version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 199
start: 3 30 119 17 19 48
data:
$ID,574
$MISSION,3
$DIVE,199
$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,270
$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,37
$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
$GPS1,300319,171131,-3000.8101,3103.9038,8,0.9,18,-25.0,0.0,112.7,9,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-72.0
$GPS2,300319,171925,-3000.8113,3103.9360,7,0.9,16,-25.0,0.0,98.1,9,9.7
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-2950.189,3101.694
$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,14.6,20000,-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,-92.5,58,1803,620,557,0.0,0.0,0,106,0.00,0.00,-82.30,0.000,16386,0.000,0.000,54,1804,2794,2768,2820,0,0,0,0,0,0,15.11,28.83,15.12
$GC,109,-0.88,-92.5,54,1804,2768,2820,3.0,-4.0,15,134,13.80,0.00,-5.28,0.000,18438,0.286,0.000,2467,1804,3079,3069,3089,0,0,0,0,0,0,14.73,14.25,14.95
$GC,196,-0.88,-92.5,2466,1804,3072,3086,26.6,-18.7,31,202,0.00,0.00,0.00,0.000,2054,0.000,0.000,2467,1804,3079,3072,3087,0,0,0,0,0,0,15.16,15.16,15.16
$GC,264,-0.88,-92.5,2466,1804,3073,3086,40.7,-19.0,44,270,0.00,2.35,0.00,0.000,2564,0.000,0.061,2467,404,3079,3073,3086,0,0,0,0,0,0,15.18,14.91,15.18
$GC,282,-0.88,-92.5,2467,403,3073,3086,44.0,-18.8,47,289,0.05,2.30,0.00,0.000,3078,0.355,0.034,2469,1828,3079,3073,3086,0,0,0,0,0,0,14.83,15.00,15.02
$GC,352,-0.88,-92.5,2468,1831,3073,3085,55.0,-13.9,60,359,0.00,2.28,0.00,0.000,2308,0.000,0.050,2460,3217,3078,3073,3084,0,0,0,0,0,0,15.21,14.99,15.19
$GC,407,-0.88,-92.5,2459,3217,3073,3085,65.9,-22.3,70,415,0.05,2.30,0.00,0.000,3078,0.327,0.046,2469,1817,3079,3073,3085,0,0,0,0,0,0,14.87,15.00,15.04
$GC,479,-0.88,-92.5,2470,1817,3074,3085,80.5,-17.0,83,485,0.00,2.38,0.00,0.000,2564,0.000,0.062,2470,395,3079,3074,3084,0,0,0,0,0,0,15.20,15.00,15.20
$GC,518,-0.88,-92.5,2470,395,3075,3089,86.6,-15.5,90,524,0.00,2.30,0.00,0.000,3078,0.000,0.036,2462,1820,3079,3074,3084,0,0,0,0,0,0,15.11,15.03,15.11
$GC,589,-0.88,-92.5,2462,1822,3074,3084,97.2,-16.9,103,595,0.00,2.28,0.00,0.000,2308,0.000,0.050,2453,3215,3079,3075,3084,0,0,0,0,0,0,15.22,14.96,15.22
$GC,618,-0.88,-92.5,2453,3215,3075,3084,101.7,-16.0,108,625,0.10,2.30,0.00,0.000,3078,0.236,0.043,2473,1803,3079,3076,3083,0,0,0,0,0,0,14.92,15.02,15.07
$GC,688,-0.88,-92.5,2472,1803,3075,3083,111.3,-13.2,121,695,0.00,0.00,0.00,0.000,2054,0.000,0.000,2473,1803,3079,3075,3083,0,0,0,0,0,0,15.23,15.23,15.23
$GC,759,-0.88,-92.5,2473,1803,3076,3084,119.8,-12.8,134,767,0.00,0.00,0.00,0.000,2054,0.000,0.000,2473,1803,3079,3075,3084,0,0,0,0,0,0,15.23,15.24,15.23
$GC,830,-0.88,-92.5,2473,1800,3075,3083,129.6,-15.3,147,838,0.00,2.33,0.00,0.000,2308,0.000,0.051,2463,3215,3079,3075,3084,0,0,0,0,0,0,15.24,15.00,15.24
$GC,967,-0.88,-92.5,2464,3215,3075,3083,149.7,-10.7,173,975,0.00,2.33,0.00,0.000,3078,0.000,0.057,2464,1821,3079,3076,3083,0,0,0,0,0,0,15.13,15.03,15.14
$GC,1038,-0.88,-92.5,2464,1818,3076,3083,161.0,-19.4,186,1045,0.00,2.33,0.00,0.000,2308,0.000,0.057,2464,3219,3079,3076,3082,0,0,0,0,0,0,15.23,15.03,15.24
$STATE,1056,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1056,begin apogee
$GC,1063,-0.17,0.0,2464,1793,3076,3082,163.2,-11.5,189,1138,1.17,0.00,67.22,0.918,10246,0.176,0.000,2694,1793,2700,2716,2684,0,0,0,0,0,0,14.92,14.66,14.30
$STATE,1141,end apogee,CONTROL_FINISHED_OK
$STATE,1141,begin climb
