version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 159
start: 3 27 119 9 47 54
data:
$ID,574
$MISSION,3
$DIVE,159
$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,323
$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,38
$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
$GPS1,270319,093903,-3006.0154,3101.1084,8,1.0,16,-25.1,0.6,53.0,8,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-67.7
$GPS2,270319,094731,-3006.0283,3101.2512,7,1.0,43,-25.1,0.7,116.6,8,4.0
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-2956.033,3105.970
$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,47.3,20000,-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,-92.5,62,1806,621,554,0.0,0.0,0,104,0.00,0.00,-81.00,0.000,16386,0.000,0.000,57,1806,2750,2726,2775,0,0,0,0,0,0,15.14,28.83,15.14
$GC,107,-0.88,-92.5,56,1806,2726,2775,3.0,-4.8,14,132,13.73,0.00,-6.35,0.000,18694,0.287,0.000,2468,1807,3079,3075,3083,0,0,0,0,0,0,14.78,13.95,15.00
$GC,195,-0.88,-92.5,2468,1806,3076,3082,24.4,-20.0,30,201,0.00,2.35,0.00,0.000,2564,0.000,0.059,2468,401,3079,3077,3082,0,0,0,0,0,0,15.17,14.91,15.18
$GC,269,-0.88,-92.5,2468,401,3076,3082,39.5,-21.8,44,276,0.05,2.28,0.00,0.000,3078,0.359,0.034,2469,1816,3079,3077,3082,0,0,0,0,0,0,14.81,15.00,14.98
$GC,339,-0.88,-92.5,2468,1818,3075,3082,50.3,-14.9,57,347,0.00,2.28,0.00,0.000,2308,0.000,0.051,2460,3211,3079,3077,3082,0,0,0,0,0,0,15.20,14.94,15.20
$GC,506,-0.88,-92.5,2459,3212,3077,3082,77.0,-15.6,89,514,0.05,2.30,0.00,0.000,3078,0.326,0.042,2470,1802,3080,3079,3082,0,0,0,0,0,0,14.90,15.03,15.07
$GC,577,-0.88,-92.5,2470,1802,3078,3082,88.7,-17.3,102,584,0.00,2.33,0.00,0.000,2308,0.000,0.050,2462,3215,3080,3078,3082,0,0,0,0,0,0,15.23,15.03,15.24
$GC,759,-0.88,-92.5,2461,3215,3077,3081,115.6,-12.2,137,767,0.00,2.30,0.00,0.000,3078,0.000,0.041,2462,1801,3079,3078,3081,0,0,0,0,0,0,15.07,14.99,15.08
$GC,831,-0.88,-92.5,2461,1802,3078,3080,124.7,-12.3,150,838,0.00,2.33,0.00,0.000,2564,0.000,0.060,2462,402,3082,3083,3081,0,0,0,0,0,0,15.26,15.01,15.26
$GC,916,-0.88,-92.5,2461,402,3078,3081,137.9,-16.3,166,924,0.08,2.28,0.00,0.000,3078,0.296,0.035,2470,1812,3079,3078,3081,0,0,0,0,0,0,14.93,15.07,15.09
$GC,987,-0.88,-92.5,2469,1815,3078,3081,148.4,-14.9,179,993,0.00,0.00,0.00,0.000,2054,0.000,0.000,2469,1815,3079,3078,3081,0,0,0,0,0,0,15.26,15.26,15.26
$GC,1058,-0.88,-92.5,2469,1815,3078,3081,158.0,-14.0,192,1064,0.00,2.28,0.00,0.000,2308,0.000,0.050,2462,3215,3079,3078,3081,0,0,0,0,0,0,15.25,15.04,15.26
$GC,1117,-0.88,-92.5,2463,3216,3084,3081,166.3,-14.9,203,1124,0.00,2.30,0.00,0.000,3078,0.000,0.044,2462,1804,3079,3077,3081,0,0,0,0,0,0,15.14,15.06,15.16
$GC,1186,-0.88,-92.5,2461,1804,3078,3081,176.4,-15.4,216,1192,0.00,2.33,0.00,0.000,2308,0.000,0.050,2453,3215,3079,3078,3081,0,0,0,0,0,0,15.26,15.02,15.26
