version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 327
start: 4 11 119 22 55 44
data:
$ID,574
$MISSION,3
$DIVE,327
$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,300
$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,29
$R_STBD_OVSHOOT,61
$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
$GPS1,110419,224431,-3337.6501,2731.0718,6,1.2,30,-27.9,2.3,233.2,8,6.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-71.3
$GPS2,110419,225519,-3338.1846,2730.4111,6,1.1,15,-27.9,2.3,224.6,8,8.9
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3332.785,2719.190
$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,327.9,20000,-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,-92.5,54,1805,620,558,0.0,0.0,0,117,0.00,0.00,-92.62,0.000,16386,0.000,0.000,54,1805,2978,2947,3009,0,0,0,0,0,0,14.95,28.83,14.96
$GC,121,-0.88,-92.5,54,1805,2947,3010,3.5,-8.0,17,146,14.20,2.35,-1.77,0.000,18692,0.295,0.074,2458,3198,3079,3063,3095,0,0,0,0,0,0,14.47,13.62,14.73
$GC,305,-0.88,-92.5,2457,3199,3067,3091,45.2,-16.3,52,312,0.05,2.35,0.00,0.000,3078,0.321,0.048,2468,1808,3079,3068,3091,0,0,0,0,0,0,14.62,14.77,14.81
$GC,377,-0.88,-92.5,2467,1808,3069,3089,55.6,-14.0,65,383,0.00,0.00,0.00,0.000,2054,0.000,0.000,2471,1808,3079,3069,3089,0,0,0,0,0,0,15.05,15.05,15.05
$GC,446,-0.88,-92.5,2467,1807,3070,3089,67.5,-17.4,78,451,0.00,0.00,0.00,0.000,2054,0.000,0.000,2467,1808,3079,3069,3089,0,0,0,0,0,0,15.07,15.07,15.07
$GC,514,-0.88,-92.5,2467,1808,3070,3089,78.7,-15.7,91,520,0.00,0.00,0.00,0.000,2054,0.000,0.000,2467,1808,3080,3070,3090,0,0,0,0,0,0,15.07,15.05,15.07
$GC,583,-0.88,-92.5,2467,1806,3070,3089,88.4,-13.0,104,589,0.00,2.35,0.00,0.000,2308,0.000,0.054,2459,3201,3079,3070,3089,0,0,0,0,0,0,15.08,14.84,15.09
$GC,707,-0.88,-92.5,2459,3200,3070,3089,104.3,-12.7,128,714,0.05,2.33,0.00,0.000,3078,0.320,0.045,2469,1809,3079,3071,3088,0,0,0,0,0,0,14.70,14.86,14.90
$GC,778,-0.88,-92.5,2469,1808,3070,3088,113.6,-15.0,141,785,0.00,2.35,0.00,0.000,2308,0.000,0.053,2461,3201,3079,3071,3088,0,0,0,0,0,0,15.10,14.85,15.10
$GC,912,-0.88,-92.5,2460,3201,3070,3088,132.3,-13.6,167,919,0.00,2.33,0.00,0.000,3078,0.000,0.044,2461,1805,3078,3071,3086,0,0,0,0,0,0,14.98,14.88,15.00
$GC,984,-0.88,-92.5,2460,1805,3068,3087,141.9,-14.7,180,991,0.00,2.35,0.00,0.000,2308,0.000,0.054,2460,3195,3079,3071,3087,0,0,0,0,0,0,15.11,14.81,15.11
$GC,1034,-0.88,-92.5,2460,3196,3071,3087,149.2,-14.7,189,1042,0.00,2.33,0.00,0.000,3078,0.000,0.045,2460,1807,3079,3071,3087,0,0,0,0,0,0,14.90,14.79,14.92
$GC,1105,-0.88,-92.5,2460,1806,3071,3087,159.6,-14.5,202,1112,0.00,2.35,0.00,0.000,2308,0.000,0.052,2451,3198,3079,3071,3087,0,0,0,0,0,0,15.11,14.83,15.11
$GC,1185,-0.88,-92.5,2451,3199,3071,3087,171.1,-13.9,217,1192,0.10,2.33,0.00,0.000,3078,0.235,0.045,2470,1808,3079,3071,3087,0,0,0,0,0,0,14.71,14.83,14.88
$GC,1255,-0.88,-92.5,2470,1807,3071,3086,181.4,-14.4,230,1262,0.00,2.35,0.00,0.000,2308,0.000,0.052,2462,3199,3079,3071,3087,0,0,0,0,0,0,15.11,14.83,15.11
