version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 40
start: 3 17 119 8 53 34
data:
$ID,574
$MISSION,3
$DIVE,40
$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,177
$T_ABORT,363
$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,85
$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,304
$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,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,1850
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,43
$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
$GPS1,170319,084230,-2936.2378,3145.9631,5,1.0,17,-24.7,1.4,207.8,8,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-66.0
$GPS2,170319,085311,-2936.8218,3145.6206,6,1.0,17,-24.7,1.0,199.4,8,9.4
$SPEED_LIMITS,0.173,0.199
$TGT_NAME,HEADING
$TGT_LATLONG,-2930.783,3135.333
$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,13.7,20000,-24.3,-9.980,-26.67,1272
$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,19,-0.91,-82.7,90,1850,635,560,0.0,0.0,0,106,0.00,0.00,-84.22,0.000,16386,0.000,0.000,85,1850,2876,2847,2905,0,0,0,0,0,0,15.07,28.83,15.09
$GC,108,-0.91,-82.7,85,1850,2847,2905,3.4,-6.6,15,135,13.65,2.38,-4.65,0.000,18692,0.288,0.075,2474,3255,3138,3132,3144,0,0,0,0,0,0,14.74,14.02,14.95
$GC,157,-0.91,-82.7,2473,3255,3132,3144,20.2,-28.5,23,164,0.08,2.33,0.00,0.000,3078,0.279,0.047,2488,1846,3138,3133,3144,0,0,0,0,0,0,14.83,14.93,14.97
$GC,226,-0.91,-82.7,2487,1843,3135,3142,34.5,-19.9,36,233,0.00,2.35,0.00,0.000,2308,0.000,0.053,2481,3253,3138,3135,3142,0,0,0,0,0,0,15.16,14.95,15.16
$GC,289,-0.91,-82.7,2481,3253,3135,3142,45.0,-15.4,48,296,0.00,2.30,0.00,0.000,3078,0.000,0.045,2481,1849,3138,3135,3141,0,0,0,0,0,0,15.02,14.94,15.03
$GC,360,-0.91,-82.7,2480,1849,3135,3141,55.0,-15.4,61,366,0.00,0.00,0.00,0.000,2054,0.000,0.000,2481,1849,3138,3135,3141,0,0,0,0,0,0,15.19,15.20,15.19
$GC,428,-0.91,-82.7,2480,1847,3135,3141,67.0,-17.1,74,434,0.00,0.00,0.00,0.000,2054,0.000,0.000,2481,1847,3138,3136,3141,0,0,0,0,0,0,15.20,15.20,15.21
$GC,497,-0.91,-82.7,2481,1847,3136,3141,77.9,-15.7,87,504,0.00,2.33,0.00,0.000,2308,0.000,0.052,2478,3259,3138,3136,3141,0,0,0,0,0,0,15.22,15.02,15.22
$GC,557,-0.91,-82.7,2477,3259,3136,3140,87.0,-15.0,98,564,0.00,2.33,0.00,0.000,3078,0.000,0.044,2477,1843,3138,3136,3140,0,0,0,0,0,0,15.11,15.03,15.13
$GC,628,-0.91,-82.7,2477,1841,3137,3140,96.9,-17.3,111,633,0.00,0.00,0.00,0.000,2054,0.000,0.000,2478,1840,3138,3137,3140,0,0,0,0,0,0,15.23,15.23,15.23
$GC,696,-0.91,-82.7,2477,1839,3137,3140,106.7,-14.8,124,702,0.00,0.00,0.00,0.000,2054,0.000,0.000,2478,1840,3138,3136,3140,0,0,0,0,0,0,15.24,15.24,15.24
$GC,764,-0.91,-82.7,2477,1840,3137,3140,118.1,-15.3,137,769,0.00,0.00,0.00,0.000,2054,0.000,0.000,2477,1839,3138,3137,3140,0,0,0,0,0,0,15.23,15.24,15.24
$GC,831,-0.91,-82.7,2477,1839,3137,3140,127.3,-14.4,150,839,0.00,2.35,0.00,0.000,2564,0.000,0.063,2477,438,3138,3137,3140,0,0,0,0,0,0,15.24,15.04,15.26