$GC,1143,0.88,92.5,2694,1792,2716,2684,165.9,0.0,202,1220,1.52,0.00,72.25,0.926,10758,0.084,0.000,3026,1792,2322,2346,2299,0,0,0,0,0,0,14.78,14.64,14.19
$GC,1284,0.95,153.2,3026,1792,2342,2295,161.8,5.6,226,1338,0.08,2.42,47.72,0.905,10500,0.179,0.046,3070,3212,2074,2104,2045,0,0,0,0,0,0,14.81,14.66,14.21
$GC,1400,0.95,153.2,3069,3212,2100,2042,148.1,14.7,247,1407,0.00,2.35,0.00,0.000,5126,0.000,0.041,3074,1794,2072,2104,2041,0,0,0,0,0,0,14.88,14.81,14.90
$GC,1470,0.95,153.2,3073,1791,2099,2040,135.7,19.3,260,1476,0.00,2.38,0.00,0.000,4612,0.000,0.065,3074,392,2071,2102,2040,0,0,0,0,0,0,15.06,14.85,15.07
$GC,1518,0.95,153.2,3074,392,2095,2040,129.4,12.7,269,1526,0.00,2.28,0.00,0.000,5126,0.000,0.033,3074,1809,2067,2095,2040,0,0,0,0,0,0,14.94,14.87,14.95
$GC,1590,0.95,153.2,3074,1810,2095,2038,119.4,17.1,282,1596,0.00,2.28,0.00,0.000,4356,0.000,0.047,3074,3205,2066,2095,2038,0,0,0,0,0,0,15.14,14.93,15.14
$GC,1738,0.95,153.2,3073,3205,2094,2038,96.7,16.9,311,1745,0.00,2.33,0.00,0.000,5126,0.000,0.048,3077,1801,2065,2094,2037,0,0,0,0,0,0,15.01,14.92,15.02
$GC,1808,0.95,153.2,3077,1800,2093,2037,85.9,14.5,324,1815,0.00,2.30,0.00,0.000,4356,0.000,0.047,3077,3200,2065,2094,2037,0,0,0,0,0,0,15.20,14.94,15.20
$GC,1863,0.95,153.2,3077,3200,2093,2037,77.2,16.3,334,1869,0.00,2.33,0.00,0.000,5126,0.000,0.048,3077,1792,2065,2093,2037,0,0,0,0,0,0,15.04,14.95,15.05
$GC,1932,0.95,153.2,3077,1789,2093,2037,66.6,15.7,347,1938,0.00,2.35,0.00,0.000,4612,0.000,0.069,3077,392,2065,2093,2037,0,0,0,0,0,0,15.21,14.99,15.21
$GC,2012,1.01,197.0,3077,392,2090,2036,58.3,6.8,362,2053,0.00,2.25,33.30,0.807,11270,0.000,0.033,3077,1804,1896,1929,1863,0,0,0,0,0,0,15.11,15.04,14.52
$GC,2116,1.01,197.0,3076,1803,1925,1859,49.3,11.2,381,2123,0.00,0.00,0.00,0.000,2054,0.000,0.000,3077,1803,1892,1925,1859,0,0,0,0,0,0,15.13,15.14,15.13
$GC,2185,1.01,197.0,3077,1803,1924,1858,40.1,13.6,394,2191,0.00,0.00,0.00,0.000,2054,0.000,0.000,3077,1803,1891,1923,1859,0,0,0,0,0,0,15.16,15.16,15.16
$GC,2252,1.01,197.0,3077,1803,1923,1858,29.6,15.9,407,2258,0.00,0.00,0.00,0.000,2054,0.000,0.000,3077,1803,1890,1923,1858,0,0,0,0,0,0,15.17,15.18,15.18
$GC,2321,1.01,197.0,3077,1804,1922,1857,22.1,10.2,420,2327,0.00,2.38,0.00,0.000,2564,0.000,0.063,3084,398,1889,1922,1857,0,0,0,0,0,0,15.20,14.97,15.20
$STATE,2504,end climb,SURFACE_DEPTH_REACHED
$STATE,2504,begin surface coast
$FINISH,0.8,1.023511
$STATE,2525,end surface coast,CONTROL_FINISHED_OK
$STATE,2525,begin surface
$SM_CCo,2549,178.98,0.758,0,0,597,515.37
$SM_GC,0.89,13.60,2.30,178.98,0.044,0.035,0.758,126,1793,597,-8.17,-1.84,515.37,0,0,0,0,0,0,15.03,15.04,14.32
$IRIDIUM_FIX,-2950.05,3104.65,300319,161233
$TT8_MAMPS,0.020972,0.913031
$HUMID,41.65
$INTERNAL_PRESSURE,9.56623
$TCM_TEMP,22.40
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,135.4,37.1
$SC_FREEKB,3819776
$24V_AH,14.19,78.187
$10V_AH,13.98,0.000
$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,30.375,55.750,220.500,178.975,0.000,25.295,19.230,226.777,9.000,0.000,17.734,1049.939,391.585,544.903,1096.793,128.968,0.000,980.773,0.000,700.007,0.000,31.413,0.000
$DEVICE_MAMPS,354.960,68.850,925.650,758.115,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2575.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.434,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,10121,460
$CAP_FILE_SIZE,89859,0
$CFSIZE,2097086464,2057011200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.032,105.63,1
$GPS,300319,180631,-3000.546,3103.957,7,1.0,35,-25.0,0.6,112.2,9,5.1