version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 27
start: 3 16 119 5 3 46
data:
$ID,574
$MISSION,3
$DIVE,27
$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,0
$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,75
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53998
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,110
$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,1940
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$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,2801
$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
$GPS1,160319,045310,-2845.3979,3222.3535,5,1.2,16,-23.7,1.7,204.6,8,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-71.5
$GPS2,160319,050321,-2845.9866,3222.1140,6,1.1,17,-23.7,1.4,191.5,8,9.2
$SPEED_LIMITS,0.173,0.187
$TGT_NAME,HEADING
$TGT_LATLONG,-2849.680,3233.698
$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,88.7,20000,-25.9,-9.980,-28.14,1123
$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,-1.01,-73.0,74,1935,633,563,0.0,0.0,0,101,0.00,0.00,-79.00,0.000,16386,0.000,0.000,73,1936,2771,2747,2796,0,0,0,0,0,0,15.14,28.83,15.15
$GC,103,-1.01,-73.0,73,1935,2747,2797,3.2,-4.5,14,130,13.43,2.35,-5.80,0.000,18948,0.286,0.077,2451,535,3102,3095,3109,0,0,0,0,0,0,14.78,14.08,14.97
$GC,246,-1.01,-73.0,2456,534,3095,3108,43.8,-22.0,41,253,0.00,2.28,0.00,0.000,3078,0.000,0.041,2444,1945,3101,3095,3108,0,0,0,0,0,0,15.09,15.00,15.09
$GC,316,-1.01,-73.0,2443,1949,3097,3107,58.1,-20.1,54,322,0.00,2.30,0.00,0.000,2308,0.000,0.059,2440,3349,3101,3097,3106,0,0,0,0,0,0,15.23,15.00,15.23
$GC,359,-1.01,-73.0,2440,3349,3097,3106,66.1,-16.6,62,366,0.08,2.28,0.00,0.000,3078,0.282,0.044,2454,1941,3101,3097,3106,0,0,0,0,0,0,14.95,15.06,15.09
$GC,429,-1.01,-73.0,2455,1940,3097,3106,76.5,-12.9,75,436,0.00,2.33,0.00,0.000,2564,0.000,0.061,2455,530,3101,3097,3106,0,0,0,0,0,0,15.24,15.00,15.25
$GC,477,-1.01,-73.0,2455,530,3097,3106,84.5,-14.9,84,485,0.00,2.28,0.00,0.000,3078,0.000,0.041,2454,1939,3102,3098,3106,0,0,0,0,0,0,15.15,15.07,15.16
$GC,548,-1.01,-73.0,2453,1941,3097,3106,95.1,-15.8,97,554,0.00,0.00,0.00,0.000,2054,0.000,0.000,2453,1941,3101,3097,3105,0,0,0,0,0,0,15.26,15.27,15.26
$GC,617,-1.01,-73.0,2454,1941,3098,3106,102.5,-9.6,110,623,0.00,0.00,0.00,0.000,2054,0.000,0.000,2454,1941,3101,3098,3105,0,0,0,0,0,0,15.28,15.28,15.28
$GC,685,-1.01,-73.0,2453,1941,3099,3106,110.3,-12.9,123,691,0.00,0.00,0.00,0.000,2054,0.000,0.000,2454,1941,3102,3098,3106,0,0,0,0,0,0,15.28,15.28,15.28
$GC,754,-1.01,-73.0,2453,1941,3098,3105,120.2,-14.7,136,760,0.00,2.33,0.00,0.000,2564,0.000,0.060,2453,532,3101,3097,3105,0,0,0,0,0,0,15.28,15.08,15.28
$GC,829,-1.01,-73.0,2454,531,3098,3105,132.9,-16.8,150,835,0.00,2.28,0.00,0.000,3078,0.000,0.039,2454,1950,3101,3098,3105,0,0,0,0,0,0,15.19,15.10,15.19
$GC,898,-1.01,-73.0,2453,1952,3098,3105,143.9,-17.2,163,903,0.00,0.00,0.00,0.000,2054,0.000,0.000,2455,1952,3101,3098,3105,0,0,0,0,0,0,15.30,15.30,15.30
$GC,965,-1.01,-73.0,2453,1952,3098,3105,154.3,-15.9,176,975,0.00,2.35,0.00,0.000,2564,0.000,0.060,2453,533,3101,3098,3104,0,0,0,0,0,0,15.29,15.05,15.30
