version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 342
start: 4 12 119 17 39 10
data:
$ID,574
$MISSION,3
$DIVE,342
$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,120
$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,32
$R_STBD_OVSHOOT,34
$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
$GPS1,120419,172857,-3359.1433,2659.1138,7,0.9,16,-28.1,2.5,240.1,9,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-63.6
$GPS2,120419,173845,-3359.4626,2658.6042,7,0.9,14,-28.1,1.7,231.8,9,10.0
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3404.862,2709.896
$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,148.1,20000,-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,22,-0.88,-92.5,72,1814,624,553,0.0,0.0,0,122,0.00,0.00,-96.97,0.000,16390,0.000,0.000,66,1814,3078,3048,3109,0,0,0,0,0,0,15.00,13.61,15.02
$GC,127,-0.88,-92.5,66,1814,3049,3109,3.9,-9.7,18,146,13.98,2.42,0.00,0.000,2308,0.290,0.047,2463,3240,3079,3052,3106,0,0,0,0,0,0,14.60,14.79,14.84
$GC,204,-0.88,-92.5,2456,3240,3061,3099,30.6,-24.8,32,211,0.08,2.40,0.00,0.000,3078,0.283,0.048,2469,1810,3080,3062,3098,0,0,0,0,0,0,14.62,14.84,14.80
$GC,275,-0.88,-92.5,2469,1810,3064,3095,44.4,-18.6,45,282,0.00,2.42,0.00,0.000,2564,0.000,0.066,2470,396,3080,3065,3095,0,0,0,0,0,0,15.08,14.79,15.08
$GC,539,-0.88,-92.5,2469,396,3065,3094,89.3,-18.4,96,547,0.00,2.35,0.00,0.000,3078,0.000,0.038,2461,1823,3080,3067,3093,0,0,0,0,0,0,14.90,14.82,14.92
$GC,612,-0.88,-92.5,2461,1826,3068,3093,100.0,-13.9,109,620,0.00,2.33,0.00,0.000,2308,0.000,0.054,2451,3221,3080,3067,3093,0,0,0,0,0,0,15.14,14.90,15.13
$GC,686,-0.88,-92.5,2450,3221,3067,3093,110.1,-13.8,122,694,0.10,2.38,0.00,0.000,3078,0.237,0.047,2470,1801,3080,3067,3093,0,0,0,0,0,0,14.78,14.90,14.95
$GC,757,-0.88,-92.5,2470,1801,3068,3092,119.2,-12.1,135,764,0.00,2.40,0.00,0.000,2564,0.000,0.065,2471,399,3080,3068,3092,0,0,0,0,0,0,15.14,14.89,15.14
$GC,802,-0.88,-92.5,2470,399,3068,3091,125.4,-14.5,143,809,0.00,2.33,0.00,0.000,3078,0.000,0.037,2462,1813,3079,3068,3091,0,0,0,0,0,0,15.02,14.91,15.03
$GC,874,-0.88,-92.5,2462,1816,3069,3091,134.3,-13.3,156,881,0.00,2.33,0.00,0.000,2308,0.000,0.052,2452,3215,3079,3068,3091,0,0,0,0,0,0,15.14,14.83,15.14
$GC,970,-0.88,-92.5,2451,3215,3068,3091,147.4,-12.3,174,977,0.10,2.35,0.00,0.000,3078,0.234,0.047,2471,1805,3079,3068,3091,0,0,0,0,0,0,14.72,14.84,14.88
$GC,1041,-0.88,-92.5,2471,1805,3069,3091,156.3,-12.4,187,1047,0.00,2.40,0.00,0.000,2564,0.000,0.066,2471,399,3079,3069,3090,0,0,0,0,0,0,15.15,14.85,15.15
$GC,1080,-0.88,-92.5,2471,399,3069,3090,161.4,-13.3,194,1086,0.00,2.33,0.00,0.000,3078,0.000,0.037,2463,1815,3078,3069,3087,0,0,0,0,0,0,14.95,14.89,14.95
$GC,1151,-0.88,-92.5,2462,1818,3069,3090,170.5,-13.2,207,1158,0.00,2.33,0.00,0.000,2308,0.000,0.052,2452,3216,3079,3069,3090,0,0,0,0,0,0,15.15,14.92,15.16
