794
$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,299.1,20000,-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,21,-0.88,-92.5,68,1813,621,558,0.0,0.0,0,108,0.00,0.00,-84.88,0.000,16386,0.000,0.000,62,1811,2928,2900,2956,0,0,0,0,0,0,15.11,28.83,15.11
$GC,111,-0.88,-92.5,63,1811,2900,2955,3.8,-8.2,15,137,13.75,2.30,-2.67,0.000,18692,0.288,0.070,2457,3195,3080,3069,3092,0,0,0,0,0,0,14.76,13.93,14.97
$GC,295,-0.88,-92.5,2457,3195,3072,3088,46.3,-18.3,50,303,0.08,2.28,0.00,0.000,3078,0.268,0.043,2472,1806,3079,3072,3087,0,0,0,0,0,0,14.85,14.94,15.00
$GC,365,-0.88,-92.5,2472,1806,3073,3087,57.5,-16.3,63,371,0.00,2.30,0.00,0.000,2308,0.000,0.048,2464,3198,3080,3074,3086,0,0,0,0,0,0,15.20,14.94,15.20
$GC,399,-0.88,-92.5,2464,3199,3073,3086,62.9,-14.6,69,407,0.00,2.28,0.00,0.000,3078,0.000,0.043,2464,1811,3080,3074,3086,0,0,0,0,0,0,15.09,15.01,15.10
$GC,470,-0.88,-92.5,2464,1811,3074,3086,74.5,-16.7,82,479,0.00,0.00,0.00,0.000,2054,0.000,0.000,2464,1812,3079,3074,3085,0,0,0,0,0,0,15.21,15.22,15.22
$GC,542,-0.88,-92.5,2463,1811,3074,3086,87.2,-18.7,95,548,0.00,2.35,0.00,0.000,2564,0.000,0.065,2464,409,3080,3074,3086,0,0,0,0,0,0,15.22,15.00,15.22
$GC,597,-0.88,-92.5,2463,409,3075,3086,96.4,-15.2,105,605,0.08,2.22,0.00,0.000,3078,0.295,0.034,2469,1799,3080,3075,3086,0,0,0,0,0,0,14.91,15.04,15.07
$GC,670,-0.88,-92.5,2468,1802,3075,3086,106.3,-13.6,118,676,0.00,0.00,0.00,0.000,2054,0.000,0.000,2469,1802,3080,3075,3086,0,0,0,0,0,0,15.23,15.23,15.23
$GC,741,-0.88,-92.5,2468,1802,3075,3086,116.7,-12.7,131,748,0.00,2.30,0.00,0.000,2308,0.000,0.051,2460,3208,3080,3075,3086,0,0,0,0,0,0,15.23,15.00,15.24
$GC,795,-0.88,-92.5,2460,3208,3077,3086,124.0,-13.1,141,802,0.00,2.28,0.00,0.000,3078,0.000,0.043,2460,1810,3081,3076,3086,0,0,0,0,0,0,15.06,14.98,15.07
$GC,866,-0.88,-92.5,2460,1809,3076,3085,134.0,-15.3,154,873,0.05,2.30,0.00,0.000,2308,0.341,0.048,2457,3214,3081,3076,3086,0,0,0,0,0,0,14.92,15.02,15.07
$STATE,919,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,920,begin apogee
$GC,926,-0.17,0.0,2462,1799,3076,3085,143.1,-15.2,164,1000,1.20,0.00,66.78,0.905,10246,0.169,0.000,2699,1800,2702,2717,2687,0,0,0,0,0,0,14.87,14.68,14.30
$STATE,1003,end apogee,CONTROL_FINISHED_OK
$STATE,1003,begin climb
$GC,1005,0.88,92.5,2699,1800,2718,2687,147.2,0.0,177,1088,1.50,2.40,73.40,0.908,10756,0.076,0.060,3033,392,2320,2342,2299,0,0,0,0,0,0,14.78,14.55,14.21
$GC,1105,0.91,113.7,3033,392,2341,2298,143.0,8.4,193,1130,0.00,2.30,17.80,0.840,11270,0.000,0.032,3032,1801,2235,2259,2211,0,0,0,0,0,0,14.76,14.69,14.29
$GC,1192,0.91,119.3,3032,1800,2256,2207,134.8,9.6,209,1205,0.00,2.30,5.57,0.650,10500,0.000,0.044,3033,3204,2211,2236,2187,0,0,0,0,0,0,14.99,14.68,14.35
$GC,1248,0.91,119.3,3033,3204,2234,2187,129.2,10.9,219,1255,0.00,2.33,0.00,0.000,3078,0.000,0.047,3037,1803,2210,2234,2186,0,0,0,0,0,0,14.95,14.85,14.94
