version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 155
start: 3 27 119 5 54 37
data:
$ID,574
$MISSION,3
$DIVE,155
$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,15
$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,40
$R_STBD_OVSHOOT,47
$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
$GPS1,270319,054749,-3006.8308,3059.1436,7,1.0,38,-25.1,0.3,58.6,8,8.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-70.9
$GPS2,270319,055415,-3006.8303,3059.1389,7,1.0,16,-25.1,0.5,119.0,9,9.5
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-2957.981,3106.284
$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,60.1,20000,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.88,-92.5,109,1821,621,555,0.0,0.0,0,107,0.00,0.00,-84.72,0.000,16386,0.000,0.000,106,1821,2916,2887,2945,0,0,0,0,0,0,15.13,28.83,15.14
$GC,111,-0.88,-92.5,105,1821,2888,2945,3.7,-8.4,15,137,13.40,2.30,-2.85,0.000,18948,0.282,0.067,2470,398,3080,3068,3093,0,0,0,0,0,0,14.78,13.96,15.00
$GC,169,-0.88,-92.5,2469,398,3072,3090,23.0,-20.8,25,176,0.00,2.28,0.00,0.000,3078,0.000,0.034,2461,1813,3079,3072,3087,0,0,0,0,0,0,15.01,14.93,15.02
$GC,238,-0.88,-92.5,2461,1816,3074,3087,37.8,-23.0,38,246,0.00,2.28,0.00,0.000,2308,0.000,0.048,2450,3216,3079,3073,3086,0,0,0,0,0,0,15.19,14.99,15.19
$GC,258,-0.88,-92.5,2450,3217,3073,3086,42.0,-22.7,41,265,0.10,2.30,0.00,0.000,3078,0.249,0.042,2470,1804,3080,3074,3086,0,0,0,0,0,0,14.90,15.00,15.04
$GC,327,-0.88,-92.5,2470,1804,3074,3087,54.0,-19.1,54,335,0.00,2.33,0.00,0.000,2564,0.000,0.060,2470,405,3080,3075,3086,0,0,0,0,0,0,15.21,15.00,15.21
$GC,352,-0.88,-92.5,2470,405,3074,3086,58.6,-18.8,58,359,0.00,2.28,0.00,0.000,3078,0.000,0.036,2462,1817,3080,3075,3085,0,0,0,0,0,0,15.11,15.03,15.11
$GC,423,-0.88,-92.5,2462,1820,3075,3086,71.9,-22.2,71,430,0.00,2.28,0.00,0.000,2308,0.000,0.046,2453,3225,3080,3075,3086,0,0,0,0,0,0,15.22,15.02,15.23
$GC,595,-0.88,-92.5,2452,3222,3075,3085,100.8,-15.3,104,602,0.10,2.30,0.00,0.000,3078,0.243,0.041,2472,1807,3080,3076,3085,0,0,0,0,0,0,14.92,15.00,15.06
$GC,665,-0.88,-92.5,2472,1806,3076,3085,110.4,-14.3,117,671,0.00,2.33,0.00,0.000,2564,0.000,0.061,2472,409,3080,3076,3085,0,0,0,0,0,0,15.25,15.00,15.24
$GC,693,-0.88,-92.5,2472,411,3076,3085,114.6,-15.1,122,701,0.00,2.25,0.00,0.000,3078,0.000,0.034,2465,1818,3080,3076,3085,0,0,0,0,0,0,15.14,15.07,15.15
$STATE,752,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,752,begin apogee
$GC,756,-0.17,0.0,2464,1820,3076,3085,123.6,-14.0,133,830,1.17,0.00,66.97,0.879,10246,0.167,0.000,2697,1821,2701,2717,2686,0,0,0,0,0,0,14.92,14.81,14.34
$STATE,833,end apogee,CONTROL_FINISHED_OK
$STATE,833,begin climb
$GC,835,0.88,92.5,2697,1821,2717,2686,126.0,0.0,146,918,1.50,2.45,72.47,0.877,11012,0.074,0.060,3033,397,2321,2342,2300,0,0,0,0,0,0,14.80,14.58,14.26
$GC,1069,0.88,92.5,3033,394,2338,2296,106.5,10.4,189,1076,0.00,2.28,0.00,0.000,3078,0.000,0.032,3033,1811,2315,2337,2294,0,0,0,0,0,0,15.00,14.92,15.00