$GC,1276,-0.88,-92.5,2453,3215,3078,3080,189.3,-13.6,233,1287,0.08,2.30,0.00,0.000,3078,0.264,0.044,2469,1806,3079,3078,3080,0,0,0,0,0,0,14.95,15.06,15.09
$GC,1351,-0.88,-92.5,2470,1807,3078,3080,198.9,-11.8,246,1358,0.00,2.33,0.00,0.000,2564,0.000,0.062,2470,410,3079,3078,3080,0,0,0,0,0,0,15.26,15.04,15.26
$GC,1395,-0.88,-92.5,2469,410,3078,3080,204.9,-14.3,254,1405,0.00,2.25,0.00,0.000,3078,0.000,0.035,2464,1818,3079,3078,3080,0,0,0,0,0,0,15.15,15.07,15.16
$GC,1470,-0.88,-92.5,2463,1819,3078,3080,214.8,-13.8,267,1477,0.00,2.28,0.00,0.000,2308,0.000,0.054,2463,3208,3079,3078,3080,0,0,0,0,0,0,15.28,15.02,15.28
$GC,1509,-0.88,-92.5,2463,3208,3078,3080,219.9,-12.4,274,1516,0.00,2.28,0.00,0.000,3078,0.000,0.043,2463,1811,3079,3078,3080,0,0,0,0,0,0,15.09,15.00,15.09
$GC,1578,-0.88,-92.5,2463,1811,3078,3080,229.5,-14.2,287,1584,0.00,0.00,0.00,0.000,2054,0.000,0.000,2464,1811,3079,3078,3080,0,0,0,0,0,0,15.28,15.28,15.28
$STATE,1625,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1625,begin apogee
$GC,1629,-0.17,0.0,2463,1810,3077,3079,236.1,-14.4,296,1704,1.17,0.00,68.43,1.034,10246,0.161,0.000,2698,1811,2699,2717,2682,0,0,0,0,0,0,14.96,14.79,14.35
$STATE,1706,end apogee,CONTROL_FINISHED_OK
$STATE,1706,begin climb
$GC,1708,0.88,92.5,2698,1811,2716,2682,239.3,0.0,309,1791,1.50,2.42,72.90,1.043,10756,0.072,0.061,3033,399,2320,2342,2299,0,0,0,0,0,0,14.77,14.52,14.17
$GC,1823,0.91,113.7,3033,399,2340,2297,234.0,8.4,328,1848,0.00,2.30,17.80,0.965,11270,0.000,0.034,3033,1809,2235,2260,2211,0,0,0,0,0,0,14.77,14.71,14.20
$GC,1909,0.91,113.7,3033,1809,2258,2207,224.2,11.9,344,1915,0.00,0.00,0.00,0.000,2054,0.000,0.000,3033,1809,2232,2258,2207,0,0,0,0,0,0,15.00,15.00,15.00
$GC,1977,0.91,113.7,3032,1809,2256,2205,215.7,12.8,357,1983,0.00,0.00,0.00,0.000,2054,0.000,0.000,3033,1809,2231,2256,2206,0,0,0,0,0,0,15.07,15.08,15.07
$GC,2044,0.91,113.7,3033,1809,2255,2205,207.1,12.1,370,2052,0.00,2.30,0.00,0.000,2308,0.000,0.049,3033,3198,2229,2254,2205,0,0,0,0,0,0,15.13,14.90,15.13
$GC,2084,0.91,113.7,3033,3198,2252,2205,202.1,13.0,377,2090,0.00,2.33,0.00,0.000,3078,0.000,0.047,3037,1796,2228,2252,2204,0,0,0,0,0,0,14.98,14.89,14.98
$GC,2153,0.91,113.7,3037,1796,2252,2204,193.2,13.0,390,2160,0.00,2.35,0.00,0.000,2564,0.000,0.068,3037,398,2228,2252,2204,0,0,0,0,0,0,15.16,14.89,15.16
$GC,2252,0.91,113.7,3037,398,2250,2204,180.4,12.7,409,2259,0.00,2.25,0.00,0.000,3078,0.000,0.034,3037,1799,2226,2249,2204,0,0,0,0,0,0,15.09,15.01,15.09
$GC,2322,0.91,113.7,3036,1799,2249,2201,173.0,10.2,422,2329,0.00,2.28,0.00,0.000,2308,0.000,0.050,3037,3194,2226,2249,2203,0,0,0,0,0,0,15.20,15.00,15.20
$GC,2412,0.91,113.7,3037,3194,2249,2203,163.8,10.1,439,2418,0.00,2.30,0.00,0.000,3078,0.000,0.046,3040,1795,2225,2249,2202,0,0,0,0,0,0,15.11,15.02,15.11
$GC,2481,0.91,113.7,3040,1795,2248,2202,156.4,11.6,452,2487,0.00,2.30,0.00,0.000,2308,0.000,0.048,3040,3197,2225,2248,2202,0,0,0,0,0,0,15.22,15.02,15.22
