version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 156
start: 3 27 119 6 41 25
data:
$ID,574
$MISSION,3
$DIVE,156
$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,39
$R_STBD_OVSHOOT,56
$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
$GPS1,270319,063419,-3006.5642,3059.4067,7,0.9,43,-25.1,0.2,53.9,10,5.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-71.1
$GPS2,270319,064102,-3006.5654,3059.4241,7,0.9,18,-25.1,0.0,162.5,10,9.4
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3002.261,3110.865
$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,91.6,20000,-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,-92.5,85,1789,621,554,0.0,0.0,0,107,0.00,0.00,-84.38,0.000,16386,0.000,0.000,79,1790,2916,2889,2944,0,0,0,0,0,0,15.14,28.83,15.15
$GC,110,-0.88,-92.5,79,1790,2889,2945,3.8,-8.3,15,136,13.55,2.28,-2.90,0.000,18948,0.284,0.076,2467,406,3080,3069,3092,0,0,0,0,0,0,14.79,13.95,15.00
$GC,193,-0.88,-92.5,2466,406,3072,3089,29.0,-21.3,30,202,0.03,2.25,0.00,0.000,3078,0.530,0.034,2466,1808,3082,3072,3092,0,0,0,0,0,0,14.83,15.00,15.02
$GC,265,-0.88,-92.5,2466,1810,3073,3086,44.9,-21.1,43,271,0.00,0.00,0.00,0.000,2054,0.000,0.000,2467,1811,3080,3074,3086,0,0,0,0,0,0,15.20,15.21,15.20
$GC,332,-0.88,-92.5,2467,1811,3074,3086,58.3,-18.2,56,338,0.00,0.00,0.00,0.000,2054,0.000,0.000,2466,1811,3080,3074,3086,0,0,0,0,0,0,15.21,15.22,15.22
$GC,400,-0.88,-92.5,2466,1811,3075,3086,68.5,-15.0,69,407,0.00,2.30,0.00,0.000,2308,0.000,0.050,2458,3212,3080,3075,3086,0,0,0,0,0,0,15.23,15.00,15.23
$GC,661,-0.88,-92.5,2457,3212,3075,3086,107.9,-13.2,120,669,0.08,2.28,0.00,0.000,3078,0.267,0.043,2473,1814,3080,3075,3086,0,0,0,0,0,0,14.95,15.06,15.09
$GC,736,-0.88,-92.5,2472,1814,3076,3086,118.2,-13.0,133,743,0.00,2.35,0.00,0.000,2564,0.000,0.061,2473,402,3080,3076,3085,0,0,0,0,0,0,15.26,15.04,15.27
$GC,816,-0.88,-92.5,2473,402,3076,3085,129.7,-14.9,148,822,0.00,2.28,0.00,0.000,3078,0.000,0.034,2466,1818,3080,3076,3085,0,0,0,0,0,0,15.12,15.05,15.13
$GC,885,-0.88,-92.5,2466,1821,3080,3085,139.8,-14.2,161,892,0.00,2.28,0.00,0.000,2308,0.000,0.050,2456,3218,3080,3076,3085,0,0,0,0,0,0,15.26,15.03,15.26
$STATE,898,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,898,begin apogee
$GC,904,-0.17,0.0,2456,1796,3076,3085,141.8,-14.5,163,978,1.23,0.00,67.45,0.902,10246,0.167,0.000,2699,1796,2699,2716,2683,0,0,0,0,0,0,14.95,14.82,14.41
$STATE,981,end apogee,CONTROL_FINISHED_OK
$STATE,981,begin climb
$GC,983,0.88,92.5,2699,1796,2715,2682,146.0,0.0,176,1064,1.50,0.00,72.45,0.905,10758,0.077,0.000,3029,1795,2320,2343,2298,0,0,0,0,0,0,14.79,14.57,14.28
$GC,1126,0.89,98.5,3029,1796,2341,2294,138.0,9.5,201,1139,0.00,0.00,5.65,0.669,10246,0.000,0.000,3029,1796,2297,2321,2274,0,0,0,0,0,0,15.00,14.72,14.40
