version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 197
start: 3 30 119 15 7 15
data:
$ID,574
$MISSION,3
$DIVE,197
$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,35
$R_STBD_OVSHOOT,54
$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
$GPS1,300319,145801,-3001.5615,3104.1304,8,1.0,36,-25.0,0.0,30.0,8,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-69.6
$GPS2,300319,150652,-3001.5059,3104.1438,7,1.0,20,-25.0,0.0,321.1,8,9.5
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-2955.700,3053.637
$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,327.5,20000,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-0.88,-92.5,61,1834,621,556,0.0,0.0,0,110,0.00,0.00,-85.82,0.000,16386,0.000,0.000,53,1834,2904,2874,2935,0,0,0,0,0,0,15.09,28.83,15.11
$GC,113,-0.88,-92.5,53,1834,2874,2934,3.8,-9.4,15,139,13.77,2.28,-3.00,0.000,18692,0.285,0.069,2457,3213,3074,3062,3086,0,0,0,0,0,0,14.71,14.21,14.90
$GC,256,-0.88,-92.5,2456,3213,3065,3084,37.1,-18.6,42,264,0.08,2.33,0.00,0.000,3078,0.275,0.044,2471,1801,3075,3067,3083,0,0,0,0,0,0,14.83,14.93,14.97
$GC,328,-0.88,-92.5,2471,1802,3067,3082,49.6,-18.5,55,335,0.00,0.00,0.00,0.000,2054,0.000,0.000,2471,1801,3074,3066,3082,0,0,0,0,0,0,15.18,15.19,15.18
$GC,397,-0.88,-92.5,2471,1802,3067,3082,63.3,-20.5,68,404,0.00,2.35,0.00,0.000,2564,0.000,0.063,2471,403,3074,3067,3081,0,0,0,0,0,0,15.19,14.97,15.19
$GC,481,-0.88,-92.5,2471,402,3068,3081,78.8,-14.2,84,488,0.00,2.28,0.00,0.000,3078,0.000,0.035,2463,1806,3074,3068,3081,0,0,0,0,0,0,15.03,14.96,15.04
$GC,551,-0.88,-92.5,2463,1809,3069,3081,88.3,-15.1,97,557,0.00,2.30,0.00,0.000,2308,0.000,0.052,2453,3212,3074,3069,3080,0,0,0,0,0,0,15.21,14.97,15.21
$GC,721,-0.88,-92.5,2453,3212,3069,3080,115.7,-17.9,130,729,0.10,2.30,0.00,0.000,3078,0.236,0.044,2473,1811,3074,3069,3080,0,0,0,0,0,0,14.90,14.99,15.04
$GC,792,-0.88,-92.5,2472,1811,3070,3080,128.0,-17.3,143,799,0.00,2.35,0.00,0.000,2308,0.000,0.054,2472,3218,3075,3070,3080,0,0,0,0,0,0,15.23,15.02,15.27
$GC,862,-0.88,-92.5,2473,3218,3070,3080,139.0,-14.3,156,872,0.00,2.30,0.00,0.000,3078,0.000,0.040,2473,1805,3075,3070,3080,0,0,0,0,0,0,15.11,15.03,15.13
$GC,936,-0.88,-92.5,2472,1805,3070,3080,150.7,-17.4,169,942,0.00,0.00,0.00,0.000,2054,0.000,0.000,2473,1805,3075,3070,3080,0,0,0,0,0,0,15.23,15.23,15.23
$GC,1005,-0.88,-92.5,2473,1804,3069,3079,161.5,-16.2,182,1012,0.00,2.35,0.00,0.000,2308,0.000,0.057,2464,3218,3075,3070,3080,0,0,0,0,0,0,15.23,15.02,15.23
$GC,1044,-0.88,-92.5,2468,3218,3068,3080,167.8,-16.8,189,1051,0.00,2.30,0.00,0.000,3078,0.000,0.045,2464,1814,3075,3070,3080,0,0,0,0,0,0,15.12,15.03,15.13
$GC,1114,-0.88,-92.5,2464,1813,3070,3080,178.6,-14.9,202,1121,0.00,2.35,0.00,0.000,2564,0.000,0.060,2464,402,3075,3070,3080,0,0,0,0,0,0,15.24,15.01,15.23
