version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 345
start: 4 12 119 21 32 20
data:
$ID,574
$MISSION,3
$DIVE,345
$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,140
$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,50
$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
$GPS1,120419,212246,-3404.0925,2651.7842,7,0.9,22,-28.1,1.4,239.6,9,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-64.9
$GPS2,120419,213155,-3404.4480,2651.3193,7,0.8,41,-28.2,1.3,224.1,11,6.0
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3412.721,2659.713
$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,168.2,20000,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.88,-92.5,57,1821,626,548,0.0,0.0,0,118,0.00,0.00,-92.28,0.000,16386,0.000,0.000,54,1823,2940,2905,2976,0,0,0,0,0,0,15.02,28.83,15.02
$GC,122,-0.88,-92.5,54,1823,2906,2977,3.3,-6.2,17,147,14.02,2.35,-2.53,0.000,18692,0.291,0.081,2456,3211,3080,3061,3099,0,0,0,0,0,0,14.61,13.67,14.87
$GC,514,-0.88,-92.5,2456,3211,3067,3094,79.6,-12.7,93,523,0.08,2.35,0.00,0.000,3078,0.267,0.046,2473,1800,3080,3068,3093,0,0,0,0,0,0,14.69,14.82,14.85
$GC,586,-0.88,-92.5,2470,1800,3069,3092,88.9,-12.5,106,593,0.00,2.40,0.00,0.000,2564,0.000,0.066,2471,402,3080,3069,3092,0,0,0,0,0,0,15.12,14.84,15.13
$GC,626,-0.88,-92.5,2470,402,3069,3092,94.7,-14.7,113,634,0.00,2.33,0.00,0.000,3078,0.000,0.038,2462,1812,3081,3070,3092,0,0,0,0,0,0,14.97,14.88,14.98
$GC,698,-0.88,-92.5,2463,1815,3070,3092,104.4,-13.2,126,705,0.00,2.35,0.00,0.000,2308,0.000,0.054,2452,3216,3080,3070,3091,0,0,0,0,0,0,15.13,14.90,15.14
$GC,817,-0.88,-92.5,2452,3216,3070,3092,119.7,-12.7,148,827,0.10,2.35,0.00,0.000,3078,0.236,0.047,2472,1811,3081,3071,3091,0,0,0,0,0,0,14.78,14.88,14.95
$GC,892,-0.88,-92.5,2471,1811,3071,3091,128.6,-11.8,161,898,0.00,2.40,0.00,0.000,2564,0.000,0.066,2472,407,3080,3071,3090,0,0,0,0,0,0,15.14,14.89,15.15
$GC,959,-0.88,-92.5,2472,407,3071,3090,136.8,-12.0,173,965,0.00,2.30,0.00,0.000,3078,0.000,0.036,2463,1818,3080,3071,3090,0,0,0,0,0,0,15.02,14.94,15.04
$GC,1030,-0.88,-92.5,2463,1821,3071,3090,146.1,-13.1,186,1037,0.00,2.42,0.00,0.000,2564,0.000,0.063,2464,402,3081,3072,3090,0,0,0,0,0,0,15.15,14.82,15.15
$GC,1086,-0.88,-92.5,2463,401,3071,3090,153.7,-14.0,196,1093,0.08,2.30,0.00,0.000,3078,0.285,0.037,2469,1806,3081,3073,3090,0,0,0,0,0,0,14.73,14.90,14.91
$GC,1157,-0.88,-92.5,2468,1809,3072,3090,163.1,-13.5,209,1164,0.00,2.40,0.00,0.000,2564,0.000,0.063,2469,405,3081,3072,3090,0,0,0,0,0,0,15.15,14.90,15.16
$GC,1198,-0.88,-92.5,2468,405,3072,3090,168.8,-14.5,216,1204,0.00,2.33,0.00,0.000,3078,0.000,0.037,2461,1820,3081,3072,3090,0,0,0,0,0,0,15.02,14.93,15.04
$GC,1269,-0.88,-92.5,2460,1823,3072,3090,178.0,-12.8,229,1276,0.00,2.40,0.00,0.000,2564,0.000,0.062,2460,407,3081,3072,3090,0,0,0,0,0,0,15.15,14.90,15.16
$GC,1339,-0.88,-92.5,2460,408,3072,3089,188.0,-14.2,242,1346,0.08,2.30,0.00,0.000,3078,0.287,0.037,2468,1811,3081,3072,3090,0,0,0,0,0,0,14.77,14.93,14.95
$GC,1410,-0.88,-92.5,2468,1813,3072,3089,196.6,-10.4,255,1416,0.00,0.00,0.00,0.000,2054,0.000,0.000,2470,1813,3080,3072,3089,0,0,0,0,0,0,15.15,15.16,15.15