$GC,861,-0.91,-82.7,2477,437,3136,3140,132.1,-15.8,155,868,0.00,2.28,0.00,0.000,3078,0.000,0.038,2477,1852,3137,3136,3138,0,0,0,0,0,0,15.14,15.06,15.15
$GC,929,-0.91,-82.7,2477,1855,3137,3139,140.8,-11.9,168,936,0.00,2.28,0.00,0.000,2308,0.000,0.054,2477,3250,3138,3137,3139,0,0,0,0,0,0,15.24,15.01,15.25
$GC,978,-0.91,-82.7,2477,3250,3136,3139,146.3,-10.5,177,984,0.00,2.28,0.00,0.000,3078,0.000,0.045,2477,1850,3138,3137,3139,0,0,0,0,0,0,15.14,15.06,15.16
$GC,1048,-0.91,-82.7,2477,1850,3137,3139,155.0,-13.2,190,1055,0.00,2.33,0.00,0.000,2308,0.000,0.058,2477,3254,3138,3137,3139,0,0,0,0,0,0,15.24,15.05,15.25
$GC,1118,-0.91,-82.7,2477,3254,3137,3138,164.0,-11.8,203,1124,0.00,2.28,0.00,0.000,3078,0.000,0.042,2477,1849,3137,3137,3138,0,0,0,0,0,0,15.15,15.07,15.16
$GC,1186,-0.91,-82.7,2477,1848,3137,3138,171.1,-9.0,216,1193,0.00,2.35,0.00,0.000,2564,0.000,0.063,2477,448,3137,3137,3138,0,0,0,0,0,0,15.27,15.05,15.27
$GC,1205,-0.91,-82.7,2476,444,3137,3138,173.2,-10.5,219,1212,0.00,2.28,0.00,0.000,3078,0.000,0.043,2480,1841,3137,3136,3138,0,0,0,0,0,0,15.13,15.05,15.14
$GC,1276,-0.91,-82.7,2477,1843,3137,3137,181.4,-12.2,232,1282,0.00,2.35,0.00,0.000,2308,0.000,0.062,2477,3264,3137,3137,3137,0,0,0,0,0,0,15.26,15.03,15.26
$GC,1335,-0.91,-82.7,2477,3263,3136,3137,189.8,-13.6,243,1344,0.00,2.30,0.00,0.000,3078,0.000,0.044,2477,1846,3137,3137,3137,0,0,0,0,0,0,15.11,15.02,15.12
$GC,1405,-0.91,-82.7,2476,1845,3137,3136,199.8,-14.4,256,1412,0.00,0.00,0.00,0.000,2054,0.000,0.000,2477,1845,3136,3137,3135,0,0,0,0,0,0,15.26,15.27,15.27
$GC,1474,-0.91,-82.7,2477,1844,3137,3136,209.1,-14.8,269,1481,0.00,2.35,0.00,0.000,2308,0.000,0.061,2470,3260,3137,3138,3136,0,0,0,0,0,0,15.27,15.06,15.27
$GC,1508,-0.91,-82.7,2469,3260,3135,3136,213.3,-11.2,275,1515,0.08,2.30,0.00,0.000,3078,0.273,0.043,2486,1839,3136,3137,3136,0,0,0,0,0,0,15.00,15.08,15.12
$GC,1577,-0.91,-82.7,2485,1839,3137,3136,221.7,-12.3,288,1583,0.00,0.00,0.00,0.000,2054,0.000,0.000,2485,1839,3136,3137,3136,0,0,0,0,0,0,15.28,15.28,15.29
$GC,1648,-0.91,-82.7,2485,1839,3137,3136,229.9,-11.1,301,1655,0.00,2.35,0.00,0.000,2308,0.000,0.057,2486,3261,3135,3136,3134,0,0,0,0,0,0,15.28,15.08,15.29
$GC,1692,-0.91,-82.7,2485,3265,3136,3135,234.8,-11.0,309,1698,0.00,2.30,0.00,0.000,3078,0.000,0.044,2486,1847,3135,3136,3134,0,0,0,0,0,0,15.17,15.09,15.19
$GC,1760,-0.91,-82.7,2486,1846,3136,3134,244.7,-15.7,322,1766,0.00,0.00,0.00,0.000,2054,0.000,0.000,2486,1846,3135,3136,3134,0,0,0,0,0,0,15.29,15.30,15.30
$STATE,1802,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1802,begin apogee
$GC,1806,-0.17,0.0,2486,1792,3136,3134,250.6,-13.0,330,1875,1.17,0.00,60.55,1.079,10246,0.162,0.000,2723,1792,2800,2816,2785,0,0,0,0,0,0,15.00,14.67,14.30
$STATE,1877,end apogee,CONTROL_FINISHED_OK
$STATE,1877,begin climb
$GC,1878,0.91,82.7,2723,1792,2815,2785,252.7,0.0,342,1954,1.58,2.40,66.57,1.079,10756,0.050,0.063,3107,395,2459,2473,2446,0,0,0,0,0,0,14.81,14.59,14.12