$GC,1176,-0.88,-92.5,2452,3215,3069,3090,173.9,-12.3,211,1183,0.10,2.35,0.00,0.000,3078,0.233,0.047,2472,1807,3079,3069,3090,0,0,0,0,0,0,14.76,14.88,14.92
$GC,1247,-0.88,-92.5,2472,1814,3069,3090,182.6,-12.7,224,1253,0.00,2.40,0.00,0.000,2564,0.000,0.066,2473,399,3079,3069,3090,0,0,0,0,0,0,15.15,14.90,15.16
$GC,1291,-0.88,-92.5,2472,399,3069,3090,188.3,-12.7,232,1298,0.00,2.33,0.00,0.000,3078,0.000,0.037,2464,1813,3079,3069,3090,0,0,0,0,0,0,14.99,14.90,15.01
$GC,1364,-0.88,-92.5,2463,1817,3069,3089,197.8,-13.4,245,1370,0.00,2.40,0.00,0.000,2564,0.000,0.064,2464,408,3079,3069,3090,0,0,0,0,0,0,15.15,14.83,15.16
$GC,1397,-0.88,-92.5,2463,408,3069,3089,202.5,-13.2,251,1405,0.08,2.30,0.00,0.000,3078,0.288,0.037,2468,1814,3079,3069,3089,0,0,0,0,0,0,14.77,14.95,14.95
$GC,1469,-0.88,-92.5,2472,1817,3070,3090,211.3,-12.9,264,1475,0.00,2.33,0.00,0.000,2308,0.000,0.053,2460,3216,3081,3073,3089,0,0,0,0,0,0,15.17,14.92,15.18
$GC,1493,-0.88,-92.5,2459,3216,3069,3089,214.6,-13.3,268,1500,0.00,2.33,0.00,0.000,3078,0.000,0.047,2459,1813,3079,3069,3089,0,0,0,0,0,0,15.03,14.92,15.04
$STATE,1514,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1515,begin apogee
$GC,1520,-0.17,0.0,2459,1813,3069,3089,217.7,-13.3,272,1598,1.23,0.00,70.07,1.190,10246,0.164,0.000,2698,1813,2700,2712,2688,0,0,0,0,0,0,14.66,14.59,14.09
$STATE,1601,end apogee,CONTROL_FINISHED_OK
$STATE,1601,begin climb
$GC,1603,0.88,92.5,2698,1813,2712,2688,221.3,0.0,286,1689,1.55,0.00,75.43,1.189,10502,0.073,0.000,3033,1813,2321,2341,2302,0,0,0,0,0,0,14.62,14.33,13.93
$GC,1752,0.89,95.1,3032,1813,2338,2297,214.4,9.8,312,1758,0.00,2.47,0.00,0.000,2564,0.000,0.067,3040,392,2317,2338,2297,0,0,0,0,0,0,14.84,14.62,14.84
$GC,1791,0.89,95.1,3039,392,2336,2297,210.2,10.7,319,1798,0.00,2.35,0.00,0.000,1030,0.000,0.035,3040,1806,2315,2335,2296,0,0,0,0,0,0,14.79,14.73,14.80
$GC,1862,0.89,95.1,3040,1809,2335,2294,202.8,10.3,332,1868,0.00,2.42,0.00,0.000,516,0.000,0.067,3040,398,2314,2335,2294,0,0,0,0,0,0,14.96,14.74,14.97
$GC,2179,0.89,95.1,3040,398,2331,2293,170.4,10.3,394,2185,0.00,2.30,0.00,0.000,1030,0.000,0.036,3040,1805,2311,2331,2292,0,0,0,0,0,0,14.88,14.83,14.90
$GC,2250,0.90,109.8,3040,1805,2330,2292,164.4,8.9,407,2269,0.00,2.47,13.82,1.066,10756,0.000,0.068,3049,389,2251,2274,2229,0,0,0,0,0,0,15.11,14.78,14.30
$GC,2423,0.90,109.8,3049,390,2270,2228,145.4,10.3,440,2430,0.00,2.33,0.00,0.000,1030,0.000,0.037,3049,1801,2247,2268,2227,0,0,0,0,0,0,14.97,14.90,14.98
$GC,2494,0.92,122.4,3049,1802,2270,2226,139.0,9.1,453,2512,0.00,2.33,11.27,1.018,10500,0.000,0.049,3049,3198,2199,2224,2175,0,0,0,0,0,0,15.10,14.71,14.27
$GC,2590,0.92,122.4,3048,3198,2223,2175,128.0,11.4,471,2597,0.00,2.35,0.00,0.000,1030,0.000,0.050,3051,1801,2199,2223,2175,0,0,0,0,0,0,14.92,14.83,14.95
$GC,2662,0.92,122.4,3050,1802,2223,2175,120.3,10.8,484,2668,0.00,2.40,0.00,0.000,516,0.000,0.071,3051,394,2198,2222,2175,0,0,0,0,0,0,15.07,14.85,15.08
