version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 5
start: 3 15 119 8 56 29
data:
$ID,574
$MISSION,3
$DIVE,5
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$D_ABORT,1020
$D_NO_BLEED,29
$D_BOOST,0
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,100
$T_MISSION,115
$T_ABORT,130
$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,80
$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,-1
$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,558.35083
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,259
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$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,2785
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,28
$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,2000
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2917
$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,10
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$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
$GPS1,150319,085222,-2757.5498,3238.6375,8,0.8,15,-22.7,1.4,180.6,10,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-70.9
$GPS2,150319,085608,-2757.6897,3238.6250,7,0.8,13,-22.7,1.9,191.6,10,9.5
$SPEED_LIMITS,0.173,0.193
$TGT_NAME,WP1
$TGT_LATLONG,-3352.300,1817.030
$TGT_RADIUS,100.000
$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,266.3,1478709,-25.1,-10.000,-27.39,1197
$D_GRID,300
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.99,-77.9,103,1990,677,586,0.0,0.0,0,102,0.00,0.00,-80.90,0.000,16386,0.000,0.000,100,1991,2909,2880,2938,0,0,0,0,0,0,15.35,28.83,15.36
$GC,104,-0.99,-77.9,100,1991,2880,2938,3.5,-7.6,14,131,13.02,2.28,-5.55,0.000,18948,0.276,0.073,2458,570,3232,3226,3239,0,0,0,0,0,0,14.95,14.45,15.14
$GC,175,-0.99,-77.9,2458,572,3228,3237,29.0,-27.0,26,182,0.00,2.30,0.00,0.000,3078,0.000,0.041,2454,2008,3233,3231,3235,0,0,0,0,0,0,15.19,15.09,15.19
$GC,243,-0.99,-77.9,2453,2010,3230,3234,44.9,-24.0,39,250,0.00,2.28,0.00,0.000,2308,0.000,0.059,2453,3412,3232,3230,3234,0,0,0,0,0,0,15.33,15.11,15.33
$GC,303,-0.99,-77.9,2453,3413,3230,3234,56.4,-16.5,50,309,0.00,2.28,0.00,0.000,3078,0.000,0.045,2453,1989,3232,3231,3234,0,0,0,0,0,0,15.23,15.14,15.24
$GC,371,-0.99,-77.9,2456,1989,3231,3234,68.9,-17.0,63,378,0.00,2.33,0.00,0.000,2308,0.000,0.057,2454,3408,3232,3231,3234,0,0,0,0,0,0,15.35,15.12,15.35
$GC,430,-0.99,-77.9,2453,3408,3230,3233,77.9,-14.8,74,437,0.00,2.25,0.00,0.000,3078,0.000,0.044,2453,2001,3231,3231,3231,0,0,0,0,0,0,15.21,15.12,15.21
$GC,498,-0.99,-77.9,2453,2000,3231,3233,89.3,-17.9,87,506,0.00,2.30,0.00,0.000,2308,0.000,0.057,2454,3411,3232,3231,3233,0,0,0,0,0,0,15.35,15.13,15.35
