version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 316
start: 4 10 119 15 23 44
data:
$ID,574
$MISSION,3
$DIVE,316
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$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,333
$T_MISSION,343
$T_ABORT,358
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,125
$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,2
$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,39
$R_STBD_OVSHOOT,58
$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,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
$GPS1,100419,151301,-3246.9954,2834.4939,9,1.0,33,-27.4,2.0,218.3,8,6.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-64.4
$GPS2,100419,152319,-3247.5852,2833.8318,6,1.0,13,-27.4,2.0,242.0,9,9.5
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3253.780,2844.367
$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,152.4,20000,-23.0,-10.010,-25.49,1417
$D_GRID,1000
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.88,-92.5,54,1804,626,544,0.0,0.0,0,101,0.00,0.00,-76.85,0.000,16386,0.000,0.000,53,1804,2676,2647,2706,0,0,0,0,0,0,15.11,28.83,15.12
$GC,104,-0.88,-92.5,53,1804,2648,2705,3.1,-3.2,14,134,13.77,2.35,-7.50,0.000,18948,0.281,0.083,2465,406,3079,3074,3084,0,0,0,0,0,0,14.72,13.77,14.97
$GC,247,-0.88,-92.5,2465,406,3075,3084,42.1,-21.2,41,255,0.08,2.25,0.00,0.000,3078,0.296,0.032,2471,1805,3079,3075,3084,0,0,0,0,0,0,14.83,14.99,15.00
$GC,317,-0.88,-92.5,2471,1808,3075,3084,54.0,-16.9,54,324,0.00,2.35,0.00,0.000,2564,0.000,0.057,2471,409,3079,3075,3084,0,0,0,0,0,0,15.19,14.97,15.19
$GC,397,-0.88,-92.5,2471,408,3076,3084,68.3,-19.0,69,404,0.00,2.28,0.00,0.000,3078,0.000,0.031,2462,1827,3078,3073,3083,0,0,0,0,0,0,15.09,15.02,15.10
$GC,468,-0.88,-92.5,2462,1830,3076,3084,79.9,-17.1,82,477,0.00,2.25,0.00,0.000,2308,0.000,0.047,2452,3216,3080,3076,3084,0,0,0,0,0,0,15.21,14.99,15.21
$GC,545,-0.88,-92.5,2452,3216,3076,3084,91.4,-13.8,96,553,0.10,2.30,0.00,0.000,3078,0.237,0.040,2472,1805,3080,3076,3084,0,0,0,0,0,0,14.88,14.97,15.04
$GC,616,-0.88,-92.5,2471,1804,3077,3083,101.1,-13.0,109,623,0.00,2.33,0.00,0.000,2564,0.000,0.057,2472,408,3080,3078,3083,0,0,0,0,0,0,15.22,15.00,15.23
$GC,726,-0.88,-92.5,2472,408,3077,3083,116.2,-13.9,130,733,0.00,2.25,0.00,0.000,3078,0.000,0.031,2464,1824,3080,3077,3083,0,0,0,0,0,0,15.11,15.03,15.13
$GC,797,-0.88,-92.5,2463,1827,3077,3083,126.3,-14.5,143,804,0.00,2.38,0.00,0.000,2564,0.000,0.057,2464,401,3079,3076,3083,0,0,0,0,0,0,15.23,15.00,15.23
$GC,848,-0.88,-92.5,2463,401,3078,3083,134.9,-15.7,152,856,0.08,2.25,0.00,0.000,3078,0.285,0.030,2468,1814,3079,3077,3082,0,0,0,0,0,0,14.88,15.04,15.04
$GC,919,-0.88,-92.5,2468,1817,3077,3083,144.8,-13.0,165,927,0.00,2.28,0.00,0.000,2308,0.000,0.046,2459,3216,3080,3077,3083,0,0,0,0,0,0,15.23,14.95,15.23
$GC,994,-0.88,-92.5,2458,3216,3077,3083,154.6,-12.1,179,1002,0.05,2.30,0.00,0.000,3078,0.318,0.039,2469,1802,3080,3077,3083,0,0,0,0,0,0,14.80,14.95,14.98