$GC,1314,-0.88,-92.5,2461,3200,3071,3087,189.9,-14.1,241,1323,0.00,2.33,0.00,0.000,3078,0.000,0.045,2462,1813,3079,3071,3087,0,0,0,0,0,0,14.90,14.80,14.92
$GC,1387,-0.88,-92.5,2462,1813,3072,3087,201.5,-17.4,254,1394,0.00,2.35,0.00,0.000,2308,0.000,0.053,2453,3201,3079,3071,3087,0,0,0,0,0,0,15.12,14.87,15.13
$STATE,1841,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1841,begin apogee
$GC,1849,-0.17,0.0,2453,1800,3071,3086,266.2,-13.5,343,1926,1.27,0.00,70.05,1.089,10246,0.175,0.000,2697,1799,2699,2713,2686,0,0,0,0,0,0,14.73,14.60,14.13
$STATE,1929,end apogee,CONTROL_FINISHED_OK
$STATE,1929,begin climb
$GC,1932,0.88,92.5,2697,1799,2712,2686,270.0,0.0,357,2018,1.55,2.40,75.60,1.091,11012,0.084,0.048,3027,3192,2320,2339,2301,0,0,0,0,0,0,14.61,14.31,13.96
$GC,2237,0.90,105.9,3027,3192,2326,2295,249.2,9.0,414,2256,0.00,2.35,11.12,0.944,11270,0.000,0.047,3034,1796,2266,2287,2245,0,0,0,0,0,0,14.79,14.69,14.14
$GC,2319,0.91,112.1,3033,1796,2287,2245,240.9,9.6,429,2331,0.00,2.35,5.97,0.815,10500,0.000,0.051,3033,3183,2245,2267,2224,0,0,0,0,0,0,14.99,14.64,14.20
$GC,2551,0.92,120.1,3032,3183,2264,2222,218.4,9.4,474,2569,0.00,2.35,8.60,0.894,11270,0.000,0.054,3037,1798,2208,2230,2186,0,0,0,0,0,0,14.95,14.84,14.26
$GC,2633,0.93,134.4,3037,1798,2230,2185,210.8,9.0,489,2651,0.00,2.38,13.05,0.962,10500,0.000,0.047,3037,3187,2148,2174,2123,0,0,0,0,0,0,15.05,14.80,14.26
$GC,2733,0.93,134.4,3036,3187,2174,2122,199.8,11.6,508,2740,0.00,2.38,0.00,0.000,3078,0.000,0.052,3037,1789,2147,2173,2122,0,0,0,0,0,0,14.87,14.78,14.89
$GC,2804,0.93,134.4,3037,1789,2172,2122,191.9,11.1,521,2811,0.00,2.35,0.00,0.000,2308,0.000,0.048,3037,3187,2146,2172,2121,0,0,0,0,0,0,15.05,14.83,15.04
$GC,2843,0.93,134.4,3037,3187,2172,2121,187.3,11.1,528,2850,0.00,2.35,0.00,0.000,3078,0.000,0.051,3040,1799,2146,2172,2121,0,0,0,0,0,0,14.90,14.80,14.92
$GC,2914,0.93,134.4,3039,1799,2171,2120,180.0,10.3,541,2921,0.00,2.35,0.00,0.000,2308,0.000,0.050,3040,3191,2146,2171,2121,0,0,0,0,0,0,15.07,14.85,15.07
$GC,2953,0.93,134.4,3040,3191,2170,2120,175.6,11.3,548,2960,0.00,2.38,0.00,0.000,3078,0.000,0.052,3040,1792,2145,2170,2120,0,0,0,0,0,0,14.92,14.81,14.92
$GC,3024,0.93,134.4,3040,1791,2171,2120,168.1,10.6,561,3030,0.00,2.35,0.00,0.000,2308,0.000,0.050,3040,3186,2145,2170,2120,0,0,0,0,0,0,15.09,14.86,15.09
$GC,3083,0.93,134.4,3040,3185,2169,2120,161.4,11.2,572,3090,0.00,2.35,0.00,0.000,3078,0.000,0.051,3046,1799,2144,2169,2119,0,0,0,0,0,0,14.92,14.83,14.94
$GC,3154,0.93,134.4,3044,1798,2169,2119,153.8,10.6,585,3161,0.00,2.33,0.00,0.000,2308,0.000,0.050,3047,3186,2143,2167,2120,0,0,0,0,0,0,15.11,14.88,15.10
$GC,3225,0.93,134.4,3046,3186,2168,2119,146.0,11.3,598,3231,0.00,2.35,0.00,0.000,3078,0.000,0.051,3051,1795,2144,2169,2119,0,0,0,0,0,0,14.97,14.87,15.00
$GC,3295,0.93,134.4,3050,1795,2168,2120,137.5,13.0,611,3300,0.00,0.00,0.00,0.000,2054,0.000,0.000,3051,1795,2144,2169,2119,0,0,0,0,0,0,15.09,15.09,15.09
$GC,3363,0.93,134.4,3050,1795,2168,2118,129.2,11.4,624,3369,0.00,2.35,0.00,0.000,2308,0.000,0.052,3050,3190,2143,2168,2118,0,0,0,0,0,0,15.10,14.83,15.11