$GC,1145,-0.88,-92.5,2463,402,3070,3080,183.5,-16.3,207,1152,0.08,2.28,0.00,0.000,3078,0.287,0.034,2470,1824,3075,3070,3080,0,0,0,0,0,0,14.85,14.99,15.00
$GC,1217,-0.88,-92.5,2470,1827,3070,3080,194.2,-17.0,220,1224,0.00,2.38,0.00,0.000,2564,0.000,0.057,2471,404,3075,3070,3080,0,0,0,0,0,0,15.24,15.02,15.24
$GC,1240,-0.88,-92.5,2470,404,3070,3080,198.1,-16.9,224,1247,0.00,2.25,0.00,0.000,3078,0.000,0.035,2463,1807,3075,3070,3080,0,0,0,0,0,0,15.05,14.98,15.05
$STATE,1309,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1309,begin apogee
$GC,1313,-0.17,0.0,2463,1810,3070,3080,209.4,-15.4,237,1388,1.17,0.00,67.12,0.986,10246,0.163,0.000,2700,1811,2699,2715,2683,0,0,0,0,0,0,14.92,14.74,14.28
$STATE,1390,end apogee,CONTROL_FINISHED_OK
$STATE,1391,begin climb
$GC,1392,0.88,92.5,2696,1810,2715,2682,213.1,0.0,250,1477,1.52,2.45,73.60,0.989,10756,0.081,0.061,3030,393,2320,2342,2299,0,0,0,0,0,0,14.76,14.53,14.18
$GC,1589,0.91,116.0,3030,392,2337,2292,202.6,8.3,285,1614,0.00,2.30,19.33,0.919,11270,0.000,0.034,3030,1807,2226,2251,2202,0,0,0,0,0,0,14.90,14.82,14.28
$GC,1676,0.91,116.0,3030,1807,2249,2198,194.8,11.0,301,1681,0.00,0.00,0.00,0.000,2054,0.000,0.000,3030,1807,2223,2249,2198,0,0,0,0,0,0,15.04,15.04,15.04
$GC,1743,0.91,116.0,3036,1807,2248,2197,185.6,12.1,314,1750,0.00,2.28,0.00,0.000,2308,0.000,0.047,3030,3196,2221,2246,2196,0,0,0,0,0,0,15.09,14.86,15.09
$GC,1798,0.91,116.0,3030,3196,2245,2197,178.8,11.6,324,1804,0.00,2.33,0.00,0.000,3078,0.000,0.045,3033,1789,2221,2245,2197,0,0,0,0,0,0,14.94,14.86,14.96
$GC,1867,0.91,116.0,3033,1789,2244,2196,170.9,13.0,337,1873,0.00,0.00,0.00,0.000,2054,0.000,0.000,3032,1789,2220,2244,2196,0,0,0,0,0,0,15.14,15.14,15.14
$GC,1935,0.91,116.0,3033,1789,2244,2196,161.9,10.0,350,1941,0.00,2.35,0.00,0.000,2564,0.000,0.066,3033,394,2219,2243,2196,0,0,0,0,0,0,15.17,14.94,15.17
$GC,2000,0.92,123.3,3033,393,2242,2196,154.7,9.4,362,2014,0.00,2.28,6.43,0.726,11270,0.000,0.033,3033,1808,2196,2221,2172,0,0,0,0,0,0,15.07,15.00,14.48
$GC,2077,0.92,123.3,3032,1808,2221,2170,146.4,11.3,376,2082,0.00,0.00,0.00,0.000,2054,0.000,0.000,3033,1808,2195,2221,2170,0,0,0,0,0,0,15.16,15.18,15.16
$GC,2144,0.92,123.3,3033,1808,2220,2169,138.7,10.6,389,2151,0.00,2.28,0.00,0.000,2308,0.000,0.047,3033,3197,2194,2219,2169,0,0,0,0,0,0,15.19,14.95,15.19
$GC,2284,0.92,123.3,3033,3197,2218,2168,123.7,10.1,416,2290,0.00,2.30,0.00,0.000,3078,0.000,0.047,3033,1800,2193,2218,2168,0,0,0,0,0,0,15.07,14.97,15.07
$GC,2353,0.92,123.3,3033,1801,2218,2168,116.8,10.9,429,2360,0.00,2.38,0.00,0.000,2564,0.000,0.067,3033,398,2192,2218,2166,0,0,0,0,0,0,15.21,14.94,15.22
$GC,2382,0.92,123.3,3033,398,2215,2168,113.4,10.6,434,2389,0.00,2.25,0.00,0.000,3078,0.000,0.034,3033,1806,2192,2217,2167,0,0,0,0,0,0,15.10,15.02,15.11