$GC,1065,-0.88,-92.5,2469,1801,3077,3082,163.1,-12.0,192,1071,0.00,0.00,0.00,0.000,2054,0.000,0.000,2470,1801,3080,3077,3083,0,0,0,0,0,0,15.23,15.23,15.24
$GC,1135,-0.88,-92.5,2469,1801,3077,3078,171.4,-12.4,205,1141,0.00,0.00,0.00,0.000,2054,0.000,0.000,2469,1801,3079,3077,3082,0,0,0,0,0,0,15.24,15.25,15.24
$GC,1205,-0.88,-92.5,2469,1801,3077,3083,180.1,-12.5,218,1212,0.00,2.33,0.00,0.000,2564,0.000,0.057,2469,404,3079,3077,3082,0,0,0,0,0,0,15.24,14.97,15.24
$GC,1229,-0.88,-92.5,2469,403,3077,3082,183.4,-12.7,222,1236,0.00,2.25,0.00,0.000,3078,0.000,0.030,2461,1813,3079,3077,3082,0,0,0,0,0,0,15.04,14.97,15.05
$GC,1300,-0.88,-92.5,2461,1817,3077,3082,192.7,-12.9,235,1307,0.00,2.38,0.00,0.000,2564,0.000,0.057,2461,402,3079,3076,3082,0,0,0,0,0,0,15.23,14.97,15.24
$GC,1324,-0.88,-92.5,2461,401,3077,3082,196.2,-13.9,239,1332,0.08,2.28,0.00,0.000,3078,0.285,0.031,2469,1806,3079,3077,3082,0,0,0,0,0,0,14.80,14.94,14.97
$GC,1398,-0.88,-92.5,2468,1809,3076,3081,205.4,-10.5,252,1404,0.00,2.35,0.00,0.000,2564,0.000,0.054,2469,399,3079,3077,3082,0,0,0,0,0,0,15.26,15.02,15.26
$GC,1417,-0.88,-92.5,2468,397,3077,3082,207.8,-12.8,255,1424,0.00,2.28,0.00,0.000,3078,0.000,0.031,2460,1827,3079,3077,3081,0,0,0,0,0,0,15.13,15.04,15.14
$GC,1487,-0.88,-92.5,2459,1831,3077,3081,215.3,-10.8,268,1494,0.00,2.38,0.00,0.000,2564,0.000,0.050,2460,399,3079,3077,3081,0,0,0,0,0,0,15.26,15.02,15.26
$GC,1542,-0.88,-92.5,2459,398,3077,3081,222.1,-14.7,278,1549,0.08,2.28,0.00,0.000,3078,0.286,0.032,2469,1819,3079,3077,3081,0,0,0,0,0,0,14.88,15.05,15.06
$STATE,1565,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1565,begin apogee
$GC,1570,-0.17,0.0,2468,1822,3077,3080,225.9,-14.6,282,1648,1.12,0.00,68.90,1.156,10246,0.153,0.000,2695,1823,2699,2718,2681,0,0,0,0,0,0,14.81,14.59,14.20
$STATE,1651,end apogee,CONTROL_FINISHED_OK
$STATE,1651,begin climb
$GC,1653,0.88,92.5,2695,1823,2718,2681,229.3,0.0,296,1739,1.52,2.42,73.95,1.157,10756,0.067,0.056,3043,398,2320,2345,2296,0,0,0,0,0,0,14.74,14.57,14.09
$GC,2246,0.88,92.5,3043,398,2333,2290,171.7,10.8,410,2253,0.00,2.28,0.00,0.000,1030,0.000,0.032,3043,1813,2310,2332,2288,0,0,0,0,0,0,15.07,15.00,15.09
$GC,2317,0.89,98.2,3043,1814,2332,2287,164.4,9.6,423,2330,0.00,2.40,3.95,0.643,8708,0.000,0.061,3047,401,2299,2324,2274,0,0,0,0,0,0,15.19,14.96,14.37
$GC,2408,0.89,98.2,3046,400,2324,2274,154.9,10.6,440,2415,0.00,2.25,0.00,0.000,1030,0.000,0.031,3047,1813,2299,2324,2274,0,0,0,0,0,0,15.08,15.01,15.10
$GC,2479,0.90,103.7,3047,1814,2323,2273,148.1,9.6,453,2491,0.00,0.00,6.28,0.946,8198,0.000,0.000,3046,1814,2276,2303,2249,0,0,0,0,0,0,15.21,14.85,14.41
$GC,2555,0.93,129.2,3046,1814,2302,2249,141.5,8.2,467,2584,0.00,2.42,21.80,1.082,10756,0.000,0.062,3047,393,2171,2201,2141,0,0,0,0,0,0,15.19,14.78,14.38
$GC,2632,0.93,129.2,3047,392,2195,2140,133.8,11.4,481,2639,0.00,2.28,0.00,0.000,3078,0.000,0.031,3047,1803,2167,2196,2139,0,0,0,0,0,0,15.00,14.92,15.02
$GC,2703,0.93,129.2,3047,1805,2196,2138,126.7,10.1,494,2710,0.00,2.28,0.00,0.000,2308,0.000,0.046,3047,3195,2166,2195,2138,0,0,0,0,0,0,15.14,14.94,15.14
