version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 343
start: 4 12 119 18 59 41
data:
$ID,574
$MISSION,3
$DIVE,343
$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,320
$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,33
$R_STBD_OVSHOOT,48
$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
$GPS1,120419,184931,-3400.8999,2656.8018,7,0.8,30,-28.1,1.5,234.2,11,7.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-64.3
$GPS2,120419,185916,-3401.2383,2656.2993,6,0.8,13,-28.1,1.4,233.9,10,9.7
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3352.966,2647.938
$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,348.1,20000,-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,-92.5,71,1804,623,553,0.0,0.0,0,117,0.00,0.00,-91.97,0.000,16386,0.000,0.000,64,1804,2914,2881,2948,0,0,0,0,0,0,15.00,28.83,15.00
$GC,122,-0.88,-92.5,64,1804,2881,2950,3.0,-5.4,17,146,13.98,2.42,-3.03,0.000,18948,0.290,0.083,2466,397,3078,3062,3094,0,0,0,0,0,0,14.60,14.02,14.88
$GC,175,-0.88,-92.5,2465,397,3066,3093,20.2,-25.1,26,182,0.03,2.35,0.00,0.000,3078,0.520,0.040,2465,1804,3079,3068,3091,0,0,0,0,0,0,14.62,14.80,14.82
$GC,247,-0.88,-92.5,2465,1808,3069,3089,32.8,-15.4,39,253,0.00,2.38,0.00,0.000,2308,0.000,0.056,2456,3218,3078,3069,3088,0,0,0,0,0,0,15.07,14.85,15.07
$GC,397,-0.88,-92.5,2456,3218,3074,3088,57.2,-16.0,68,404,0.05,2.38,0.00,0.000,3078,0.326,0.048,2468,1804,3079,3070,3089,0,0,0,0,0,0,14.73,14.88,14.91
$GC,467,-0.88,-92.5,2467,1803,3070,3088,69.4,-18.3,81,473,0.00,0.00,0.00,0.000,2054,0.000,0.000,2468,1803,3079,3070,3088,0,0,0,0,0,0,15.11,15.11,15.11
$GC,539,-0.88,-92.5,2467,1803,3070,3088,82.3,-18.3,94,545,0.00,2.40,0.00,0.000,2308,0.000,0.054,2459,3229,3078,3070,3087,0,0,0,0,0,0,15.11,14.88,15.11
$GC,587,-0.88,-92.5,2459,3229,3070,3087,91.1,-16.4,103,595,0.05,2.38,0.00,0.000,3078,0.321,0.047,2465,1809,3078,3070,3087,0,0,0,0,0,0,14.74,14.90,14.93
$GC,659,-0.88,-92.5,2469,1806,3075,3083,102.0,-14.2,116,666,0.00,2.40,0.00,0.000,2564,0.000,0.064,2469,399,3080,3078,3083,0,0,0,0,0,0,15.13,14.79,15.14
$GC,679,-0.88,-92.5,2469,398,3074,3083,105.1,-15.9,119,686,0.00,2.35,0.00,0.000,3078,0.000,0.038,2461,1827,3078,3074,3083,0,0,0,0,0,0,14.91,14.83,14.92
$GC,750,-0.88,-92.5,2461,1830,3075,3083,115.8,-13.8,132,757,0.00,2.33,0.00,0.000,2308,0.000,0.054,2451,3220,3079,3075,3083,0,0,0,0,0,0,15.13,14.86,15.13
$GC,887,-0.88,-92.5,2451,3220,3075,3082,134.9,-14.4,158,895,0.10,2.35,0.00,0.000,3078,0.236,0.046,2471,1808,3079,3076,3082,0,0,0,0,0,0,14.79,14.92,14.95
$GC,958,-0.88,-92.5,2470,1809,3076,3082,144.9,-13.0,171,965,0.00,0.00,0.00,0.000,2054,0.000,0.000,2471,1809,3078,3076,3081,0,0,0,0,0,0,15.14,15.15,15.15
$GC,1029,-0.88,-92.5,2470,1809,3076,3082,154.4,-13.3,184,1037,0.00,2.38,0.00,0.000,2308,0.000,0.053,2462,3222,3079,3076,3082,0,0,0,0,0,0,15.15,14.82,15.15
$GC,1182,-0.88,-92.5,2462,3222,3076,3082,174.7,-13.2,213,1192,0.00,2.35,0.00,0.000,3078,0.000,0.047,2462,1814,3079,3077,3082,0,0,0,0,0,0,15.02,14.92,15.04