$GC,2561,0.91,113.7,3039,3196,2247,2202,145.4,14.7,467,2568,0.00,2.30,0.00,0.000,3078,0.000,0.046,3044,1799,2224,2248,2201,0,0,0,0,0,0,15.11,15.02,15.13
$GC,2630,0.91,113.7,3043,1799,2247,2199,136.4,10.4,480,2637,0.00,2.35,0.00,0.000,2564,0.000,0.067,3040,397,2224,2247,2201,0,0,0,0,0,0,15.22,15.00,15.23
$GC,2971,0.94,141.5,3043,398,2243,2200,98.5,8.0,547,3000,0.00,2.25,21.23,0.917,11270,0.000,0.034,3043,1803,2119,2147,2092,0,0,0,0,0,0,15.14,15.07,14.54
$GC,3062,0.95,147.3,3043,1803,2145,2090,91.4,9.6,564,3075,0.00,2.25,5.03,0.674,10500,0.000,0.049,3044,3193,2098,2125,2071,0,0,0,0,0,0,15.17,14.96,14.40
$GC,3263,0.95,147.3,3043,3192,2125,2071,70.9,11.0,603,3269,0.00,2.30,0.00,0.000,3078,0.000,0.049,3046,1800,2096,2123,2070,0,0,0,0,0,0,15.09,15.00,15.10
$GC,3331,0.95,147.3,3046,1800,2125,2070,63.1,11.1,616,3337,0.00,0.00,0.00,0.000,2054,0.000,0.000,3047,1800,2097,2125,2070,0,0,0,0,0,0,15.21,15.20,15.21
$GC,3399,0.95,147.3,3046,1800,2125,2069,55.8,10.0,629,3406,0.00,2.38,0.00,0.000,2564,0.000,0.069,3047,396,2096,2124,2068,0,0,0,0,0,0,15.21,14.96,15.22
$GC,3453,0.96,154.1,3046,397,2123,2069,50.7,9.5,639,3466,0.00,2.25,6.45,0.707,11270,0.000,0.035,3047,1800,2072,2100,2045,0,0,0,0,0,0,15.04,14.97,14.57
$GC,3528,0.98,175.2,3044,1800,2100,2043,44.3,8.5,653,3553,0.00,2.28,18.23,0.830,10500,0.000,0.047,3047,3194,1984,2015,1954,0,0,0,0,0,0,15.20,14.85,14.56
$GC,3846,1.03,213.7,3046,3194,2010,1951,17.3,7.2,715,3877,0.08,2.30,22.90,0.915,11270,0.203,0.047,3080,1798,1826,1859,1793,0,0,0,0,0,0,14.97,15.01,14.49
$GC,3939,1.05,232.3,3080,1798,1858,1789,9.6,8.6,732,3958,0.00,2.35,10.45,0.794,10756,0.000,0.067,3090,397,1748,1783,1714,0,0,0,0,0,0,15.14,14.89,14.50
$STATE,4013,end climb,SURFACE_DEPTH_REACHED
$STATE,4014,begin surface coast
$FINISH,0.1,1.023611
$STATE,4040,end surface coast,CONTROL_FINISHED_OK
$STATE,4040,begin surface
$SM_CCo,4064,165.55,0.782,0,0,598,515.37
$SM_GC,0.77,13.70,2.33,165.55,0.044,0.034,0.782,123,1808,598,-8.17,-1.70,515.37,0,0,0,0,0,0,14.97,14.98,14.28
$IRIDIUM_FIX,-2955.02,3100.39,270319,083731
$TT8_MAMPS,0.020972,0.889812
$HUMID,43.69
$INTERNAL_PRESSURE,9.53694
$TCM_TEMP,22.10
$XPDR_PINGS,16
$ALTIM_BOTTOM_PING,210.5,35.5
$SC_FREEKB,3840480
$24V_AH,13.95,68.760
$10V_AH,14.00,0.000
$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,30.425,82.900,243.400,165.550,0.000,23.670,42.052,225.928,12.500,0.000,44.450,1732.492,681.456,594.478,1593.505,147.909,0.000,1234.535,0.000,1142.504,0.000,54.254,0.000
$DEVICE_MAMPS,358.785,68.850,1042.695,781.830,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4092.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,34.073,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,20061,751
$CAP_FILE_SIZE,131371,0
$CFSIZE,2097086464,2064777216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.250,51.81,1
$GPS,270319,105926,-3005.326,3101.990,7,0.8,22,-25.1,1.0,332.4,9,8.8