version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 331
start: 4 12 119 5 14 51
data:
$ID,574
$MISSION,3
$DIVE,331
$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,34
$R_STBD_OVSHOOT,53
$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
$GPS1,120419,050401,-3348.2817,2715.7959,8,1.1,41,-28.0,2.8,236.6,9,6.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-66.5
$GPS2,120419,051427,-3348.8196,2715.1716,6,1.0,19,-28.0,2.1,215.3,9,9.8
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3343.420,2703.927
$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,328.0,20000,-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,-92.5,82,1787,620,556,0.0,0.0,0,117,0.00,0.00,-92.55,0.000,16386,0.000,0.000,77,1787,2955,2926,2985,0,0,0,0,0,0,15.00,28.83,15.00
$GC,121,-0.88,-92.5,77,1787,2926,2984,3.3,-6.9,17,146,13.88,2.38,-2.30,0.000,18692,0.287,0.073,2456,3212,3079,3065,3094,0,0,0,0,0,0,14.60,13.66,14.85
$GC,320,-0.88,-92.5,2456,3212,3068,3090,42.3,-18.1,55,327,0.08,2.35,0.00,0.000,3078,0.273,0.046,2470,1812,3079,3068,3091,0,0,0,0,0,0,14.69,14.82,14.85
$GC,392,-0.88,-92.5,2470,1812,3069,3089,55.4,-17.3,68,399,0.00,2.35,0.00,0.000,2308,0.000,0.054,2462,3205,3079,3069,3089,0,0,0,0,0,0,15.09,14.86,15.11
$GC,508,-0.88,-92.5,2461,3205,3070,3088,72.6,-11.2,90,515,0.00,2.35,0.00,0.000,3078,0.000,0.047,2462,1804,3078,3069,3088,0,0,0,0,0,0,14.90,14.82,14.91
$GC,579,-0.88,-92.5,2461,1805,3070,3088,83.4,-15.3,103,586,0.00,2.38,0.00,0.000,2308,0.000,0.052,2452,3215,3079,3070,3088,0,0,0,0,0,0,15.11,14.81,15.12
$GC,777,-0.88,-92.5,2452,3215,3070,3087,110.7,-13.3,141,784,0.10,2.35,0.00,0.000,3078,0.239,0.045,2472,1804,3079,3071,3088,0,0,0,0,0,0,14.78,14.90,14.95
$GC,847,-0.88,-92.5,2471,1803,3071,3088,120.0,-11.5,154,853,0.00,0.00,0.00,0.000,2054,0.000,0.000,2472,1803,3079,3071,3088,0,0,0,0,0,0,15.14,15.14,15.14
$GC,915,-0.88,-92.5,2470,1803,3071,3088,129.0,-12.2,167,922,0.00,2.38,0.00,0.000,2308,0.000,0.053,2463,3212,3079,3071,3088,0,0,0,0,0,0,15.14,14.86,15.14
$GC,1025,-0.88,-92.5,2463,3212,3071,3087,143.1,-12.7,188,1032,0.00,2.35,0.00,0.000,3078,0.000,0.045,2463,1805,3079,3071,3087,0,0,0,0,0,0,14.97,14.88,14.99
$GC,1096,-0.88,-92.5,2462,1804,3072,3087,152.4,-13.9,201,1103,0.00,2.38,0.00,0.000,2564,0.000,0.064,2463,409,3079,3072,3087,0,0,0,0,0,0,15.14,14.90,15.15
$GC,1151,-0.88,-92.5,2463,409,3072,3091,159.6,-13.2,211,1161,0.08,2.28,0.00,0.000,3078,0.284,0.034,2468,1808,3079,3072,3087,0,0,0,0,0,0,14.76,14.90,14.95
$GC,1224,-0.88,-92.5,2468,1809,3072,3087,168.9,-12.4,224,1230,0.00,2.33,0.00,0.000,2308,0.000,0.051,2459,3208,3078,3071,3086,0,0,0,0,0,0,15.15,14.81,15.15
$GC,1268,-0.88,-92.5,2459,3211,3071,3087,174.5,-12.1,232,1278,0.05,2.33,0.00,0.000,3078,0.321,0.044,2470,1808,3079,3072,3087,0,0,0,0,0,0,14.75,14.92,14.95
$GC,1342,-0.88,-92.5,2469,1809,3072,3087,183.7,-12.8,245,1349,0.00,2.35,0.00,0.000,2308,0.000,0.051,2461,3213,3079,3072,3087,0,0,0,0,0,0,15.15,14.91,15.16