$GC,1139,0.88,92.5,3032,1812,2337,2293,99.6,10.2,202,1146,0.00,2.38,0.00,0.000,2564,0.000,0.060,3037,394,2315,2337,2293,0,0,0,0,0,0,15.13,14.92,15.13
$GC,1173,0.91,116.6,3037,393,2336,2293,96.3,8.2,208,1198,0.00,2.22,19.40,0.803,11270,0.000,0.031,3037,1798,2223,2249,2197,0,0,0,0,0,0,15.04,14.99,14.45
$GC,1262,0.96,154.2,3037,1798,2246,2195,89.4,7.3,224,1297,0.00,2.28,29.77,0.822,10500,0.000,0.044,3037,3196,2069,2101,2038,0,0,0,0,0,0,15.13,14.83,14.42
$GC,1420,0.96,154.2,3036,3195,2097,2039,72.7,13.0,254,1426,0.00,2.30,0.00,0.000,3078,0.000,0.045,3036,1797,2066,2097,2035,0,0,0,0,0,0,15.02,14.94,15.03
$GC,1489,0.96,154.5,3037,1797,2095,2034,65.7,10.0,267,1496,0.00,0.00,0.00,0.000,2054,0.000,0.000,3037,1797,2065,2096,2034,0,0,0,0,0,0,15.16,15.18,15.16
$GC,1558,0.96,154.5,3037,1797,2095,2034,58.4,10.5,280,1565,0.00,2.28,0.00,0.000,2308,0.000,0.045,3037,3190,2064,2094,2034,0,0,0,0,0,0,15.19,15.00,15.19
$GC,1652,0.96,157.5,3037,3190,2093,2034,48.6,9.8,298,1659,0.00,2.28,0.00,0.000,3078,0.000,0.045,3037,1800,2063,2094,2033,0,0,0,0,0,0,15.10,15.00,15.11
$GC,1721,1.02,206.3,3037,1800,2094,2033,43.4,6.5,311,1769,0.10,2.38,39.62,0.802,10756,0.161,0.061,3090,391,1856,1890,1823,0,0,0,0,0,0,15.01,14.79,14.45
$GC,1927,1.02,206.3,3090,391,1882,1819,20.4,12.1,350,1933,0.00,2.25,0.00,0.000,5126,0.000,0.033,3091,1795,1850,1883,1817,0,0,0,0,0,0,15.04,14.97,15.05
$GC,1996,1.02,206.3,3090,1796,1880,1815,12.7,10.6,363,2003,0.00,2.28,0.00,0.000,4356,0.000,0.046,3091,3205,1848,1882,1815,0,0,0,0,0,0,15.19,14.97,15.19
$GC,2066,1.02,206.3,3090,3201,1881,1814,4.4,12.6,376,2073,0.00,2.30,0.00,0.000,5126,0.000,0.044,3100,1795,1849,1881,1817,0,0,0,0,0,0,15.07,14.99,15.09
$STATE,2077,end climb,SURFACE_DEPTH_REACHED
$STATE,2078,begin surface coast
$FINISH,0.2,1.023439
$STATE,2104,end surface coast,CONTROL_FINISHED_OK
$STATE,2105,begin surface
$SM_CCo,2127,171.93,0.766,0,0,596,515.37
$SM_GC,0.97,13.65,0.00,171.93,0.045,0.000,0.766,124,1795,596,-8.17,-0.48,515.37,0,0,0,0,0,0,15.03,15.23,14.33
$IRIDIUM_FIX,-2955.02,3058.25,270319,050332
$TT8_MAMPS,0.020972,0.923517
$HUMID,41.37
$INTERNAL_PRESSURE,9.576
$TCM_TEMP,22.60
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,95.8,37.2
$SC_FREEKB,3842528
$24V_AH,13.96,68.071
$10V_AH,14.16,0.000
$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,30.025,50.550,228.250,171.925,0.000,23.572,45.596,153.478,4.750,0.000,17.539,861.334,316.207,519.493,907.788,95.557,0.000,891.366,0.000,588.348,0.000,19.255,0.000
$DEVICE_MAMPS,281.520,67.320,878.985,765.765,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2141.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.448,0.000,0.000,0.000
$MEM,340888
$DATA_FILE_SIZE,10140,383
$CAP_FILE_SIZE,74723,0
$CFSIZE,2097086464,2065498112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.112,51.51,1
$GPS,270319,063419,-3006.564,3059.407,7,0.9,43,-25.1,0.2,53.9,10,5.7