$GC,1002,-1.01,-73.0,2453,533,3098,3105,160.5,-17.1,182,1009,0.00,2.28,0.00,0.000,3078,0.000,0.037,2453,1947,3103,3098,3109,0,0,0,0,0,0,15.19,15.11,15.20
$GC,1071,-1.01,-73.0,2453,1949,3098,3105,169.7,-11.1,195,1078,0.00,2.28,0.00,0.000,2308,0.000,0.060,2454,3340,3101,3098,3104,0,0,0,0,0,0,15.30,15.07,15.30
$GC,1100,-1.01,-73.0,2453,3340,3098,3105,173.3,-12.2,200,1107,0.00,2.28,0.00,0.000,3078,0.000,0.044,2454,1929,3101,3098,3104,0,0,0,0,0,0,15.14,15.06,15.14
$GC,1168,-1.01,-73.0,2453,1930,3098,3104,183.1,-15.1,213,1175,0.00,2.30,0.00,0.000,2564,0.000,0.063,2453,534,3101,3098,3104,0,0,0,0,0,0,15.30,15.09,15.30
$GC,1197,-1.01,-73.0,2453,533,3097,3104,187.9,-16.8,218,1204,0.00,2.25,0.00,0.000,3078,0.000,0.040,2450,1937,3101,3098,3104,0,0,0,0,0,0,15.19,15.11,15.20
$GC,1265,-1.01,-73.0,2450,1940,3098,3104,199.0,-17.0,231,1271,0.00,0.00,0.00,0.000,2054,0.000,0.000,2450,1940,3101,3098,3104,0,0,0,0,0,0,15.30,15.30,15.30
$GC,1336,-1.01,-73.0,2450,1940,3098,3103,210.3,-15.9,244,1342,0.00,2.33,0.00,0.000,2564,0.000,0.064,2450,540,3100,3098,3103,0,0,0,0,0,0,15.31,15.07,15.31
$GC,1384,-1.01,-73.0,2450,540,3097,3103,219.1,-18.2,253,1392,0.00,2.28,0.00,0.000,3078,0.000,0.041,2450,1947,3100,3098,3103,0,0,0,0,0,0,15.20,15.12,15.21
$GC,1455,-1.01,-73.0,2450,1949,3098,3102,231.1,-16.3,266,1462,0.00,2.35,0.00,0.000,2564,0.000,0.062,2450,540,3100,3098,3102,0,0,0,0,0,0,15.32,15.07,15.33
$GC,1480,-1.01,-73.0,2450,540,3097,3102,235.0,-16.4,270,1486,0.00,2.25,0.00,0.000,3078,0.000,0.041,2450,1943,3099,3097,3102,0,0,0,0,0,0,15.21,15.12,15.21
$GC,1547,-1.01,-73.0,2450,1945,3097,3101,246.2,-15.6,283,1553,0.00,0.00,0.00,0.000,2054,0.000,0.000,2450,1945,3099,3097,3101,0,0,0,0,0,0,15.32,15.33,15.32
$GC,1616,-1.01,-73.0,2450,1945,3097,3101,257.7,-17.5,296,1623,0.00,2.35,0.00,0.000,2564,0.000,0.062,2450,530,3097,3094,3100,0,0,0,0,0,0,15.33,15.09,15.33
$GC,1639,-1.01,-73.0,2450,529,3097,3101,262.1,-19.0,300,1646,0.00,2.30,0.00,0.000,3078,0.000,0.043,2450,1945,3099,3097,3101,0,0,0,0,0,0,15.21,15.12,15.22
$GC,1709,-1.01,-73.0,2449,1948,3097,3100,274.6,-17.6,313,1716,0.00,2.30,0.00,0.000,2308,0.000,0.063,2450,3350,3098,3097,3100,0,0,0,0,0,0,15.32,15.11,15.32
$GC,1748,-1.01,-73.0,2450,3350,3097,3100,281.0,-15.2,320,1755,0.00,2.28,0.00,0.000,3078,0.000,0.048,2450,1943,3098,3096,3100,0,0,0,0,0,0,15.21,15.12,15.23
$STATE,1816,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1816,begin apogee
$GC,1819,-0.18,0.0,2450,1942,3096,3099,291.4,-18.8,333,1878,1.35,0.00,54.60,1.262,10246,0.166,0.000,2720,1942,2799,2813,2786,0,0,0,0,0,0,15.03,14.81,14.27
$STATE,1881,end apogee,CONTROL_FINISHED_OK
$STATE,1881,begin climb
$GC,1882,1.01,73.0,2721,1942,2813,2786,294.2,0.0,343,1951,1.75,2.40,58.72,1.270,10500,0.053,0.053,3130,3367,2500,2510,2491,0,0,0,0,0,0,14.83,14.50,14.08
$GC,2099,1.09,134.7,3130,3362,2501,2489,291.8,4.3,383,2157,0.00,2.33,49.42,1.280,9222,0.000,0.047,3134,1946,2250,2263,2237,0,0,0,0,0,0,14.97,14.90,14.15