$GC,1422,-0.88,-92.5,2461,3214,3071,3086,192.5,-12.1,260,1428,0.00,2.33,0.00,0.000,3078,0.000,0.046,2461,1816,3079,3072,3086,0,0,0,0,0,0,15.02,14.92,15.03
$GC,1492,-0.88,-92.5,2461,1816,3073,3086,201.0,-12.1,273,1498,0.00,2.35,0.00,0.000,2308,0.000,0.054,2461,3211,3079,3072,3086,0,0,0,0,0,0,15.15,14.91,15.16
$GC,1574,-0.88,-92.5,2461,3211,3071,3086,211.3,-12.2,288,1580,0.00,2.33,0.00,0.000,3078,0.000,0.046,2461,1811,3078,3071,3086,0,0,0,0,0,0,15.02,14.92,15.04
$GC,1644,-0.88,-92.5,2460,1811,3072,3086,220.4,-13.4,301,1650,0.00,2.35,0.00,0.000,2308,0.000,0.051,2461,3213,3079,3072,3086,0,0,0,0,0,0,15.16,14.92,15.16
$GC,1708,-0.88,-92.5,2460,3214,3071,3086,229.3,-12.8,313,1715,0.00,2.33,0.00,0.000,3078,0.000,0.044,2461,1809,3078,3071,3086,0,0,0,0,0,0,15.04,14.93,15.05
$STATE,1720,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1720,begin apogee
$GC,1725,-0.17,0.0,2461,1808,3072,3086,230.9,-12.4,315,1803,1.20,0.00,69.32,1.046,10246,0.168,0.000,2694,1808,2701,2715,2687,0,0,0,0,0,0,14.75,14.55,14.19
$STATE,1806,end apogee,CONTROL_FINISHED_OK
$STATE,1806,begin climb
$GC,1808,0.88,92.5,2694,1808,2714,2686,234.2,0.0,329,1895,1.58,2.38,75.45,1.037,11012,0.083,0.045,3029,3199,2321,2341,2301,0,0,0,0,0,0,14.65,14.37,14.02
$GC,2018,0.88,92.5,3029,3200,2335,2297,222.1,11.0,367,2024,0.00,2.38,0.00,0.000,3078,0.000,0.050,3033,1804,2315,2335,2296,0,0,0,0,0,0,14.82,14.72,14.83
$GC,2088,0.88,92.5,3033,1803,2334,2295,214.8,10.7,380,2095,0.00,2.35,0.00,0.000,2308,0.000,0.049,3032,3199,2314,2333,2295,0,0,0,0,0,0,14.98,14.78,15.00
$GC,2189,0.88,94.1,3033,3199,2332,2294,205.5,9.9,399,2196,0.00,2.35,0.00,0.000,3078,0.000,0.047,3037,1797,2313,2332,2294,0,0,0,0,0,0,14.93,14.83,14.95
$GC,2260,0.92,124.0,3037,1797,2332,2292,198.8,7.8,412,2295,0.00,2.40,25.80,0.987,10500,0.000,0.048,3037,3202,2191,2215,2168,0,0,0,0,0,0,15.08,14.75,14.28
$GC,2388,0.92,124.0,3037,3202,2212,2165,184.5,12.8,436,2395,0.00,2.38,0.00,0.000,3078,0.000,0.050,3037,1799,2188,2212,2164,0,0,0,0,0,0,14.83,14.73,14.83
$GC,2459,0.92,124.0,3037,1799,2211,2163,176.2,11.8,449,2466,0.00,2.35,0.00,0.000,2308,0.000,0.050,3037,3197,2187,2211,2163,0,0,0,0,0,0,15.05,14.76,15.05
$GC,2518,0.92,124.0,3036,3197,2211,2163,168.5,12.6,460,2525,0.00,2.35,0.00,0.000,3078,0.000,0.050,3040,1801,2187,2211,2163,0,0,0,0,0,0,14.87,14.77,14.88
$GC,2589,0.92,124.0,3039,1800,2210,2161,160.0,12.6,473,2595,0.00,0.00,0.00,0.000,2054,0.000,0.000,3040,1801,2186,2210,2162,0,0,0,0,0,0,15.09,15.09,15.09
$GC,2658,0.92,124.0,3039,1800,2210,2163,151.2,12.6,486,2663,0.00,0.00,0.00,0.000,2054,0.000,0.000,3040,1800,2185,2210,2161,0,0,0,0,0,0,15.09,15.10,15.10
$GC,2726,0.92,124.0,3040,1801,2210,2160,142.2,12.0,499,2733,0.00,2.42,0.00,0.000,2564,0.000,0.070,3040,387,2184,2209,2160,0,0,0,0,0,0,15.11,14.85,15.11
$GC,2860,0.92,124.0,3045,386,2205,2160,126.8,10.8,525,2867,0.00,2.33,0.00,0.000,3078,0.000,0.035,3040,1803,2181,2202,2160,0,0,0,0,0,0,15.00,14.92,15.02
