version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 158
start: 3 27 119 8 42 33
data:
$ID,574
$MISSION,3
$DIVE,158
$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,37
$R_STBD_OVSHOOT,39
$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
$GPS1,270319,083449,-3006.2810,3100.3674,7,0.9,14,-25.1,0.5,326.6,9,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-71.1
$GPS2,270319,084211,-3006.2964,3100.4404,7,1.1,17,-25.1,0.4,71.8,8,9.9
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3002.386,3112.069
$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,93.9,20000,-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,-92.5,71,1818,620,556,0.0,0.0,0,106,0.00,0.00,-82.88,0.000,16386,0.000,0.000,67,1819,2852,2822,2882,0,0,0,0,0,0,15.13,28.83,15.14
$GC,108,-0.88,-92.5,67,1819,2822,2882,3.5,-6.4,15,135,13.65,2.38,-4.12,0.000,18948,0.286,0.080,2467,399,3078,3068,3089,0,0,0,0,0,0,14.76,14.23,14.96
$GC,246,-0.88,-92.5,2466,399,3072,3087,38.6,-18.6,41,253,0.05,2.30,0.00,0.000,3078,0.366,0.034,2468,1825,3079,3072,3086,0,0,0,0,0,0,14.85,15.01,15.03
$GC,315,-0.88,-92.5,2468,1827,3073,3085,52.0,-16.9,54,322,0.00,2.28,0.00,0.000,2308,0.000,0.050,2460,3221,3079,3074,3085,0,0,0,0,0,0,15.20,14.95,15.21
$GC,457,-0.88,-92.5,2460,3221,3074,3085,74.7,-15.3,81,465,0.05,2.30,0.00,0.000,3078,0.324,0.042,2470,1808,3079,3074,3085,0,0,0,0,0,0,14.90,15.03,15.07
$GC,529,-0.88,-92.5,2470,1808,3074,3085,85.5,-14.3,94,536,0.00,2.33,0.00,0.000,2308,0.000,0.050,2463,3221,3080,3075,3085,0,0,0,0,0,0,15.23,14.97,15.23
$GC,661,-0.88,-92.5,2462,3222,3075,3084,103.9,-14.0,119,667,0.00,2.30,0.00,0.000,3078,0.000,0.043,2462,1812,3080,3075,3085,0,0,0,0,0,0,15.14,15.04,15.15
$GC,731,-0.88,-92.5,2462,1811,3075,3085,114.4,-15.5,132,738,0.00,2.35,0.00,0.000,2564,0.000,0.062,2462,400,3079,3075,3084,0,0,0,0,0,0,15.26,15.02,15.26
$GC,828,-0.88,-92.5,2462,401,3076,3084,129.5,-14.2,150,837,0.08,2.28,0.00,0.000,3078,0.291,0.036,2470,1819,3080,3076,3084,0,0,0,0,0,0,14.94,15.06,15.09
$GC,900,-0.88,-92.5,2470,1822,3076,3084,139.4,-13.8,163,907,0.00,2.35,0.00,0.000,2564,0.000,0.058,2471,406,3080,3076,3084,0,0,0,0,0,0,15.26,15.02,15.26
$GC,960,-0.88,-92.5,2470,406,3076,3084,148.1,-14.6,174,968,0.00,2.28,0.00,0.000,3078,0.000,0.035,2468,1815,3080,3076,3084,0,0,0,0,0,0,15.12,15.04,15.13
$GC,1031,-0.88,-92.5,2467,1818,3076,3084,157.3,-12.3,187,1038,0.00,2.28,0.00,0.000,2308,0.000,0.051,2457,3214,3079,3076,3083,0,0,0,0,0,0,15.26,15.06,15.27