$GC,1254,-0.88,-92.5,2462,1813,3077,3082,183.7,-11.6,226,1261,0.00,2.35,0.00,0.000,2308,0.000,0.053,2454,3212,3079,3076,3082,0,0,0,0,0,0,15.15,14.82,15.16
$GC,1399,-0.88,-92.5,2453,3213,3076,3082,203.9,-14.9,253,1406,0.08,2.33,0.00,0.000,3078,0.264,0.046,2469,1812,3079,3076,3082,0,0,0,0,0,0,14.69,14.83,14.87
$GC,1471,-0.88,-92.5,2468,1812,3077,3082,212.7,-12.0,266,1477,0.00,2.38,0.00,0.000,2308,0.000,0.052,2461,3221,3079,3076,3082,0,0,0,0,0,0,15.18,14.90,15.18
$GC,1530,-0.88,-92.5,2460,3222,3076,3081,219.8,-11.5,277,1537,0.00,2.35,0.00,0.000,3078,0.000,0.046,2460,1816,3078,3076,3081,0,0,0,0,0,0,14.99,14.88,15.00
$STATE,1577,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1577,begin apogee
$GC,1582,-0.17,0.0,2460,1811,3077,3081,225.8,-12.3,286,1660,1.23,0.00,69.93,1.204,10246,0.168,0.000,2698,1811,2699,2711,2688,0,0,0,0,0,0,14.76,14.63,14.10
$STATE,1663,end apogee,CONTROL_FINISHED_OK
$STATE,1663,begin climb
$GC,1665,0.88,92.5,2698,1811,2711,2688,228.7,0.0,300,1750,1.52,0.00,75.22,1.189,10758,0.080,0.000,3027,1811,2323,2342,2305,0,0,0,0,0,0,14.62,14.33,13.95
$GC,1814,0.89,97.4,3026,1811,2338,2301,221.3,9.6,326,1826,0.00,2.35,5.22,0.760,10500,0.000,0.050,3027,3207,2301,2320,2283,0,0,0,0,0,0,14.83,14.64,14.04
$GC,1915,0.89,97.4,3026,3206,2318,2283,210.0,11.3,345,1921,0.00,2.40,0.00,0.000,3078,0.000,0.049,3035,1789,2300,2317,2283,0,0,0,0,0,0,14.85,14.76,14.86
$GC,1985,0.89,97.4,3035,1788,2317,2281,202.5,11.1,358,1992,0.00,2.40,0.00,0.000,2308,0.000,0.049,3036,3212,2299,2317,2281,0,0,0,0,0,0,15.02,14.80,15.02
$GC,2005,0.89,97.4,3035,3213,2317,2282,200.2,10.7,361,2011,0.00,2.38,0.00,0.000,3078,0.000,0.049,3037,1800,2298,2316,2281,0,0,0,0,0,0,14.91,14.81,14.92
$GC,2075,0.89,97.4,3037,1800,2316,2280,193.1,11.8,374,2081,0.00,2.38,0.00,0.000,2308,0.000,0.051,3037,3210,2296,2316,2277,0,0,0,0,0,0,15.04,14.83,15.04
$GC,2240,0.89,97.4,3037,3208,2314,2280,175.8,11.2,406,2246,0.00,2.38,0.00,0.000,3078,0.000,0.049,3040,1796,2297,2314,2280,0,0,0,0,0,0,14.97,14.87,14.99
$GC,2310,0.89,97.4,3040,1795,2314,2279,168.5,12.3,419,2316,0.00,2.38,0.00,0.000,4356,0.000,0.050,3040,3215,2296,2313,2279,0,0,0,0,0,0,15.10,14.88,15.10
$GC,2661,0.90,107.4,3040,3215,2311,2278,135.4,9.3,488,2679,0.00,2.40,8.50,0.966,9222,0.000,0.052,3044,1789,2261,2280,2242,0,0,0,0,0,0,14.90,14.82,14.29
$GC,2742,0.92,123.4,3044,1789,2280,2242,128.3,8.8,503,2759,0.00,0.00,14.82,1.128,10246,0.000,0.000,3044,1789,2195,2216,2175,0,0,0,0,0,0,15.11,14.85,14.30
$GC,2823,0.92,123.4,3043,1789,2212,2173,120.3,10.3,518,2830,0.00,2.40,0.00,0.000,2308,0.000,0.051,3044,3211,2193,2213,2173,0,0,0,0,0,0,15.04,14.84,15.05
$GC,2894,0.92,127.0,3043,3211,2211,2173,113.0,9.8,531,2907,0.00,2.38,3.97,0.591,11270,0.000,0.051,3050,1799,2180,2201,2160,0,0,0,0,0,0,14.96,14.86,14.26
$GC,2970,0.95,145.1,3050,1798,2201,2160,106.3,8.7,545,2994,0.00,2.38,16.20,1.053,10500,0.000,0.049,3050,3209,2107,2130,2084,0,0,0,0,0,0,15.09,14.69,14.27