$GC,527,-0.99,-77.9,2454,3411,3231,3233,94.4,-17.4,92,535,0.00,2.25,0.00,0.000,3078,0.000,0.045,2453,2001,3231,3230,3233,0,0,0,0,0,0,15.23,15.15,15.24
$GC,596,-0.99,-77.9,2453,2001,3230,3232,104.6,-14.0,105,604,0.00,2.30,0.00,0.000,2308,0.000,0.057,2451,3411,3231,3231,3232,0,0,0,0,0,0,15.35,15.13,15.35
$GC,620,-0.99,-77.9,2451,3411,3230,3232,108.1,-13.8,109,628,0.00,2.28,0.00,0.000,3078,0.000,0.044,2450,1993,3231,3230,3232,0,0,0,0,0,0,15.21,15.12,15.21
$GC,691,-0.99,-77.9,2451,1993,3231,3231,117.5,-14.9,122,696,0.00,0.00,0.00,0.000,2054,0.000,0.000,2451,1993,3231,3231,3232,0,0,0,0,0,0,15.35,15.35,15.35
$GC,758,-0.99,-77.9,2451,1998,3230,3231,127.2,-14.0,135,764,0.00,2.28,0.00,0.000,2564,0.000,0.063,2451,597,3231,3231,3231,0,0,0,0,0,0,15.35,15.14,15.35
$GC,832,-0.99,-77.9,2451,598,3230,3231,139.2,-16.4,149,840,0.05,2.25,0.00,0.000,3078,0.366,0.041,2460,2004,3230,3231,3230,0,0,0,0,0,0,14.99,15.16,15.19
$GC,902,-0.99,-77.9,2460,2007,3231,3230,149.6,-14.6,162,909,0.00,2.30,0.00,0.000,2308,0.000,0.058,2454,3414,3230,3231,3230,0,0,0,0,0,0,15.35,15.13,15.36
$GC,976,-0.99,-77.9,2453,3413,3230,3230,159.8,-12.7,176,984,0.00,2.30,0.00,0.000,3078,0.000,0.047,2454,1993,3229,3231,3228,0,0,0,0,0,0,15.24,15.15,15.25
$GC,1045,-0.99,-77.9,2453,1992,3231,3229,169.1,-14.8,189,1052,0.00,0.00,0.00,0.000,2054,0.000,0.000,2454,1992,3230,3231,3229,0,0,0,0,0,0,15.35,15.36,15.36
$GC,1115,-0.99,-77.9,2453,1992,3229,3228,180.8,-16.8,202,1121,0.00,0.00,0.00,0.000,2054,0.000,0.000,2454,1992,3230,3232,3228,0,0,0,0,0,0,15.35,15.36,15.36
$GC,1184,-0.99,-77.9,2453,1992,3231,3227,193.1,-16.8,215,1191,0.00,2.33,0.00,0.000,2308,0.000,0.060,2453,3407,3228,3230,3227,0,0,0,0,0,0,15.35,15.08,15.35
$GC,1248,-0.99,-77.9,2453,3407,3230,3227,202.9,-14.4,227,1254,0.00,2.28,0.00,0.000,3078,0.000,0.046,2453,1989,3228,3230,3227,0,0,0,0,0,0,15.24,15.16,15.25
$GC,1316,-0.99,-77.9,2453,1989,3230,3226,214.5,-17.4,240,1324,0.00,2.35,0.00,0.000,2308,0.000,0.059,2453,3413,3228,3230,3226,0,0,0,0,0,0,15.37,15.13,15.38
$GC,1356,-0.99,-77.9,2453,3413,3230,3226,220.7,-16.3,247,1363,0.00,2.28,0.00,0.000,3078,0.000,0.047,2454,1996,3228,3230,3226,0,0,0,0,0,0,15.24,15.16,15.26
$GC,1427,-0.99,-77.9,2453,1996,3230,3225,232.0,-17.1,260,1433,0.00,2.33,0.00,0.000,2308,0.000,0.060,2453,3411,3227,3230,3225,0,0,0,0,0,0,15.37,15.14,15.38
$GC,1485,-0.99,-77.9,2453,3411,3229,3225,240.2,-13.9,271,1492,0.00,2.28,0.00,0.000,3078,0.000,0.047,2453,1997,3226,3229,3224,0,0,0,0,0,0,15.25,15.16,15.26
$GC,1555,-0.99,-77.9,2453,1996,3229,3224,249.9,-15.1,284,1562,0.00,2.33,0.00,0.000,2308,0.000,0.061,2450,3410,3226,3228,3224,0,0,0,0,0,0,15.37,15.14,15.37
$GC,1583,-0.99,-77.9,2450,3410,3228,3224,253.8,-13.1,289,1591,0.05,2.28,0.00,0.000,3078,0.336,0.050,2461,2001,3225,3227,3224,0,0,0,0,0,0,15.03,15.16,15.20