$GC,2932,0.93,132.2,3039,1812,2205,2159,120.0,9.4,538,2944,0.00,0.00,5.97,0.766,10246,0.000,0.000,3040,1805,2160,2185,2135,0,0,0,0,0,0,15.11,14.75,14.26
$GC,3008,0.93,134.5,3040,1804,2185,2135,112.9,9.8,552,3015,0.00,0.00,4.07,0.594,10246,0.000,0.000,3040,1805,2150,2176,2124,0,0,0,0,0,0,15.11,14.87,14.31
$GC,3079,0.95,148.9,3039,1805,2175,2124,106.6,9.0,565,3098,0.00,2.38,13.52,0.884,10500,0.000,0.050,3040,3204,2090,2118,2062,0,0,0,0,0,0,15.11,14.85,14.38
$GC,3210,0.95,148.9,3039,3204,2116,2061,92.6,11.0,590,3217,0.00,2.38,0.00,0.000,3078,0.000,0.052,3040,1800,2088,2116,2060,0,0,0,0,0,0,14.97,14.86,14.97
$GC,3281,0.95,148.9,3040,1800,2116,2060,85.2,10.5,603,3287,0.00,0.00,0.00,0.000,2054,0.000,0.000,3040,1800,2091,2115,2068,0,0,0,0,0,0,15.09,15.09,15.09
$GC,3350,0.96,153.0,3040,1800,2114,2059,77.8,9.7,616,3362,0.00,2.38,4.45,0.610,10500,0.000,0.050,3040,3195,2074,2102,2046,0,0,0,0,0,0,15.10,14.81,14.33
$GC,3542,0.98,175.1,3040,3195,2101,2044,62.1,8.4,653,3566,0.00,2.35,18.40,0.869,11270,0.000,0.050,3044,1798,1985,2016,1954,0,0,0,0,0,0,15.00,14.90,14.32
$GC,3629,0.98,175.8,3043,1799,2015,1953,53.9,10.0,669,3635,0.00,2.35,0.00,0.000,2308,0.000,0.050,3044,3195,1984,2015,1954,0,0,0,0,0,0,15.06,14.77,15.06
$GC,3743,0.98,175.8,3043,3194,2014,1952,42.0,10.9,691,3750,0.00,2.35,0.00,0.000,3078,0.000,0.051,3044,1801,1983,2014,1952,0,0,0,0,0,0,14.88,14.78,14.89
$GC,3814,0.98,175.8,3043,1802,2013,1951,34.9,10.7,704,3821,0.00,2.35,0.00,0.000,2308,0.000,0.050,3044,3196,1982,2013,1951,0,0,0,0,0,0,15.10,14.83,15.10
$GC,3900,0.98,175.8,3043,3195,2012,1951,25.9,10.1,720,3906,0.00,2.35,0.00,0.000,3078,0.000,0.051,3044,1801,1981,2012,1951,0,0,0,0,0,0,14.95,14.85,14.96
$GC,3971,1.01,195.2,3043,1805,2012,1950,19.4,8.6,733,3995,0.08,2.38,14.48,0.873,10500,0.195,0.050,3080,3198,1902,1934,1871,0,0,0,0,0,0,14.78,14.83,14.33
$STATE,4147,end climb,SURFACE_DEPTH_REACHED
$STATE,4147,begin surface coast
$FINISH,0.3,1.025194
$STATE,4173,end surface coast,CONTROL_FINISHED_OK
$STATE,4173,begin surface
$SM_CCo,4200,196.30,0.796,0,0,597,515.37
$SM_GC,0.78,13.90,2.38,196.30,0.048,0.047,0.796,128,1811,597,-8.18,0.96,515.37,0,0,0,0,0,0,14.88,14.88,14.14
$IRIDIUM_FIX,-3330.55,2719.09,120419,033122
$TT8_MAMPS,0.021721,0.904792
$HUMID,45.23
$INTERNAL_PRESSURE,9.36116
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,205.2,34.5
$SC_FREEKB,3747296
$24V_AH,13.66,109.923
$10V_AH,13.80,0.000
$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,30.925,89.500,231.475,196.300,0.000,25.341,30.050,309.001,8.250,0.000,20.724,1690.891,775.315,618.234,1682.616,258.627,0.000,1279.759,0.000,1173.542,0.000,54.094,0.000
$DEVICE_MAMPS,320.535,72.675,1045.755,795.600,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4252.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,33.882,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,20088,772
$CAP_FILE_SIZE,137746,0
$CFSIZE,2097086464,2029453312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,120419,062931,-3349.889,2713.043,8,0.9,43,-28.0,2.2,206.2,9,4.9