$GC,2218,1.09,134.7,3134,1946,2259,2233,277.5,15.8,405,2226,0.00,2.35,0.00,0.000,516,0.000,0.069,3134,551,2245,2258,2233,0,0,0,0,0,0,15.01,14.79,15.02
$GC,2277,1.09,134.7,3133,552,2255,2232,267.6,16.2,416,2284,0.00,2.30,0.00,0.000,1030,0.000,0.041,3134,1958,2243,2254,2232,0,0,0,0,0,0,14.92,14.86,14.94
$GC,2346,1.09,134.7,3133,1961,2262,2228,256.7,16.5,429,2354,0.00,2.38,0.00,0.000,516,0.000,0.070,3135,551,2242,2254,2230,0,0,0,0,0,0,15.14,14.93,15.15
$GC,2857,1.09,134.7,3134,551,2249,2226,171.3,19.3,530,2863,0.00,2.25,0.00,0.000,1030,0.000,0.041,3134,1950,2236,2249,2223,0,0,0,0,0,0,15.16,15.09,15.23
$GC,2925,1.09,134.7,3134,1952,2249,2225,159.7,16.2,543,2932,0.00,2.38,0.00,0.000,516,0.000,0.070,3134,544,2236,2248,2225,0,0,0,0,0,0,15.27,15.07,15.28
$GC,3435,1.11,154.2,3134,544,2244,2223,100.8,8.2,644,3454,0.00,2.28,14.25,1.079,11270,0.000,0.041,3134,1960,2172,2186,2158,0,0,0,0,0,0,15.19,15.11,14.49
$GC,3515,1.11,154.2,3134,1960,2183,2156,92.7,11.2,659,3522,0.00,2.38,0.00,0.000,2564,0.000,0.068,3135,551,2168,2181,2155,0,0,0,0,0,0,15.21,15.01,15.23
$GC,3699,1.15,182.4,3134,551,2180,2154,71.8,7.4,695,3729,0.00,2.25,23.55,1.069,11270,0.000,0.040,3134,1953,2053,2071,2036,0,0,0,0,0,0,15.12,15.05,14.42
$GC,3791,1.15,182.4,3134,1954,2068,2034,63.5,11.4,712,3796,0.00,0.00,0.00,0.000,2054,0.000,0.000,3134,1953,2050,2067,2034,0,0,0,0,0,0,15.15,15.16,15.16
$GC,3858,1.15,182.4,3134,1953,2066,2033,55.3,11.7,725,3865,0.00,2.38,0.00,0.000,2564,0.000,0.067,3138,550,2049,2066,2033,0,0,0,0,0,0,15.19,14.95,15.19
$GC,4177,1.23,245.9,3138,550,2061,2031,24.9,4.2,788,4231,0.10,2.25,43.12,1.004,11270,0.171,0.038,3171,1952,1794,1817,1772,0,0,0,0,0,0,15.00,15.02,14.39
$GC,4292,1.24,258.6,3170,1956,1813,1767,17.1,8.8,809,4306,0.00,2.40,7.05,0.819,10756,0.000,0.065,3175,543,1742,1768,1716,0,0,0,0,0,0,15.09,14.76,14.43
$STATE,4452,end climb,SURFACE_DEPTH_REACHED
$STATE,4452,begin surface coast
$FINISH,0.1,1.022700
$STATE,4484,end surface coast,CONTROL_FINISHED_OK
$STATE,4484,begin surface
$SM_CCo,4507,170.15,0.788,0,0,598,539.90
$SM_CCo,4680,-0.32,0.000,0,0,599,539.90
$SM_CCo,4683,-0.12,0.000,0,0,600,539.90
$SM_GC,0.85,14.20,2.30,-0.12,0.056,0.041,0.000,123,1931,600,-8.26,-1.50,539.90,0,0,0,0,0,0,14.99,15.01,14.71
$IRIDIUM_FIX,-2831.00,3219.60,160319,034805
$TT8_MAMPS,0.021721,0.968457
$HUMID,42.67
$INTERNAL_PRESSURE,9.58576
$TCM_TEMP,22.40
$XPDR_PINGS,31
$ALTIM_BOTTOM_PING,265.5,35.5
$SC_FREEKB,3908992
$24V_AH,13.89,36.637
$10V_AH,13.49,0.000
$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,30.900,83.150,250.725,170.150,0.000,24.809,37.251,377.702,19.000,0.000,18.706,1959.805,780.005,609.906,1877.312,82.753,0.000,1311.549,0.000,1276.089,0.000,71.001,0.000
$DEVICE_MAMPS,286.110,77.265,1279.845,787.950,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4530.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,32.059,0.000,0.000,0.000
$MEM,340912
$DATA_FILE_SIZE,23366,846
$CAP_FILE_SIZE,145911,0
$CFSIZE,2097086464,2090303488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,1.193,207.19,1
$GPS,160319,062301,-2848.621,3220.916,6,0.8,35,-23.8,2.0,210.5,11,5.7