$GC,2451,0.93,130.8,3033,1807,2217,2168,106.9,9.4,447,2465,0.00,2.28,7.12,0.734,10500,0.000,0.047,3033,3195,2166,2193,2140,0,0,0,0,0,0,15.21,14.93,14.52
$GC,2647,0.93,134.9,3033,3195,2190,2138,87.4,9.7,485,2660,0.00,2.30,4.68,0.605,11270,0.000,0.050,3033,1803,2147,2175,2120,0,0,0,0,0,0,15.04,14.96,14.46
$GC,2722,0.93,134.9,3033,1803,2176,2121,79.5,11.7,499,2729,0.00,2.30,0.00,0.000,2308,0.000,0.049,3033,3198,2147,2175,2120,0,0,0,0,0,0,15.21,14.95,15.21
$GC,2807,0.97,166.7,3032,3198,2175,2121,70.0,7.7,515,2839,0.05,2.33,25.98,0.844,11270,0.271,0.047,3061,1794,2020,2051,1989,0,0,0,0,0,0,14.93,15.02,14.48
$GC,2902,0.97,166.7,3061,1794,2048,1985,61.7,12.3,532,2909,0.00,2.38,0.00,0.000,2564,0.000,0.066,3071,388,2015,2046,1985,0,0,0,0,0,0,15.14,14.92,15.14
$GC,2940,0.97,166.7,3071,388,2043,1985,57.3,11.4,539,2948,0.00,2.28,0.00,0.000,1030,0.000,0.034,3071,1799,2014,2043,1985,0,0,0,0,0,0,15.03,14.97,15.04
$GC,3012,1.00,190.8,3071,1799,2043,1984,51.1,8.2,552,3036,0.00,0.00,19.33,0.804,10758,0.000,0.000,3071,1799,1919,1952,1887,0,0,0,0,0,0,15.16,14.89,14.49
$GC,3098,1.00,190.8,3071,1799,1951,1885,42.3,11.3,568,3104,0.00,2.30,0.00,0.000,2308,0.000,0.049,3071,3193,1918,1951,1885,0,0,0,0,0,0,15.12,14.86,15.13
$GC,3146,1.00,190.8,3071,3195,1949,1885,36.0,13.7,577,3153,0.00,2.33,0.00,0.000,3078,0.000,0.050,3074,1797,1917,1950,1885,0,0,0,0,0,0,15.03,14.94,15.04
$GC,3216,1.03,213.1,3073,1797,1950,1884,29.3,8.4,590,3241,0.00,2.42,16.02,0.888,10756,0.000,0.068,3074,391,1829,1864,1795,0,0,0,0,0,0,15.16,14.82,14.43
$GC,3435,1.03,213.1,3078,389,1860,1794,3.4,10.6,632,3441,0.00,2.28,0.00,0.000,3078,0.000,0.035,3074,1800,1827,1860,1794,0,0,0,0,0,0,15.07,15.00,15.08
$STATE,3446,end climb,SURFACE_DEPTH_REACHED
$STATE,3446,begin surface coast
$FINISH,0.0,1.023548
$STATE,3473,end surface coast,CONTROL_FINISHED_OK
$STATE,3473,begin surface
$SM_CCo,3495,174.55,0.770,0,0,598,515.37
$SM_GC,0.87,13.65,0.00,174.55,0.047,0.000,0.770,123,1802,598,-8.18,-0.28,515.37,0,0,0,0,0,0,15.00,15.20,14.28
$IRIDIUM_FIX,-2950.05,3104.65,300319,134708
$TT8_MAMPS,0.020972,0.602196
$HUMID,42.00
$INTERNAL_PRESSURE,9.5467
$TCM_TEMP,22.30
$XPDR_PINGS,18
$ALTIM_BOTTOM_PING,185.5,33.3
$SC_FREEKB,3820800
$24V_AH,14.18,77.857
$10V_AH,13.96,0.000
$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,30.425,78.725,239.600,174.550,0.000,26.239,22.032,266.612,11.750,0.000,21.749,1478.821,545.055,593.672,1428.812,162.358,0.000,1163.733,0.000,969.995,0.000,46.644,0.000
$DEVICE_MAMPS,286.875,68.850,989.145,769.590,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3534.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,34.920,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,16728,639
$CAP_FILE_SIZE,120031,0
$CFSIZE,2097086464,2057338880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.143,45.56,1
$GPS,300319,160931,-3001.082,3104.044,8,0.9,27,-25.0,0.3,145.6,9,5.7