$GC,2686,0.92,122.4,3050,395,2220,2174,117.6,10.7,488,2692,0.00,2.30,0.00,0.000,1030,0.000,0.036,3051,1805,2197,2220,2174,0,0,0,0,0,0,14.97,14.89,14.98
$GC,2757,0.93,127.7,3050,1806,2220,2174,110.9,9.6,501,2770,0.00,2.40,5.38,0.707,10756,0.000,0.070,3059,397,2179,2203,2155,0,0,0,0,0,0,15.09,14.87,14.27
$GC,2868,0.93,127.7,3059,398,2201,2154,99.1,11.3,522,2874,0.00,2.28,0.00,0.000,5126,0.000,0.036,3059,1794,2177,2201,2154,0,0,0,0,0,0,15.00,14.91,15.00
$GC,2938,0.93,127.7,3059,1794,2201,2153,91.7,10.8,535,2944,0.00,2.40,0.00,0.000,4612,0.000,0.067,3068,396,2177,2201,2154,0,0,0,0,0,0,15.11,14.88,15.11
$GC,2987,0.93,127.7,3067,396,2200,2153,86.7,10.5,544,2994,0.00,2.30,0.00,0.000,5126,0.000,0.037,3068,1805,2177,2201,2153,0,0,0,0,0,0,15.01,14.93,15.02
$GC,3058,0.96,152.7,3068,1806,2201,2153,80.2,8.2,557,3087,0.00,2.42,21.50,1.065,12804,0.000,0.067,3077,391,2075,2103,2047,0,0,0,0,0,0,15.11,14.78,14.31
$GC,3251,0.96,152.7,3077,391,2100,2046,62.0,10.3,594,3258,0.00,2.33,0.00,0.000,5126,0.000,0.037,3078,1806,2072,2099,2045,0,0,0,0,0,0,14.97,14.89,14.97
$GC,3322,0.99,181.1,3077,1807,2099,2043,56.4,7.9,607,3352,0.00,2.38,23.20,0.993,8452,0.000,0.051,3077,3200,1959,1991,1928,0,0,0,0,0,0,15.07,14.78,14.26
$GC,3390,0.99,181.1,3077,3200,1990,1928,50.1,10.6,619,3397,0.00,2.38,0.00,0.000,5126,0.000,0.051,3081,1802,1958,1989,1928,0,0,0,0,0,0,14.85,14.76,14.87
$GC,3461,0.99,181.1,3080,1802,1988,1926,42.5,11.0,632,3468,0.00,2.45,0.00,0.000,4612,0.000,0.073,3081,392,1956,1987,1926,0,0,0,0,0,0,15.04,14.80,15.04
$GC,3793,0.99,181.1,3080,392,1982,1923,9.1,10.8,697,3800,0.00,2.30,0.00,0.000,5126,0.000,0.038,3081,1798,1952,1982,1922,0,0,0,0,0,0,15.00,14.91,15.01
$GC,3864,1.07,246.5,3080,1799,1982,1922,4.7,5.3,710,3893,0.00,0.00,26.73,0.821,10498,0.000,0.000,3081,1799,1766,1800,1732,0,0,0,0,0,0,15.12,28.83,15.11
$STATE,3894,end climb,SURFACE_DEPTH_REACHED
$STATE,3894,begin surface coast
$FINISH,0.1,1.025357
$STATE,3951,end surface coast,CONTROL_FINISHED_OK
$STATE,3951,begin surface
$SM_CCo,3975,174.75,0.778,0,0,598,515.37
$SM_GC,0.79,13.90,0.00,174.75,0.046,0.000,0.778,123,1799,598,-8.17,-0.37,515.37,0,0,0,0,0,0,14.86,15.07,14.16
$IRIDIUM_FIX,-3343.50,2658.31,120419,161531
$TT8_MAMPS,0.021721,0.913031
$HUMID,45.31
$INTERNAL_PRESSURE,9.38069
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,195.4,31.8
$SC_FREEKB,3741664
$24V_AH,13.61,111.911
$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,31.100,94.525,247.400,174.750,0.000,27.502,40.440,281.293,8.000,0.000,17.129,1584.513,724.678,596.844,1582.013,257.371,0.000,1230.711,0.000,1111.187,0.000,49.627,0.000
$DEVICE_MAMPS,289.935,73.440,1189.575,778.005,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4020.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,34.561,0.000,0.000,0.000
$MEM,340928
$DATA_FILE_SIZE,20079,726
$CAP_FILE_SIZE,130767,0
$CFSIZE,2097086464,2027585536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,120419,184931,-3400.900,2656.802,7,0.8,30,-28.1,1.5,234.2,11,7.4