$GC,1105,-0.88,-92.5,2457,3214,3076,3083,167.4,-14.0,201,1113,0.08,2.30,0.00,0.000,3078,0.262,0.043,2473,1802,3078,3076,3081,0,0,0,0,0,0,14.93,15.04,15.07
$GC,1177,-0.88,-92.5,2472,1802,3076,3083,178.1,-16.0,214,1185,0.00,2.33,0.00,0.000,2564,0.000,0.060,2473,401,3079,3076,3082,0,0,0,0,0,0,15.27,15.04,15.27
$GC,1204,-0.88,-92.5,2470,401,3076,3082,182.0,-15.0,218,1212,0.00,2.28,0.00,0.000,3078,0.000,0.036,2469,1815,3079,3077,3082,0,0,0,0,0,0,15.09,15.01,15.09
$GC,1275,-0.88,-92.5,2468,1817,3076,3082,192.1,-14.1,231,1282,0.00,2.30,0.00,0.000,2308,0.000,0.052,2459,3223,3079,3076,3082,0,0,0,0,0,0,15.26,15.03,15.27
$GC,1303,-0.88,-92.5,2459,3224,3076,3082,196.1,-13.5,236,1310,0.00,2.30,0.00,0.000,3078,0.000,0.043,2459,1809,3079,3077,3082,0,0,0,0,0,0,15.15,15.07,15.16
$STATE,1361,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1361,begin apogee
$GC,1365,-0.17,0.0,2459,1809,3076,3081,204.3,-14.9,247,1440,1.20,0.00,67.80,0.991,10246,0.160,0.000,2699,1809,2699,2716,2683,0,0,0,0,0,0,14.95,14.80,14.32
$STATE,1442,end apogee,CONTROL_FINISHED_OK
$STATE,1443,begin climb
$GC,1444,0.88,92.5,2698,1809,2716,2683,207.7,0.0,260,1528,1.50,2.42,73.12,0.998,10756,0.074,0.062,3033,392,2321,2343,2299,0,0,0,0,0,0,14.78,14.54,14.18
$GC,1535,0.95,151.9,3032,392,2341,2298,205.2,5.7,274,1589,0.05,2.33,47.12,0.972,11270,0.259,0.032,3059,1813,2078,2108,2049,0,0,0,0,0,0,14.63,14.71,14.19
$GC,1652,0.95,151.9,3058,1813,2104,2044,188.3,16.9,295,1659,0.00,2.30,0.00,0.000,2308,0.000,0.047,3059,3200,2073,2103,2044,0,0,0,0,0,0,14.97,14.78,14.97
$GC,1671,0.95,151.9,3058,3201,2101,2044,185.1,17.1,298,1678,0.00,2.35,0.00,0.000,5126,0.000,0.047,3068,1795,2071,2100,2043,0,0,0,0,0,0,14.87,14.78,14.88
$GC,1741,0.95,151.9,3068,1795,2100,2041,173.8,16.5,311,1747,0.00,0.00,0.00,0.000,4102,0.000,0.000,3068,1795,2071,2100,2043,0,0,0,0,0,0,15.07,15.07,15.07
$GC,1808,0.95,151.9,3067,1795,2100,2043,162.5,17.5,324,1815,0.00,2.33,0.00,0.000,4356,0.000,0.049,3068,3203,2070,2099,2042,0,0,0,0,0,0,15.11,14.92,15.11
$GC,1888,0.95,151.9,3068,3204,2097,2042,148.0,20.0,339,1895,0.00,2.33,0.00,0.000,5126,0.000,0.047,3071,1799,2067,2098,2036,0,0,0,0,0,0,15.04,14.95,15.05
$GC,1957,0.95,151.9,3071,1799,2097,2041,137.3,15.8,352,1964,0.00,2.38,0.00,0.000,4612,0.000,0.067,3071,398,2068,2097,2040,0,0,0,0,0,0,15.18,14.96,15.18
$GC,2031,0.95,151.9,3070,398,2094,2040,125.7,16.7,366,2038,0.00,2.25,0.00,0.000,5126,0.000,0.034,3071,1797,2067,2094,2040,0,0,0,0,0,0,15.06,14.99,15.07