$GC,1654,-0.99,-77.9,2461,2001,3227,3223,263.2,-12.7,302,1660,0.00,0.00,0.00,0.000,2054,0.000,0.000,2461,2001,3224,3227,3222,0,0,0,0,0,0,15.36,15.37,15.37
$GC,1722,-0.99,-77.9,2461,1999,3229,3221,264.5,-0.1,315,1728,0.00,2.33,0.00,0.000,2308,0.000,0.063,2462,3409,3225,3229,3221,0,0,0,0,0,0,15.37,15.14,15.38
$STATE,1864,end dive,NO_VERTICAL_VELOCITY
$STATE,1864,begin apogee
$GC,1869,-0.18,0.0,2462,1992,3227,3220,264.4,0.0,343,1932,1.20,0.00,54.92,1.223,10246,0.091,0.000,2728,1991,2916,2931,2901,0,0,0,0,0,0,15.12,14.85,14.32
$STATE,1934,end apogee,CONTROL_FINISHED_OK
$STATE,1934,begin climb
$GC,1935,0.99,77.9,2728,1991,2931,2900,264.4,0.0,354,2005,1.65,2.42,61.03,1.244,10756,0.084,0.065,3091,591,2596,2612,2580,0,0,0,0,0,0,14.85,14.67,14.15
$GC,2027,1.14,202.5,3091,592,2611,2577,263.6,-0.7,369,2133,0.20,2.33,96.12,1.231,11270,0.106,0.041,3149,2010,2089,2113,2066,0,0,0,0,0,0,14.80,14.81,14.09
$GC,2194,1.14,202.5,3149,2010,2106,2060,253.2,18.0,399,2201,0.00,2.30,0.00,0.000,260,0.000,0.057,3149,3400,2082,2105,2060,0,0,0,0,0,0,15.01,14.83,15.02
$GC,2283,1.14,202.5,3149,3400,2099,2060,237.0,19.5,416,2289,0.00,2.30,0.00,0.000,5126,0.000,0.049,3159,1998,2080,2100,2060,0,0,0,0,0,0,15.04,14.95,15.06
$GC,2351,1.14,202.5,3158,1998,2098,2060,224.4,19.5,429,2358,0.00,0.00,0.00,0.000,4102,0.000,0.000,3159,1998,2079,2099,2059,0,0,0,0,0,0,15.21,15.21,15.20
$GC,2420,1.14,202.5,3158,1998,2097,2059,210.9,19.5,442,2427,0.00,2.33,0.00,0.000,4356,0.000,0.057,3159,3405,2078,2097,2059,0,0,0,0,0,0,15.24,15.02,15.25
$GC,2464,1.14,202.5,3159,3405,2096,2059,201.9,21.0,450,2471,0.08,2.33,0.00,0.000,5126,0.368,0.052,3162,1994,2077,2097,2058,0,0,0,0,0,0,14.90,15.05,15.10
$GC,2532,1.14,202.5,3156,1993,2096,2057,189.0,19.4,463,2538,0.00,0.00,0.00,0.000,4102,0.000,0.000,3156,1994,2076,2095,2057,0,0,0,0,0,0,15.27,15.28,15.28
$GC,2600,1.14,202.5,3156,1993,2094,2057,177.1,15.3,476,2605,0.00,0.00,0.00,0.000,4102,0.000,0.000,3156,1994,2075,2094,2057,0,0,0,0,0,0,15.27,15.28,15.28
$GC,2666,1.14,202.5,3156,1993,2099,2057,167.1,14.7,489,2674,0.00,2.33,0.00,0.000,4356,0.000,0.059,3157,3407,2075,2093,2057,0,0,0,0,0,0,15.29,15.06,15.29
$GC,2825,1.14,202.5,3156,3407,2091,2057,141.4,16.8,520,2832,0.00,2.30,0.00,0.000,5126,0.000,0.050,3165,1993,2073,2091,2056,0,0,0,0,0,0,15.14,15.05,15.15
$GC,2894,1.14,202.5,3165,1993,2091,2055,130.9,16.0,533,2902,0.00,2.30,0.00,0.000,4356,0.000,0.058,3165,3400,2073,2091,2055,0,0,0,0,0,0,15.30,15.09,15.31
$GC,2973,1.14,202.5,3165,3400,2090,2055,117.1,17.4,548,2980,0.10,2.28,0.00,0.000,5126,0.329,0.051,3158,2001,2072,2090,2055,0,0,0,0,0,0,14.97,15.11,15.16
