version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 78
start: 3 20 119 20 31 55
data:
$ID,574
$MISSION,3
$DIVE,78
$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,31
$R_STBD_OVSHOOT,49
$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
$GPS1,200319,201031,-2953.0730,3112.4749,10,0.8,36,-24.9,0.5,6.4,10,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-66.1
$GPS2,200319,203133,-2952.7898,3112.6108,7,1.0,14,-24.9,0.4,22.0,8,9.7
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-2951.593,3100.235
$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,301.3,20000,-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,-92.5,54,1805,626,550,0.0,0.0,0,113,0.00,0.00,-90.97,0.000,16386,0.000,0.000,54,1806,3018,2993,3043,0,0,0,0,0,0,15.11,28.83,15.13
$GC,116,-0.88,-92.5,54,1806,2994,3044,3.5,-7.7,16,142,13.90,2.35,-1.08,0.000,18948,0.301,0.073,2468,399,3080,3066,3094,0,0,0,0,0,0,14.78,14.02,14.98
$GC,239,-0.88,-92.5,2463,399,3071,3089,34.5,-15.4,39,247,0.05,2.28,0.00,0.000,3078,0.374,0.036,2468,1811,3079,3073,3086,0,0,0,0,0,0,14.83,14.97,15.00
$GC,309,-0.88,-92.5,2468,1814,3073,3085,45.5,-16.8,52,315,0.00,0.00,0.00,0.000,2054,0.000,0.000,2468,1814,3079,3073,3086,0,0,0,0,0,0,15.17,15.18,15.17
$GC,378,-0.88,-92.5,2468,1815,3073,3085,57.3,-17.2,65,385,0.00,2.30,0.00,0.000,2308,0.000,0.052,2460,3212,3079,3074,3085,0,0,0,0,0,0,15.18,14.98,15.18
$GC,391,-0.88,-92.5,2460,3212,3074,3084,59.5,-16.5,67,400,0.05,2.33,0.00,0.000,3078,0.327,0.046,2470,1798,3079,3074,3085,0,0,0,0,0,0,14.88,14.99,15.03
$GC,463,-0.88,-92.5,2469,1802,3074,3084,70.8,-14.9,80,469,0.00,0.00,0.00,0.000,2054,0.000,0.000,2470,1799,3079,3074,3085,0,0,0,0,0,0,15.19,15.19,15.19
$GC,531,-0.88,-92.5,2470,1799,3074,3084,80.9,-15.3,93,538,0.00,2.35,0.00,0.000,2308,0.000,0.054,2463,3215,3079,3074,3084,0,0,0,0,0,0,15.21,15.00,15.21
$GC,610,-0.88,-92.5,2462,3216,3074,3084,91.9,-13.7,108,617,0.00,2.30,0.00,0.000,3078,0.000,0.044,2463,1809,3079,3074,3084,0,0,0,0,0,0,15.07,14.99,15.09
$GC,680,-0.88,-92.5,2462,1809,3075,3083,101.6,-14.1,121,686,0.00,0.00,0.00,0.000,2054,0.000,0.000,2463,1809,3079,3075,3084,0,0,0,0,0,0,15.21,15.22,15.22
$GC,749,-0.88,-92.5,2462,1809,3075,3078,111.7,-14.0,134,754,0.00,0.00,0.00,0.000,2054,0.000,0.000,2463,1809,3079,3075,3083,0,0,0,0,0,0,15.21,15.22,15.21
$GC,817,-0.88,-92.5,2462,1809,3074,3084,121.9,-15.6,147,824,0.00,2.33,0.00,0.000,2308,0.000,0.051,2454,3217,3079,3075,3083,0,0,0,0,0,0,15.22,15.03,15.22
$GC,907,-0.88,-92.5,2453,3215,3074,3083,135.4,-14.4,164,915,0.08,2.30,0.00,0.000,3078,0.271,0.043,2469,1804,3078,3074,3083,0,0,0,0,0,0,14.94,15.04,15.07
$GC,977,-0.88,-92.5,2469,1804,3075,3083,146.6,-17.1,177,984,0.00,2.33,0.00,0.000,2308,0.000,0.052,2462,3212,3078,3074,3083,0,0,0,0,0,0,15.23,15.02,15.23
$GC,1050,-0.88,-92.5,2462,3212,3074,3082,158.0,-14.6,191,1058,0.00,2.30,0.00,0.000,3078,0.000,0.045,2462,1807,3078,3074,3082,0,0,0,0,0,0,15.10,15.02,15.11
