version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 157
start: 3 27 119 7 39 25
data:
$ID,574
$MISSION,3
$DIVE,157
$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,0
$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,34
$R_STBD_OVSHOOT,60
$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
$GPS1,270319,073001,-3006.4475,3059.8086,7,0.9,28,-25.1,0.6,233.9,9,5.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-67.8
$GPS2,270319,073902,-3006.4658,3059.8506,7,0.8,14,-25.1,0.5,6.5,10,9.5
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3001.472,3110.909
$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,87.6,20000,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.88,-92.5,68,1814,624,555,0.0,0.0,0,108,0.00,0.00,-84.35,0.000,16386,0.000,0.000,63,1815,2902,2869,2936,0,0,0,0,0,0,15.14,28.83,15.15
$GC,110,-0.88,-92.5,63,1815,2870,2929,3.5,-6.5,15,136,13.62,2.38,-3.20,0.000,18948,0.282,0.081,2469,395,3079,3066,3092,0,0,0,0,0,0,14.79,14.26,15.01
$GC,178,-0.88,-92.5,2469,395,3069,3088,25.8,-24.4,27,185,0.00,2.25,0.00,0.000,3078,0.000,0.032,2460,1802,3078,3070,3087,0,0,0,0,0,0,15.07,15.00,15.08
$GC,247,-0.88,-92.5,2463,1805,3073,3086,40.3,-21.6,40,254,0.03,0.00,0.00,0.000,2054,0.528,0.000,2466,1805,3079,3072,3086,0,0,0,0,0,0,14.86,15.02,14.99
$GC,316,-0.88,-92.5,2465,1805,3071,3085,53.9,-19.4,53,325,0.00,0.00,0.00,0.000,2054,0.000,0.000,2466,1805,3078,3072,3085,0,0,0,0,0,0,15.21,15.22,15.21
$GC,388,-0.88,-92.5,2465,1805,3073,3085,65.2,-15.2,66,396,0.00,2.30,0.00,0.000,2308,0.000,0.050,2457,3215,3079,3073,3085,0,0,0,0,0,0,15.21,15.02,15.21
$GC,662,-0.88,-92.5,2456,3218,3073,3085,106.6,-14.8,119,670,0.08,2.30,0.00,0.000,3078,0.267,0.042,2471,1798,3078,3072,3085,0,0,0,0,0,0,14.95,15.06,15.09
$GC,734,-0.88,-92.5,2470,1798,3073,3085,116.1,-13.9,132,741,0.00,2.30,0.00,0.000,2564,0.000,0.060,2472,408,3078,3073,3084,0,0,0,0,0,0,15.26,14.99,15.26
$GC,833,-0.88,-92.5,2472,408,3073,3084,130.9,-13.9,151,840,0.00,2.25,0.00,0.000,3078,0.000,0.035,2471,1812,3078,3073,3084,0,0,0,0,0,0,15.16,15.07,15.16
$GC,902,-0.88,-92.5,2467,1815,3073,3084,139.4,-13.0,164,910,0.00,2.30,0.00,0.000,2308,0.000,0.052,2468,3223,3078,3073,3084,0,0,0,0,0,0,15.26,15.06,15.27
$GC,942,-0.88,-92.5,2467,3223,3073,3084,144.2,-12.0,171,951,0.00,2.30,0.00,0.000,3078,0.000,0.041,2468,1806,3078,3073,3084,0,0,0,0,0,0,15.16,15.07,15.16
$GC,1014,-0.88,-92.5,2467,1806,3073,3084,154.1,-13.9,184,1020,0.00,2.30,0.00,0.000,2308,0.000,0.049,2458,3215,3078,3073,3083,0,0,0,0,0,0,15.26,15.07,15.26
$GC,1052,-0.88,-92.5,2458,3216,3073,3083,159.8,-15.1,191,1060,0.05,2.28,0.00,0.000,3078,0.320,0.043,2469,1814,3078,3073,3083,0,0,0,0,0,0,14.94,15.07,15.10
$STATE,1120,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1120,begin apogee
$GC,1125,-0.17,0.0,2469,1813,3073,3083,170.1,-14.4,204,1199,1.15,0.00,67.25,0.939,10246,0.163,0.000,2701,1814,2699,2717,2682,0,0,0,0,0,0,14.95,14.81,14.37
$STATE,1201,end apogee,CONTROL_FINISHED_OK
$STATE,1202,begin climb
$GC,1203,0.88,92.5,2701,1813,2716,2684,173.4,0.0,217,1286,1.50,2.42,72.93,0.945,11012,0.070,0.060,3040,390,2321,2343,2299,0,0,0,0,0,0,14.80,14.57,14.21
$GC,1328,0.88,92.5,3039,390,2338,2297,165.4,11.3,238,1336,0.00,2.30,0.00,0.000,1030,0.000,0.032,3040,1809,2316,2337,2295,0,0,0,0,0,0,14.81,14.76,14.82
$GC,1398,0.88,92.5,3039,1809,2337,2293,157.9,10.8,251,1405,0.00,2.40,0.00,0.000,516,0.000,0.063,3040,390,2315,2337,2293,0,0,0,0,0,0,15.04,14.79,15.05