$GC,1317,0.91,119.3,3037,1803,2234,2185,120.7,12.1,232,1323,0.00,0.00,0.00,0.000,2054,0.000,0.000,3037,1801,2210,2234,2186,0,0,0,0,0,0,15.09,15.09,15.09
$GC,1384,0.91,119.3,3036,1803,2233,2185,112.5,11.4,245,1391,0.00,2.30,0.00,0.000,2308,0.000,0.047,3037,3199,2209,2233,2185,0,0,0,0,0,0,15.13,14.88,15.13
$GC,1454,0.91,119.3,3036,3199,2232,2185,105.5,11.0,258,1461,0.00,2.30,0.00,0.000,3078,0.000,0.047,3037,1800,2208,2232,2184,0,0,0,0,0,0,15.05,14.96,15.06
$GC,1525,0.91,119.3,3034,1800,2231,2184,96.9,12.0,271,1531,0.00,2.38,0.00,0.000,2564,0.000,0.068,3037,394,2207,2231,2184,0,0,0,0,0,0,15.18,14.90,15.18
$GC,1803,0.95,148.9,3037,394,2227,2183,72.6,7.8,326,1835,0.00,2.25,23.12,0.823,11270,0.000,0.034,3037,1805,2091,2120,2063,0,0,0,0,0,0,15.12,15.05,14.46
$GC,1897,0.95,148.9,3037,1805,2118,2062,63.6,11.8,343,1904,0.00,2.28,0.00,0.000,2308,0.000,0.047,3037,3198,2089,2117,2062,0,0,0,0,0,0,15.16,14.96,15.16
$GC,2051,0.95,148.9,3037,3198,2116,2061,44.2,11.6,373,2058,0.00,2.30,0.00,0.000,3078,0.000,0.048,3037,1802,2088,2116,2060,0,0,0,0,0,0,15.06,14.97,15.07
$GC,2121,1.01,194.6,3037,1800,2116,2060,38.7,6.7,386,2164,0.08,2.40,35.70,0.805,10756,0.197,0.066,3077,387,1904,1936,1872,0,0,0,0,0,0,14.99,14.76,14.47
$GC,2351,1.05,228.8,3077,387,1928,1867,15.4,7.5,430,2377,0.00,2.28,19.42,0.850,11270,0.000,0.033,3076,1800,1765,1802,1729,0,0,0,0,0,0,15.04,14.97,14.47
$GC,2438,1.06,242.8,3077,1800,1801,1726,8.5,9.0,446,2452,0.00,2.35,7.60,0.714,10500,0.000,0.047,3077,3197,1708,1746,1670,0,0,0,0,0,0,15.13,14.90,14.48
$STATE,2498,end climb,SURFACE_DEPTH_REACHED
$STATE,2499,begin surface coast
$FINISH,0.0,1.023375
$STATE,2530,end surface coast,CONTROL_FINISHED_OK
$STATE,2530,begin surface
$SM_CCo,2554,155.75,0.769,0,0,599,515.37
$SM_GC,0.92,13.65,2.33,155.75,0.044,0.043,0.769,127,1813,599,-8.17,1.05,515.37,0,0,0,0,0,0,14.95,14.95,14.30
$IRIDIUM_FIX,-2957.51,3059.54,270319,022057
$TT8_MAMPS,0.020972,0.950481
$HUMID,41.37
$INTERNAL_PRESSURE,9.56623
$TCM_TEMP,22.50
$XPDR_PINGS,18
$ALTIM_BOTTOM_PING,115.4,37.0
$SC_FREEKB,3844064
$24V_AH,13.93,67.633
$10V_AH,13.77,0.000
$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,30.375,55.425,249.400,155.750,0.000,22.253,20.757,206.180,8.250,0.000,16.367,1048.152,396.921,531.232,1067.835,107.401,0.000,959.121,0.000,705.774,0.000,25.339,0.000
$DEVICE_MAMPS,341.190,69.615,908.055,768.825,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2579.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.398,0.000,0.000,0.000
$MEM,340928
$DATA_FILE_SIZE,10123,463
$CAP_FILE_SIZE,87303,0
$CFSIZE,2097086464,2065989632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.087,32.50,1
$GPS,270319,041254,-3007.136,3059.067,7,1.1,14,-25.1,0.7,135.6,8,9.3