$GC,1122,-0.88,-92.5,2462,1807,3075,3082,169.4,-16.9,204,1128,0.00,0.00,0.00,0.000,2054,0.000,0.000,2462,1807,3078,3075,3082,0,0,0,0,0,0,15.23,15.23,15.23
$GC,1192,-0.88,-92.5,2462,1807,3075,3082,180.1,-16.0,217,1198,0.00,0.00,0.00,0.000,2054,0.000,0.000,2462,1807,3078,3074,3082,0,0,0,0,0,0,15.23,15.23,15.23
$GC,1260,-0.88,-92.5,2462,1805,3074,3081,189.9,-14.3,230,1270,0.00,0.00,0.00,0.000,2054,0.000,0.000,2462,1807,3078,3074,3082,0,0,0,0,0,0,15.23,15.23,15.23
$GC,1332,-0.88,-92.5,2462,1807,3075,3081,199.8,-12.5,243,1339,0.00,2.33,0.00,0.000,2308,0.000,0.054,2457,3208,3077,3074,3081,0,0,0,0,0,0,15.23,15.03,15.23
$GC,1391,-0.88,-92.5,2457,3208,3074,3081,207.9,-13.3,254,1399,0.08,2.28,0.00,0.000,3078,0.271,0.044,2472,1814,3077,3073,3081,0,0,0,0,0,0,14.95,15.05,15.09
$STATE,1445,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1445,begin apogee
$GC,1449,-0.17,0.0,2471,1813,3082,3081,215.5,-14.1,264,1524,1.12,0.00,67.65,1.032,10246,0.169,0.000,2697,1812,2704,2721,2687,0,0,0,0,0,0,14.95,14.74,14.26
$STATE,1526,end apogee,CONTROL_FINISHED_OK
$STATE,1527,begin climb
$GC,1528,0.88,92.5,2697,1813,2715,2686,219.3,0.0,277,1609,1.52,0.00,73.80,1.030,10246,0.080,0.000,3029,1813,2323,2343,2303,0,0,0,0,0,0,14.73,14.57,14.16
$GC,1672,0.89,103.1,3029,1813,2341,2299,212.1,9.2,302,1685,0.00,0.00,10.20,0.881,10246,0.000,0.000,3029,1813,2277,2299,2255,0,0,0,0,0,0,14.92,14.71,14.26
$GC,1747,0.89,103.1,3029,1813,2296,2253,204.2,11.6,316,1753,0.00,0.00,0.00,0.000,2054,0.000,0.000,3029,1813,2272,2290,2254,0,0,0,0,0,0,14.98,14.98,14.98
$GC,1814,0.89,103.1,3029,1813,2294,2251,196.2,11.2,329,1820,0.00,0.00,0.00,0.000,2054,0.000,0.000,3029,1813,2273,2295,2251,0,0,0,0,0,0,15.04,15.04,15.04
$GC,1881,0.89,103.1,3029,1813,2294,2250,188.4,12.4,342,1888,0.00,2.33,0.00,0.000,2308,0.000,0.050,3029,3208,2272,2293,2251,0,0,0,0,0,0,15.09,14.90,15.10
$GC,1910,0.89,103.1,3029,3208,2292,2250,184.4,13.5,347,1917,0.00,2.35,0.00,0.000,3078,0.000,0.049,3033,1800,2271,2292,2250,0,0,0,0,0,0,15.00,14.90,15.00
$GC,1980,0.89,103.1,3032,1800,2292,2250,176.4,11.7,360,1986,0.00,0.00,0.00,0.000,2054,0.000,0.000,3033,1800,2271,2292,2250,0,0,0,0,0,0,15.12,15.13,15.13
$GC,2047,0.89,103.1,3033,1800,2291,2250,168.9,10.8,373,2053,0.00,0.00,0.00,0.000,2054,0.000,0.000,3033,1800,2270,2291,2250,0,0,0,0,0,0,15.14,15.15,15.15
$GC,2114,0.89,103.1,3033,1800,2290,2249,162.2,10.0,386,2120,0.00,0.00,0.00,0.000,2054,0.000,0.000,3033,1800,2269,2290,2249,0,0,0,0,0,0,15.16,15.17,15.16
$GC,2182,0.89,103.1,3033,1800,2290,2249,155.6,10.0,399,2188,0.00,0.00,0.00,0.000,2054,0.000,0.000,3033,1800,2269,2290,2249,0,0,0,0,0,0,15.17,15.18,15.17
$GC,2251,0.89,103.9,3033,1800,2289,2248,148.7,9.9,412,2257,0.00,0.00,0.00,0.000,2054,0.000,0.000,3033,1800,2268,2289,2248,0,0,0,0,0,0,15.19,15.19,15.19
$GC,2318,0.90,110.7,3033,1800,2288,2247,142.1,9.5,425,2331,0.00,2.33,5.57,0.726,10500,0.000,0.049,3033,3208,2248,2269,2227,0,0,0,0,0,0,15.19,14.88,14.45