$GC,2102,0.95,151.9,3070,1799,2094,2040,114.4,15.6,379,2108,0.00,2.35,0.00,0.000,4612,0.000,0.062,3081,395,2067,2094,2040,0,0,0,0,0,0,15.21,14.99,15.21
$GC,2190,0.95,151.9,3080,395,2093,2039,100.2,16.5,396,2197,0.05,2.25,0.00,0.000,5126,0.353,0.034,3071,1803,2066,2093,2039,0,0,0,0,0,0,14.83,14.99,15.02
$GC,2260,0.95,151.9,3070,1806,2093,2038,89.9,13.3,409,2267,0.00,2.25,0.00,0.000,4356,0.000,0.047,3070,3196,2065,2093,2038,0,0,0,0,0,0,15.22,14.99,15.23
$GC,2495,0.95,151.9,3070,3197,2087,2038,60.2,12.4,455,2502,0.03,2.30,0.00,0.000,5126,0.540,0.046,3070,1792,2063,2092,2035,0,0,0,0,0,0,14.82,14.99,15.03
$GC,2565,0.95,151.9,3070,1792,2092,2037,52.9,10.4,468,2571,0.00,2.30,0.00,0.000,4356,0.000,0.048,3069,3199,2064,2092,2036,0,0,0,0,0,0,15.24,14.98,15.24
$GC,2750,1.01,202.2,3068,3199,2091,2036,36.8,6.3,504,2792,0.00,2.30,37.03,0.838,11270,0.000,0.045,3078,1795,1875,1908,1843,0,0,0,0,0,0,15.07,14.99,14.43
$GC,2855,1.01,202.2,3077,1795,1904,1837,26.4,12.7,523,2861,0.00,2.38,0.00,0.000,2564,0.000,0.069,3077,397,1870,1903,1837,0,0,0,0,0,0,15.14,14.87,15.14
$GC,3054,1.03,214.3,3077,396,1897,1835,6.9,9.1,562,3067,0.00,2.25,5.95,0.693,11270,0.000,0.034,3078,1801,1823,1858,1788,0,0,0,0,0,0,15.10,15.03,14.51
$STATE,3103,end climb,SURFACE_DEPTH_REACHED
$STATE,3103,begin surface coast
$FINISH,0.2,1.023437
$STATE,3139,end surface coast,CONTROL_FINISHED_OK
$STATE,3140,begin surface
$SM_CCo,3161,173.25,0.776,0,0,598,515.37
$SM_GC,0.90,13.62,0.00,173.25,0.048,0.000,0.776,123,1802,598,-8.17,-0.28,515.37,0,0,0,0,0,0,15.02,15.22,14.31
$IRIDIUM_FIX,-2955.02,3100.39,270319,073447
$TT8_MAMPS,0.021721,0.882322
$HUMID,42.67
$INTERNAL_PRESSURE,9.5467
$TCM_TEMP,22.10
$XPDR_PINGS,13
$ALTIM_BOTTOM_PING,181.1,33.0
$SC_FREEKB,3840992
$24V_AH,14.18,68.568
$10V_AH,13.86,0.000
$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,30.350,73.950,231.025,173.250,0.000,22.898,16.102,214.265,10.250,0.000,18.330,1328.512,510.099,560.040,1261.443,125.621,0.000,1076.212,0.000,882.051,0.000,46.687,0.000
$DEVICE_MAMPS,540.090,79.560,998.325,776.475,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3190.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.353,0.000,0.000,0.000
$MEM,340928
$DATA_FILE_SIZE,13428,578
$CAP_FILE_SIZE,106783,0
$CFSIZE,2097086464,2064973824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.173,59.25,1
$GPS,270319,093903,-3006.015,3101.108,8,1.0,16,-25.1,0.6,53.0,8,9.1