version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 153
start: 3 27 119 4 20 25
data:
$ID,574
$MISSION,3
$DIVE,153
$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,33
$R_STBD_OVSHOOT,53
$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
$GPS1,270319,041254,-3007.1360,3059.0669,7,1.1,14,-25.1,0.7,135.6,8,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-71.2
$GPS2,270319,042003,-3007.1494,3059.0503,7,1.0,14,-25.1,0.6,354.9,8,9.4
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3001.348,3048.531
$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,327.6,20000,-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,-92.5,99,1807,622,554,0.0,0.0,0,107,0.00,0.00,-84.50,0.000,16386,0.000,0.000,96,1808,2897,2871,2923,0,0,0,0,0,0,15.11,28.83,15.12
$GC,111,-0.88,-92.5,96,1808,2871,2924,3.5,-7.3,15,137,13.52,2.30,-3.20,0.000,19204,0.287,0.073,2457,3207,3078,3070,3086,0,0,0,0,0,0,14.77,14.25,14.98
$GC,263,-0.88,-92.5,2457,3208,3071,3086,41.8,-15.4,44,271,0.08,2.30,0.00,0.000,3078,0.272,0.045,2472,1807,3078,3072,3085,0,0,0,0,0,0,14.88,14.99,15.03
$GC,333,-0.88,-92.5,2471,1807,3073,3085,54.1,-16.8,57,339,0.00,2.33,0.00,0.000,2564,0.000,0.060,2472,408,3078,3072,3084,0,0,0,0,0,0,15.20,14.98,15.20
$GC,371,-0.88,-92.5,2472,408,3073,3084,60.4,-17.3,64,378,0.00,2.25,0.00,0.000,3078,0.000,0.035,2471,1805,3078,3073,3084,0,0,0,0,0,0,15.09,15.02,15.11
$GC,442,-0.88,-92.5,2470,1808,3073,3083,71.8,-17.2,77,447,0.00,0.00,0.00,0.000,2054,0.000,0.000,2471,1808,3078,3073,3084,0,0,0,0,0,0,15.22,15.21,15.22
$GC,509,-0.88,-92.5,2470,1808,3073,3083,84.0,-17.8,90,517,0.00,2.33,0.00,0.000,2308,0.000,0.051,2461,3222,3078,3073,3083,0,0,0,0,0,0,15.22,14.97,15.22
$GC,555,-0.88,-92.5,2460,3221,3074,3083,92.3,-18.3,98,562,0.00,2.33,0.00,0.000,3078,0.000,0.044,2461,1801,3077,3073,3082,0,0,0,0,0,0,15.07,14.98,15.07
$GC,629,-0.88,-92.5,2461,1801,3073,3083,102.1,-13.0,111,636,0.00,2.33,0.00,0.000,2564,0.000,0.060,2461,401,3078,3073,3083,0,0,0,0,0,0,15.23,14.97,15.23
$GC,683,-0.88,-92.5,2461,401,3074,3083,110.9,-17.0,121,690,0.08,2.28,0.00,0.000,3078,0.291,0.035,2469,1814,3078,3074,3083,0,0,0,0,0,0,14.93,15.05,15.08
$STATE,747,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,747,begin apogee
$GC,751,-0.17,0.0,2469,1817,3074,3082,120.9,-14.9,133,825,1.15,0.00,67.12,0.876,10246,0.162,0.000,2700,1817,2699,2715,2683,0,0,0,0,0,0,14.89,14.81,14.38
$STATE,828,end apogee,CONTROL_FINISHED_OK
$STATE,828,begin climb
$GC,830,0.88,92.5,2699,1818,2715,2683,124.5,0.0,146,911,1.50,0.00,72.45,0.879,10758,0.076,0.000,3031,1819,2322,2344,2300,0,0,0,0,0,0,14.78,14.57,14.28
$GC,974,0.89,104.6,3030,1819,2340,2296,117.8,9.1,171,988,0.00,0.00,10.10,0.762,10246,0.000,0.000,3031,1818,2273,2296,2251,0,0,0,0,0,0,14.98,14.79,14.40
$GC,1050,0.91,113.4,3030,1818,2296,2249,109.9,9.3,185,1069,0.00,2.30,8.65,0.726,10500,0.000,0.046,3031,3205,2235,2259,2211,0,0,0,0,0,0,15.04,14.83,14.40