$GC,3539,0.95,147.6,3050,3191,2168,2118,111.6,9.1,658,3557,0.00,2.38,10.90,0.880,11270,0.000,0.053,3050,1790,2096,2123,2069,0,0,0,0,0,0,14.99,14.88,14.34
$GC,3621,0.96,157.6,3050,1790,2123,2069,103.3,9.3,673,3633,0.00,0.00,10.15,0.856,10246,0.000,0.000,3051,1790,2055,2084,2027,0,0,0,0,0,0,15.08,14.85,14.33
$GC,3697,0.97,160.1,3050,1791,2080,2024,95.6,9.8,687,3704,0.00,2.38,0.00,0.000,2308,0.000,0.051,3053,3191,2052,2079,2025,0,0,0,0,0,0,15.04,14.75,15.05
$GC,3873,0.97,160.1,3050,3192,2078,2023,75.8,11.4,721,3880,0.00,2.40,0.00,0.000,3078,0.000,0.054,3051,1793,2050,2078,2023,0,0,0,0,0,0,14.92,14.81,14.92
$GC,3944,0.97,160.8,3050,1794,2079,2022,68.2,10.0,734,3950,0.00,0.00,0.00,0.000,2054,0.000,0.000,3050,1794,2050,2078,2022,0,0,0,0,0,0,15.08,15.09,15.09
$GC,4013,0.97,160.8,3050,1793,2078,2022,60.6,11.5,747,4019,0.00,0.00,0.00,0.000,2054,0.000,0.000,3051,1794,2050,2078,2022,0,0,0,0,0,0,15.09,15.10,15.10
$GC,4082,0.98,173.6,3050,1793,2077,2021,53.8,9.1,760,4100,0.00,2.47,12.68,0.865,10756,0.000,0.073,3051,388,1990,2020,1961,0,0,0,0,0,0,15.10,14.83,14.23
$GC,4310,0.98,173.6,3051,388,2017,1960,32.3,10.0,804,4317,0.00,2.30,0.00,0.000,3078,0.000,0.037,3051,1789,1989,2018,1960,0,0,0,0,0,0,14.97,14.89,14.98
$GC,4381,1.03,210.7,3050,1791,2018,1959,26.6,7.3,817,4416,0.05,2.40,24.58,1.027,10500,0.264,0.050,3081,3197,1839,1871,1807,0,0,0,0,0,0,14.81,14.78,14.29
$GC,4470,1.03,214.1,3081,3196,1871,1807,18.6,9.8,833,4477,0.00,2.38,2.10,0.304,11270,0.000,0.053,3084,1800,1826,1859,1794,0,0,0,0,0,0,14.88,14.78,14.00
$GC,4542,1.04,219.0,3083,1799,1859,1794,12.1,9.7,846,4555,0.00,2.40,3.08,0.536,10500,0.000,0.052,3084,3196,1806,1839,1773,0,0,0,0,0,0,15.02,14.81,14.23
$GC,4623,1.04,219.0,3083,3197,1839,1773,3.7,10.1,861,4630,0.00,2.38,0.00,0.000,3078,0.000,0.053,3084,1801,1806,1840,1773,0,0,0,0,0,0,14.88,14.78,14.89
$STATE,4634,end climb,SURFACE_DEPTH_REACHED
$STATE,4634,begin surface coast
$FINISH,0.2,1.024856
$STATE,4661,end surface coast,CONTROL_FINISHED_OK
$STATE,4661,begin surface
$SM_CCo,4685,184.57,0.800,0,0,597,515.37
$SM_GC,0.78,13.95,0.00,184.57,0.047,0.000,0.800,122,1799,597,-8.17,-0.40,515.37,0,0,0,0,0,0,14.87,15.07,14.10
$IRIDIUM_FIX,-3320.21,2736.36,110419,210241
$TT8_MAMPS,0.021721,0.92876
$HUMID,44.17
$INTERNAL_PRESSURE,9.36116
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,240.8,34.8
$SC_FREEKB,3749344
$24V_AH,13.62,109.071
$10V_AH,13.75,0.000
$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,31.225,89.625,247.875,184.575,0.000,22.160,44.787,314.870,10.000,0.000,16.842,1895.652,884.675,619.164,1857.118,264.358,0.000,1344.357,0.000,1321.017,0.000,64.749,0.000
$DEVICE_MAMPS,320.535,74.205,1090.890,800.190,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4743.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,32.018,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,23414,868
$CAP_FILE_SIZE,149190,0
$CFSIZE,2097086464,2030239744
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,4667.43,0x2131ca,7,24
$GPS,120419,001801,-3340.841,2726.935,8,0.8,26,-28.0,2.4,245.3,11,8.3