$GC,1437,0.88,92.5,3039,390,2336,2293,153.6,10.9,258,1444,0.00,2.28,0.00,0.000,1030,0.000,0.033,3040,1805,2312,2331,2293,0,0,0,0,0,0,14.98,14.92,15.00
$GC,1508,0.88,92.5,3040,1805,2335,2292,146.2,10.4,271,1514,0.00,2.25,0.00,0.000,260,0.000,0.047,3040,3194,2312,2333,2291,0,0,0,0,0,0,15.12,14.94,15.14
$GC,1621,0.88,92.5,3040,3194,2332,2291,134.1,10.8,293,1627,0.00,2.30,0.00,0.000,5126,0.000,0.044,3043,1792,2311,2332,2291,0,0,0,0,0,0,15.07,14.99,15.09
$GC,1690,0.88,92.5,3043,1792,2332,2290,126.1,11.0,306,1696,0.00,0.00,0.00,0.000,4102,0.000,0.000,3044,1792,2311,2332,2291,0,0,0,0,0,0,15.20,15.21,15.21
$GC,1759,0.88,92.5,3045,1792,2332,2291,118.9,10.2,319,1765,0.00,2.35,0.00,0.000,516,0.000,0.065,3044,391,2310,2330,2290,0,0,0,0,0,0,15.21,14.94,15.21
$GC,1838,0.90,106.3,3043,391,2331,2289,111.4,9.0,334,1858,0.00,2.25,10.45,0.795,9222,0.000,0.032,3044,1803,2266,2290,2242,0,0,0,0,0,0,15.04,15.00,14.51
$GC,1920,0.94,144.2,3043,1803,2289,2242,105.1,7.2,349,1958,0.00,2.42,30.70,0.869,10756,0.000,0.063,3047,398,2108,2135,2082,0,0,0,0,0,0,15.21,14.86,14.43
$GC,2030,0.94,144.2,3046,398,2134,2080,92.3,13.0,369,2037,0.00,2.28,0.00,0.000,3078,0.000,0.036,3047,1800,2106,2134,2079,0,0,0,0,0,0,15.00,14.93,15.01
$GC,2099,0.94,144.2,3046,1802,2133,2077,85.0,10.2,382,2106,0.00,2.28,0.00,0.000,2308,0.000,0.047,3045,3201,2106,2132,2081,0,0,0,0,0,0,15.16,14.92,15.16
$GC,2279,0.94,144.2,3046,3201,2130,2077,65.4,10.3,417,2286,0.00,2.30,0.00,0.000,3078,0.000,0.046,3051,1800,2103,2130,2076,0,0,0,0,0,0,15.08,14.99,15.09
$GC,2349,0.95,150.0,3050,1801,2130,2075,58.8,9.6,430,2357,0.00,0.00,4.50,0.586,10246,0.000,0.000,3050,1801,2088,2116,2060,0,0,0,0,0,0,15.22,15.02,14.46
$GC,2420,0.98,175.4,3050,1801,2116,2060,52.4,8.1,443,2450,0.00,2.30,21.70,0.817,10500,0.000,0.047,3050,3209,1982,2014,1951,0,0,0,0,0,0,15.22,14.94,14.57
$GC,2517,1.00,187.1,3050,3209,2011,1947,44.2,9.1,461,2536,0.00,2.33,10.15,0.730,11270,0.000,0.047,3053,1799,1934,1968,1901,0,0,0,0,0,0,15.06,14.97,14.53
$GC,2598,1.00,187.1,3053,1799,1966,1898,36.3,11.0,476,2604,0.00,2.38,0.00,0.000,2564,0.000,0.069,3053,394,1931,1965,1898,0,0,0,0,0,0,15.16,14.94,15.16
$STATE,3016,end climb,SURFACE_DEPTH_REACHED
$STATE,3016,begin surface coast
$FINISH,0.3,1.023618
$STATE,3061,end surface coast,CONTROL_FINISHED_OK
$STATE,3062,begin surface
$SM_CCo,3086,185.30,0.770,0,0,600,515.37
$SM_GC,0.93,13.48,2.33,185.30,0.048,0.031,0.770,121,1810,600,-8.18,-1.27,515.37,0,0,0,0,0,0,15.07,15.09,14.32
$IRIDIUM_FIX,-2952.53,3100.39,270319,073237
$TT8_MAMPS,0.021721,0.836633
$HUMID,42.47
$INTERNAL_PRESSURE,9.576
$TCM_TEMP,22.60
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,145.3,34.3
$SC_FREEKB,3841504
$24V_AH,14.21,68.395
$10V_AH,13.99,0.000
$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,29.900,60.100,217.675,185.300,0.000,49.068,63.590,190.535,8.250,0.000,15.363,1300.973,567.836,549.766,1285.743,121.731,0.000,1050.212,0.000,864.672,0.000,34.445,0.000
$DEVICE_MAMPS,527.850,81.090,944.775,770.355,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3108.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,37.047,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,13412,568
$CAP_FILE_SIZE,101472,0
$CFSIZE,2097086464,2065137664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.116,68.77,1
$GPS,270319,083449,-3006.281,3100.367,7,0.9,14,-25.1,0.5,326.6,9,9.7