$GC,1151,0.91,113.4,3030,3205,2258,2211,99.0,11.4,204,1158,0.00,2.33,0.00,0.000,3078,0.000,0.046,3033,1800,2234,2258,2211,0,0,0,0,0,0,14.97,14.88,14.98
$GC,1221,0.93,133.0,3033,1800,2257,2210,91.9,8.6,217,1246,0.00,2.38,16.20,0.796,10756,0.000,0.064,3033,402,2156,2182,2130,0,0,0,0,0,0,15.14,14.85,14.47
$GC,1378,0.93,133.0,3032,402,2179,2129,78.3,10.0,247,1386,0.00,2.25,0.00,0.000,3078,0.000,0.032,3033,1810,2153,2179,2128,0,0,0,0,0,0,15.05,14.98,15.07
$GC,1449,0.93,134.0,3033,1810,2178,2128,71.9,9.9,260,1456,0.00,2.25,0.00,0.000,2308,0.000,0.047,3033,3195,2152,2178,2127,0,0,0,0,0,0,15.18,14.98,15.18
$GC,1493,0.93,134.0,3032,3195,2177,2127,67.1,10.7,268,1500,0.00,2.30,0.00,0.000,3078,0.000,0.047,3037,1797,2152,2177,2127,0,0,0,0,0,0,15.09,15.00,15.09
$GC,1562,0.93,134.0,3036,1797,2177,2127,59.6,10.6,281,1569,0.00,2.35,0.00,0.000,2564,0.000,0.066,3037,397,2151,2177,2126,0,0,0,0,0,0,15.20,14.98,15.21
$GC,1696,0.96,158.3,3036,396,2175,2126,46.7,8.2,307,1722,0.00,2.25,20.35,0.786,11270,0.000,0.033,3037,1803,2054,2085,2024,0,0,0,0,0,0,15.09,15.02,14.49
$GC,1784,0.96,158.3,3037,1803,2081,2021,39.1,10.8,323,1791,0.00,2.38,0.00,0.000,2564,0.000,0.063,3040,395,2050,2080,2021,0,0,0,0,0,0,15.16,14.95,15.17
$GC,1828,0.96,158.3,3039,395,2079,2020,34.0,11.9,331,1836,0.00,2.25,0.00,0.000,3078,0.000,0.034,3040,1803,2049,2079,2020,0,0,0,0,0,0,15.07,15.00,15.09
$GC,1899,1.01,198.8,3039,1803,2079,2019,27.9,7.1,344,1930,0.08,0.00,26.80,0.906,10246,0.198,0.000,3077,1803,1888,1922,1855,0,0,0,0,0,0,14.98,14.90,14.45
$GC,1992,1.03,211.6,3077,1803,1919,1852,20.3,9.1,361,2004,0.00,0.00,7.38,0.780,10246,0.000,0.000,3077,1803,1836,1870,1802,0,0,0,0,0,0,15.12,14.92,14.47
$GC,2066,1.05,230.3,3077,1803,1869,1799,13.4,8.6,375,2085,0.00,2.30,10.48,0.779,10500,0.000,0.046,3077,3193,1759,1796,1722,0,0,0,0,0,0,15.14,14.88,14.49
$STATE,2177,end climb,SURFACE_DEPTH_REACHED
$STATE,2177,begin surface coast
$FINISH,0.4,1.023427
$STATE,2203,end surface coast,CONTROL_FINISHED_OK
$STATE,2203,begin surface
$SM_CCo,2227,160.52,0.759,0,0,598,515.37
$SM_GC,1.03,13.55,2.33,160.52,0.040,0.046,0.759,123,1812,598,-8.17,0.99,515.37,0,0,0,0,0,0,14.99,14.97,14.31
$IRIDIUM_FIX,-2955.02,3058.25,270319,032158
$TT8_MAMPS,0.020972,0.832139
$HUMID,41.25
$INTERNAL_PRESSURE,9.576
$TCM_TEMP,22.70
$XPDR_PINGS,13
$ALTIM_BOTTOM_PING,95.1,35.3
$SC_FREEKB,3843552
$24V_AH,14.25,67.782
$10V_AH,13.95,0.000
$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,29.950,46.075,239.525,160.525,0.000,23.864,47.848,188.721,6.000,0.000,15.347,905.271,334.003,519.161,972.319,99.949,0.000,903.875,0.000,611.666,0.000,19.252,0.000
$DEVICE_MAMPS,291.465,72.675,905.760,758.880,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2243.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.551,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,10110,401
$CAP_FILE_SIZE,78986,0
$CFSIZE,2097086464,2065825792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.099,29.31,1
$GPS,270319,050111,-3006.902,3058.931,8,1.2,18,-25.1,0.9,241.5,8,9.7