$GC,2716,0.93,129.2,3047,3195,2194,2138,125.1,11.1,496,2723,0.00,2.30,0.00,0.000,3078,0.000,0.044,3050,1802,2167,2195,2140,0,0,0,0,0,0,15.03,14.94,15.05
$GC,2787,0.94,143.5,3050,1802,2194,2137,118.2,9.0,509,2805,0.00,2.38,11.35,0.980,10756,0.000,0.063,3054,392,2116,2148,2085,0,0,0,0,0,0,15.15,14.82,14.40
$GC,2919,0.95,148.0,3053,394,2145,2084,104.6,9.7,534,2932,0.00,2.25,5.45,0.772,11270,0.000,0.031,3054,1794,2095,2128,2062,0,0,0,0,0,0,14.99,14.92,14.36
$GC,2995,0.96,153.3,3053,1794,2127,2062,97.1,9.6,548,3007,0.00,0.00,5.68,0.733,10246,0.000,0.000,3053,1794,2074,2108,2041,0,0,0,0,0,0,15.16,14.77,14.33
$GC,3071,0.97,160.7,3053,1794,2107,2040,89.9,9.5,562,3084,0.00,2.42,7.47,0.859,10756,0.000,0.063,3060,393,2044,2079,2010,0,0,0,0,0,0,15.16,14.87,14.39
$GC,3143,0.97,160.7,3060,393,2074,2009,82.5,11.1,575,3150,0.00,2.28,0.00,0.000,3078,0.000,0.031,3061,1814,2041,2075,2008,0,0,0,0,0,0,15.04,14.97,15.05
$GC,3213,0.97,160.7,3060,1814,2074,2007,75.4,10.3,588,3220,0.00,2.25,0.00,0.000,2308,0.000,0.045,3056,3190,2040,2074,2006,0,0,0,0,0,0,15.17,14.90,15.16
$GC,3279,0.98,176.0,3060,3192,2073,2006,69.3,8.9,600,3298,0.00,2.30,13.18,0.957,11270,0.000,0.045,3064,1801,1981,2016,1947,0,0,0,0,0,0,15.00,14.91,14.42
$GC,3361,1.02,207.8,3063,1800,2014,1944,61.8,7.7,615,3395,0.00,2.40,25.80,1.008,10756,0.000,0.062,3064,400,1850,1889,1812,0,0,0,0,0,0,15.14,14.81,14.35
$GC,3619,1.03,214.9,3063,401,1881,1808,34.0,9.5,665,3631,0.00,2.25,5.88,0.715,11270,0.000,0.031,3064,1798,1821,1860,1783,0,0,0,0,0,0,14.96,14.90,14.37
$GC,3695,1.13,294.6,3063,1798,1863,1781,29.3,4.2,679,3763,0.15,2.42,58.25,0.998,10756,0.120,0.065,3125,393,1496,1539,1454,0,0,0,0,0,0,14.95,14.69,14.31
$STATE,3799,end climb,FINISH_DEPTH_REACHED
$STATE,3799,begin subsurface finish
$FINISH1,19.9,1.023603,200
$GC,3808,0.25,200.1,3125,1809,1538,1449,19.9,15.0,698,3822,1.45,2.47,-6.82,0.000,20996,0.175,0.086,2846,400,1888,1934,1843,0,0,0,0,0,0,14.67,13.76,14.87
$FINISH2,17.6
$STATE,3823,end subsurface finish,CONTROL_FINISHED_OK
$STATE,3823,begin surface
$IRIDIUM_FIX,-3228.84,2837.65,100419,135052
$TT8_MAMPS,0.020972,0.951979
$HUMID,47.00
$INTERNAL_PRESSURE,9.61506
$TCM_TEMP,21.10
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,200.0,35.8
$SC_FREEKB,3755552
$24V_AH,13.76,105.816
$10V_AH,13.91,0.000
$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,18.475,90.450,307.925,0.000,0.000,26.098,16.633,336.625,10.750,0.000,14.900,1501.025,670.135,457.661,1554.151,266.996,0.000,1085.906,0.000,1062.966,0.000,52.599,0.000
$DEVICE_MAMPS,318.240,85.680,1157.445,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3871.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,34.219,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,20044,700
$CAP_FILE_SIZE,126107,0
$CFSIZE,2097086464,2032762880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,100419,152319,-3247.585,2833.832,6,1.0,13,-27.4,2.0,242.0,9,9.5