$GC,3087,0.95,145.1,3049,3209,2126,2084,94.0,11.4,567,3093,0.00,2.40,0.00,0.000,3078,0.000,0.053,3051,1799,2105,2126,2085,0,0,0,0,0,0,14.90,14.80,14.90
$GC,3157,0.96,152.6,3050,1799,2126,2083,86.7,9.5,580,3170,0.00,2.42,7.05,0.838,10500,0.000,0.051,3050,3214,2077,2100,2054,0,0,0,0,0,0,15.07,14.85,14.23
$GC,3188,0.96,152.6,3050,3214,2100,2054,83.3,10.3,585,3194,0.00,2.40,0.00,0.000,3078,0.000,0.052,3057,1800,2077,2100,2055,0,0,0,0,0,0,14.93,14.83,14.95
$GC,3258,0.96,152.6,3057,1800,2093,2054,76.7,10.2,598,3265,0.00,2.45,0.00,0.000,2564,0.000,0.070,3065,387,2076,2099,2053,0,0,0,0,0,0,15.05,14.82,15.06
$GC,3278,0.96,152.6,3065,386,2097,2053,74.4,10.7,601,3284,0.00,2.35,0.00,0.000,1030,0.000,0.037,3065,1811,2075,2098,2053,0,0,0,0,0,0,14.95,14.88,14.97
$GC,3349,0.97,165.6,3065,1812,2098,2053,67.7,9.1,614,3367,0.00,2.30,11.93,0.923,10500,0.000,0.050,3065,3198,2023,2048,1998,0,0,0,0,0,0,15.07,14.72,14.28
$GC,3456,0.98,170.8,3065,3198,2045,1998,57.3,9.6,634,3469,0.00,2.38,5.22,0.669,9222,0.000,0.051,3073,1789,2002,2027,1978,0,0,0,0,0,0,14.87,14.79,14.23
$GC,3532,0.98,170.8,3073,1789,2027,1978,49.1,11.3,648,3539,0.00,2.38,0.00,0.000,516,0.000,0.073,3081,401,2002,2027,1977,0,0,0,0,0,0,15.07,14.83,15.07
$GC,3627,0.98,170.8,3078,398,2024,1977,37.9,10.7,666,3633,0.00,2.30,0.00,0.000,5126,0.000,0.036,3079,1803,2001,2025,1977,0,0,0,0,0,0,14.94,14.87,14.95
$GC,3698,0.99,176.6,3078,1803,2025,1976,30.9,9.6,679,3711,0.00,2.33,4.90,0.842,12548,0.000,0.051,3078,3201,1982,2008,1957,0,0,0,0,0,0,15.10,14.85,14.26
$GC,3982,1.00,185.5,3078,3201,2005,1957,8.3,9.4,734,3995,0.00,2.38,5.47,0.717,13318,0.000,0.053,3090,1799,1943,1969,1917,0,0,0,0,0,0,14.97,14.86,14.37
$STATE,4035,end climb,SURFACE_DEPTH_REACHED
$STATE,4035,begin surface coast
$FINISH,0.3,1.025266
$STATE,4068,end surface coast,CONTROL_FINISHED_OK
$STATE,4068,begin surface
$SM_CCo,4092,201.23,0.789,0,0,599,515.37
$SM_GC,0.78,13.77,0.00,201.23,0.043,0.000,0.789,122,1799,599,-8.18,-0.37,515.37,0,0,0,0,0,0,14.92,15.15,14.15
$IRIDIUM_FIX,-3346.09,2700.62,120419,173235
$TT8_MAMPS,0.021721,0.92127
$HUMID,45.31
$INTERNAL_PRESSURE,9.37092
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,200.5,34.9
$SC_FREEKB,3741152
$24V_AH,13.95,112.120
$10V_AH,13.72,0.000
$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,30.800,90.125,228.450,201.225,0.000,23.770,38.939,283.064,8.000,0.000,15.731,1644.438,753.502,615.182,1616.867,255.845,0.000,1262.548,0.000,1144.372,0.000,52.589,0.000
$DEVICE_MAMPS,520.200,83.385,1204.110,788.715,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4139.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,34.133,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,20043,750
$CAP_FILE_SIZE,134719,0
$CFSIZE,2097086464,2027356160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,120419,201211,-3402.258,2653.990,7,1.0,16,-28.1,1.3,198.1,9,10.0