$GC,2422,0.90,112.5,3033,3208,2268,2226,131.6,9.9,445,2429,0.00,2.35,0.00,0.000,3078,0.000,0.050,3033,1794,2247,2268,2227,0,0,0,0,0,0,15.08,14.99,15.09
$GC,2492,0.94,137.5,3033,1794,2268,2227,126.0,8.2,458,2521,0.00,2.35,22.95,0.933,10500,0.000,0.050,3033,3202,2138,2162,2114,0,0,0,0,0,0,15.19,14.81,14.46
$GC,2559,0.94,142.6,3033,3202,2161,2112,120.0,9.6,470,2573,0.00,2.35,5.32,0.669,11270,0.000,0.049,3033,1796,2117,2143,2091,0,0,0,0,0,0,14.97,14.89,14.43
$GC,2635,0.94,143.8,3033,1796,2141,2091,112.8,9.9,484,2641,0.00,2.35,0.00,0.000,2308,0.000,0.052,3033,3201,2115,2140,2090,0,0,0,0,0,0,15.12,14.92,15.12
$GC,2663,0.94,143.8,3037,3201,2140,2091,109.7,11.0,489,2669,0.00,2.35,0.00,0.000,3078,0.000,0.050,3037,1800,2114,2139,2090,0,0,0,0,0,0,15.02,14.92,15.03
$GC,2732,0.94,143.8,3036,1800,2139,2090,102.2,11.7,502,2737,0.00,0.00,0.00,0.000,2054,0.000,0.000,3037,1800,2114,2139,2090,0,0,0,0,0,0,15.14,15.14,15.14
$GC,2799,0.94,143.8,3036,1800,2138,2089,93.8,12.0,515,2806,0.00,2.40,0.00,0.000,2564,0.000,0.072,3037,392,2113,2137,2089,0,0,0,0,0,0,15.16,14.89,15.16
$GC,2869,0.94,143.8,3036,391,2135,2088,84.9,13.2,528,2875,0.00,2.30,0.00,0.000,3078,0.000,0.038,3037,1806,2112,2135,2089,0,0,0,0,0,0,15.03,14.95,15.04
$GC,2937,0.94,143.8,3036,1809,2135,2088,77.1,11.2,541,2944,0.00,2.30,0.00,0.000,2308,0.000,0.054,3037,3205,2111,2135,2088,0,0,0,0,0,0,15.18,14.99,15.19
$GC,3066,0.94,143.8,3037,3205,2133,2087,62.7,10.9,566,3072,0.00,2.35,0.00,0.000,3078,0.000,0.052,3037,1792,2110,2134,2087,0,0,0,0,0,0,15.09,15.00,15.10
$GC,3135,0.97,163.7,3035,1793,2134,2086,56.5,8.5,579,3160,0.05,2.38,17.08,0.855,10756,0.271,0.071,3064,388,2030,2056,2004,0,0,0,0,0,0,14.96,14.91,14.52
$GC,3663,1.05,234.2,3063,388,2048,2001,8.5,4.9,683,3711,0.08,2.30,40.70,0.871,11270,0.197,0.037,3095,1811,1743,1775,1712,0,0,0,0,0,0,14.95,15.01,14.44
$STATE,3731,end climb,SURFACE_DEPTH_REACHED
$STATE,3731,begin surface coast
$FINISH,0.1,1.024076
$STATE,3753,end surface coast,CONTROL_FINISHED_OK
$STATE,3753,begin surface
$SM_CCo,3774,170.25,0.796,0,0,598,515.37
$SM_GC,0.73,13.85,0.00,170.25,0.047,0.000,0.796,126,1813,598,-8.18,0.03,515.37,0,0,0,0,0,0,14.89,15.09,14.22
$IRIDIUM_FIX,-2940.11,3113.17,200319,202641
$TT8_MAMPS,0.021721,0.901047
$HUMID,42.16
$INTERNAL_PRESSURE,9.49787
$TCM_TEMP,21.50
$XPDR_PINGS,35
$ALTIM_BOTTOM_PING,190.7,34.1
$SC_FREEKB,3882464
$24V_AH,14.02,49.820
$10V_AH,13.93,0.000
$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,30.775,60.525,243.275,170.250,0.000,125.415,110.439,525.180,16.250,0.000,14.690,1606.195,860.305,606.695,2024.384,116.312,0.000,1222.393,0.000,1056.143,0.000,48.637,0.000
$DEVICE_MAMPS,374.085,72.675,1031.985,795.600,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3812.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,34.659,0.000,0.000,0.000
$MEM,340928
$DATA_FILE_SIZE,16778,699
$CAP_FILE_SIZE,134573,0
$CFSIZE,2097086464,2080276480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.103,56.18,1
$GPS,200319,213855,-2952.596,3112.379,7,0.9,37,-24.9,0.3,322.1,10,4.9