$GC,3042,1.14,202.5,3157,2000,2090,2054,105.4,16.3,561,3048,0.00,0.00,0.00,0.000,4102,0.000,0.000,3157,2001,2072,2090,2055,0,0,0,0,0,0,15.32,15.33,15.33
$GC,3110,1.14,202.5,3157,2000,2090,2054,95.7,13.5,574,3117,0.00,2.30,0.00,0.000,4356,0.000,0.058,3157,3405,2071,2089,2054,0,0,0,0,0,0,15.31,15.04,15.32
$GC,3129,1.14,202.5,3156,3405,2089,2055,93.3,12.5,577,3136,0.00,2.30,0.00,0.000,5126,0.000,0.052,3163,1992,2071,2089,2054,0,0,0,0,0,0,15.21,15.11,15.22
$GC,3199,1.14,202.5,3163,1992,2089,2054,84.5,13.3,590,3205,0.00,0.00,0.00,0.000,4102,0.000,0.000,3163,1992,2071,2089,2054,0,0,0,0,0,0,15.32,15.32,15.32
$GC,3266,1.14,202.5,3163,1992,2089,2054,73.6,17.1,603,3273,0.00,2.33,0.00,0.000,4612,0.000,0.067,3172,593,2071,2088,2054,0,0,0,0,0,0,15.32,15.06,15.32
$GC,3285,1.14,202.5,3172,593,2088,2053,70.5,16.5,606,3292,0.08,2.28,0.00,0.000,5126,0.337,0.043,3160,2009,2071,2089,2053,0,0,0,0,0,0,14.92,15.13,15.11
$GC,3354,1.14,202.5,3159,2012,2087,2053,60.2,13.6,619,3359,0.00,0.00,0.00,0.000,4102,0.000,0.000,3159,2012,2070,2087,2054,0,0,0,0,0,0,15.30,15.33,15.33
$GC,3421,1.14,202.5,3159,2011,2087,2054,51.1,13.5,632,3427,0.00,2.28,0.00,0.000,4356,0.000,0.059,3159,3408,2070,2087,2054,0,0,0,0,0,0,15.32,15.06,15.32
$GC,3930,1.27,306.4,3159,3409,2085,2053,30.3,1.1,733,4014,0.00,2.30,75.32,0.881,11270,0.000,0.048,3169,1985,1664,1693,1636,0,0,0,0,0,0,15.15,15.07,14.35
$GC,4076,1.27,306.4,3168,1985,1690,1631,15.9,15.9,759,4082,0.00,2.33,0.00,0.000,2564,0.000,0.070,3168,604,1660,1690,1630,0,0,0,0,0,0,15.11,14.87,15.11
$STATE,4187,end climb,SURFACE_DEPTH_REACHED
$STATE,4187,begin surface coast
$FINISH,0.3,1.022559
$STATE,4215,end surface coast,CONTROL_FINISHED_OK
$STATE,4215,begin surface
$SM_CCo,4238,145.90,0.770,0,0,638,558.54
$SM_GC,0.82,14.10,2.30,145.90,0.056,0.042,0.770,128,1993,638,-8.26,-1.39,558.54,0,0,0,0,0,0,15.01,15.02,14.36
$IRIDIUM_FIX,-2746.98,3235.76,150319,084845
$TT8_MAMPS,0.020972,0.977445
$HUMID,44.09
$INTERNAL_PRESSURE,9.62483
$TCM_TEMP,22.60
$XPDR_PINGS,109
$SC_FREEKB,3920256
$24V_AH,14.09,32.827
$10V_AH,13.43,0.000
$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,30.525,96.625,287.400,145.900,0.000,0.000,0.000,0.000,40.000,0.000,15.154,1796.035,690.974,644.917,1266.169,59.328,0.000,1333.259,0.000,1181.745,0.000,76.576,0.000
$DEVICE_MAMPS,367.965,73.440,1243.890,769.590,0.000,0.000,0.000,0.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4200.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,32.657,0.000,0.000,0.000
$MEM,340952
$DATA_FILE_SIZE,20040,786
$CAP_FILE_SIZE,177039,0
$CFSIZE,2097086464,2093907968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.861,183.94,1
$GPS,150319,101027,-2759.935,3238.019,9,1.0,17,-22.7,1.3,211.6,8,9.1