$GC,2216,0.93,94.8,3102,395,2463,2442,237.4,9.0,406,2236,0.10,2.30,9.40,0.929,13318,0.304,0.037,3090,1824,2411,2426,2397,0,0,0,0,0,0,14.83,14.97,14.35
$GC,2298,0.93,94.8,3089,1824,2426,2397,229.8,10.2,421,2304,0.00,0.00,0.00,0.000,4102,0.000,0.000,3089,1824,2411,2426,2397,0,0,0,0,0,0,15.13,15.14,15.13
$GC,2365,0.99,148.7,3089,1824,2426,2396,225.0,5.6,434,2419,0.00,2.30,44.20,1.059,10500,0.000,0.051,3089,3192,2189,2210,2169,0,0,0,0,0,0,15.18,14.74,14.31
$GC,2922,0.99,148.7,3089,3192,2201,2163,148.4,14.3,543,2929,0.00,2.30,0.00,0.000,3078,0.000,0.047,3097,1800,2182,2201,2163,0,0,0,0,0,0,15.11,15.02,15.11
$GC,2992,0.99,148.7,3097,1800,2201,2163,138.4,13.8,556,2999,0.00,2.30,0.00,0.000,2308,0.000,0.054,3098,3197,2181,2200,2163,0,0,0,0,0,0,15.21,15.02,15.22
$GC,3205,0.99,148.7,3097,3197,2198,2162,110.7,11.8,598,3212,0.00,2.30,0.00,0.000,5126,0.000,0.047,3107,1798,2180,2199,2161,0,0,0,0,0,0,15.13,15.03,15.14
$GC,3274,0.99,148.7,3106,1798,2198,2161,103.5,10.9,611,3281,0.00,2.35,0.00,0.000,4612,0.000,0.069,3117,393,2178,2197,2160,0,0,0,0,0,0,15.23,14.99,15.23
$GC,3784,1.02,172.3,3117,393,2192,2160,47.0,8.1,712,3809,0.00,2.25,17.80,0.866,13318,0.000,0.037,3117,1799,2094,2114,2074,0,0,0,0,0,0,15.11,15.04,14.54
$GC,3872,1.05,198.7,3117,1798,2112,2072,40.9,7.9,728,3902,0.00,2.40,21.12,0.854,10756,0.000,0.067,3126,402,1985,2006,1964,0,0,0,0,0,0,15.19,14.83,14.46
$GC,3963,1.07,214.3,3125,402,2009,1964,33.1,8.7,745,3983,0.00,2.25,13.60,0.802,9222,0.000,0.037,3131,1802,1923,1948,1899,0,0,0,0,0,0,15.02,14.96,14.47
$GC,4045,1.07,214.3,3125,1796,1946,1897,25.5,10.3,760,4051,0.00,2.28,0.00,0.000,260,0.000,0.051,3126,3194,1920,1945,1896,0,0,0,0,0,0,15.14,14.89,15.11
$STATE,4297,end climb,SURFACE_DEPTH_REACHED
$STATE,4297,begin surface coast
$FINISH,0.1,1.023670
$STATE,4333,end surface coast,CONTROL_FINISHED_OK
$STATE,4333,begin surface
$SM_CCo,4356,195.68,0.805,0,0,598,539.90
$SM_CCo,4555,-0.30,0.000,0,0,600,539.90
$SM_CCo,4557,0.00,0.000,0,0,599,539.90
$SM_GC,0.78,13.98,2.25,0.00,0.059,0.053,0.000,125,1855,599,-8.26,1.30,539.90,0,0,0,0,0,0,15.02,15.01,14.81
$IRIDIUM_FIX,-2922.76,3147.98,170319,072659
$TT8_MAMPS,0.021721,0.92876
$HUMID,41.69
$INTERNAL_PRESSURE,9.52717
$TCM_TEMP,22.10
$XPDR_PINGS,40
$ALTIM_BOTTOM_PING,225.4,34.7
$SC_FREEKB,3902208
$24V_AH,13.85,40.049
$10V_AH,13.82,0.000
$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,30.625,74.050,233.250,195.675,0.000,23.403,20.062,413.455,19.250,0.000,18.389,1887.924,760.936,618.349,1848.966,92.339,0.000,1296.055,0.000,1231.923,0.000,59.244,0.000
$DEVICE_MAMPS,304.470,295.290,1078.650,804.780,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4392.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,32.582,0.000,0.000,0.000
$MEM,340936
$DATA_FILE_SIZE,20081,817
$CAP_FILE_SIZE,141243,0
$CFSIZE,2097086464,2087747584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.879,205.74,1
$GPS,170319,101049,-2938.473,3144.441,5,0.9,40,-24.8,2.1,204.4,9,5.8