$GC,1202,0.89,98.5,3029,1796,2319,2271,129.9,11.1,215,1208,0.00,0.00,0.00,0.000,2054,0.000,0.000,3029,1796,2295,2319,2272,0,0,0,0,0,0,15.07,15.07,15.07
$GC,1269,0.89,98.5,3028,1796,2319,2271,122.1,10.8,228,1275,0.00,0.00,0.00,0.000,2054,0.000,0.000,3029,1796,2295,2319,2271,0,0,0,0,0,0,15.12,15.13,15.12
$GC,1337,0.89,98.5,3029,1796,2318,2270,115.0,10.3,241,1344,0.00,2.35,0.00,0.000,2564,0.000,0.063,3033,396,2293,2317,2270,0,0,0,0,0,0,15.15,14.94,15.15
$GC,1517,0.90,110.2,3033,396,2314,2268,98.1,9.1,276,1536,0.00,2.25,9.43,0.765,11270,0.000,0.034,3033,1808,2253,2278,2228,0,0,0,0,0,0,15.10,15.03,14.48
$GC,1599,0.98,173.1,3033,1808,2273,2227,92.1,5.4,291,1657,0.08,2.28,49.70,0.861,10500,0.192,0.047,3073,3201,1992,2024,1960,0,0,0,0,0,0,14.99,14.80,14.45
$GC,1810,0.98,173.1,3073,3201,2017,1956,67.5,13.3,331,1817,0.00,2.33,0.00,0.000,5126,0.000,0.047,3080,1803,1985,2016,1955,0,0,0,0,0,0,15.04,14.95,15.05
$GC,1880,0.98,173.1,3080,1802,2016,1953,57.7,14.4,344,1886,0.00,2.30,0.00,0.000,4356,0.000,0.048,3080,3204,1985,2016,1954,0,0,0,0,0,0,15.17,14.97,15.18
$GC,1969,0.98,173.1,3080,3203,2015,1953,45.8,11.3,361,1975,0.00,2.33,0.00,0.000,5126,0.000,0.047,3087,1793,1983,2015,1952,0,0,0,0,0,0,15.07,14.97,15.07
$GC,2038,0.98,177.7,3087,1792,2014,1951,39.4,9.6,374,2046,0.00,2.35,0.00,0.000,4612,0.000,0.066,3087,392,1982,2013,1951,0,0,0,0,0,0,15.21,14.95,15.21
$GC,2550,1.07,250.1,3087,392,2008,1949,3.7,4.8,475,2569,0.00,2.25,13.70,0.755,11266,0.000,0.032,3087,1810,1878,1912,1844,0,0,0,0,0,0,15.16,15.09,15.18
$STATE,2570,end climb,SURFACE_DEPTH_REACHED
$STATE,2570,begin surface coast
$FINISH,0.2,1.011037
$STATE,2651,end surface coast,CONTROL_FINISHED_OK
$STATE,2652,begin surface
$SM_CCo,2673,175.82,0.762,0,0,599,515.37
$SM_GC,0.95,13.65,0.00,175.82,0.047,0.000,0.762,128,1810,599,-8.17,-0.06,515.37,0,0,0,0,0,0,15.03,15.24,14.33
$IRIDIUM_FIX,-2955.02,3058.25,270319,055011
$TT8_MAMPS,0.021721,0.903294
$HUMID,42.08
$INTERNAL_PRESSURE,9.59553
$TCM_TEMP,23.00
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,115.2,35.7
$SC_FREEKB,3842016
$24V_AH,13.95,68.226
$10V_AH,14.12,0.000
$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,30.100,36.775,218.375,175.825,0.000,22.493,44.003,163.304,5.750,0.000,20.288,1119.416,441.244,508.572,1096.251,101.780,0.000,942.106,0.000,752.369,0.000,26.150,0.000
$DEVICE_MAMPS,530.145,75.735,904.995,761.940,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2690.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.557,0.000,0.000,0.000
$MEM,340928
$DATA_FILE_SIZE,13435,494
$CAP_FILE_SIZE,84125,0
$CFSIZE,2097086464,2065334272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.090,62.45,1
$GPS,270319,073001,-3006.448,3059.809,7,0.9,28,-25.1,0.6,233.9,9,5.5