$GC,1478,-0.88,-92.5,2468,1813,3072,3089,204.7,-11.9,268,1488,0.00,2.40,0.00,0.000,2564,0.000,0.064,2469,408,3080,3072,3089,0,0,0,0,0,0,15.16,14.90,15.16
$GC,1516,-0.88,-92.5,2469,408,3071,3088,209.6,-13.5,274,1525,0.00,2.30,0.00,0.000,3078,0.000,0.036,2460,1815,3080,3071,3089,0,0,0,0,0,0,14.98,14.88,15.00
$GC,1591,-0.88,-92.5,2460,1817,3072,3088,219.2,-12.6,287,1598,0.00,2.40,0.00,0.000,2564,0.000,0.063,2460,408,3080,3072,3088,0,0,0,0,0,0,15.16,14.91,15.16
$GC,1641,-0.88,-92.5,2460,408,3072,3088,226.1,-14.5,296,1648,0.08,2.30,0.00,0.000,3078,0.286,0.038,2469,1811,3079,3071,3088,0,0,0,0,0,0,14.77,14.95,14.97
$GC,1711,-0.88,-92.5,2468,1813,3072,3087,235.5,-12.6,309,1717,0.00,0.00,0.00,0.000,2054,0.000,0.000,2468,1813,3079,3072,3087,0,0,0,0,0,0,15.17,15.17,15.17
$STATE,1762,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1762,begin apogee
$GC,1768,-0.17,0.0,2468,1814,3072,3087,242.4,-13.0,319,1845,1.17,0.00,70.80,1.232,10246,0.168,0.000,2698,1814,2699,2710,2688,0,0,0,0,0,0,14.77,14.62,14.09
$STATE,1849,end apogee,CONTROL_FINISHED_OK
$STATE,1849,begin climb
$GC,1851,0.88,92.5,2698,1814,2712,2687,245.5,0.0,333,1938,1.55,2.50,75.62,1.226,10756,0.079,0.065,3033,399,2321,2340,2302,0,0,0,0,0,0,14.60,14.32,13.94
$GC,1971,0.91,116.9,3033,399,2336,2301,241.6,8.2,353,2000,0.00,2.35,20.88,1.136,11270,0.000,0.037,3033,1812,2222,2246,2198,0,0,0,0,0,0,14.67,14.59,14.02
$GC,2064,0.91,116.9,3031,1812,2243,2195,231.4,11.9,370,2069,0.00,0.00,0.00,0.000,2054,0.000,0.000,3033,1812,2218,2243,2194,0,0,0,0,0,0,14.88,14.88,14.88
$GC,2132,0.91,116.9,3033,1812,2241,2193,223.0,12.5,383,2138,0.00,2.45,0.00,0.000,2564,0.000,0.067,3040,401,2217,2241,2193,0,0,0,0,0,0,14.95,14.72,14.95
$GC,2257,0.91,116.9,3039,400,2237,2193,206.4,12.5,407,2264,0.00,2.30,0.00,0.000,3078,0.000,0.037,3040,1798,2215,2237,2193,0,0,0,0,0,0,14.86,14.78,14.87
$GC,2328,0.91,116.9,3039,1799,2237,2191,197.8,11.4,420,2334,0.00,2.40,0.00,0.000,2564,0.000,0.067,3046,398,2213,2237,2190,0,0,0,0,0,0,15.07,14.80,15.07
$GC,2367,0.91,116.9,3042,398,2236,2191,192.7,12.4,427,2374,0.00,2.30,0.00,0.000,3078,0.000,0.035,3047,1808,2213,2236,2191,0,0,0,0,0,0,14.89,14.80,14.90
$GC,2438,0.91,116.9,3046,1810,2236,2190,184.3,11.6,440,2445,0.00,2.42,0.00,0.000,2564,0.000,0.067,3054,397,2213,2236,2190,0,0,0,0,0,0,15.09,14.85,15.09
$GC,2950,0.91,116.9,3053,398,2231,2189,121.3,10.2,541,2957,0.00,2.28,0.00,0.000,1030,0.000,0.037,3053,1799,2209,2231,2188,0,0,0,0,0,0,15.02,14.94,15.03
$GC,3021,0.91,116.9,3053,1799,2230,2187,113.1,11.1,554,3027,0.00,2.40,0.00,0.000,4612,0.000,0.067,3061,394,2209,2231,2187,0,0,0,0,0,0,15.13,14.89,15.14
$GC,3121,0.91,116.9,3060,395,2230,2187,101.7,11.4,573,3128,0.00,2.30,0.00,0.000,5126,0.000,0.037,3061,1807,2209,2231,2187,0,0,0,0,0,0,14.95,14.93,14.96
$GC,3192,0.93,131.6,3060,1808,2230,2186,95.3,8.9,586,3211,0.00,2.30,11.30,1.028,12548,0.000,0.050,3061,3197,2160,2185,2136,0,0,0,0,0,0,15.14,14.76,14.31
$GC,3279,0.93,131.6,3061,3196,2185,2136,86.1,11.0,602,3285,0.00,2.35,0.00,0.000,5126,0.000,0.052,3064,1804,2160,2185,2136,0,0,0,0,0,0,14.98,14.88,15.00
$GC,3350,0.93,134.8,3063,1804,2185,2136,79.1,9.8,615,3363,0.00,2.45,4.10,0.590,12804,0.000,0.072,3064,392,2147,2172,2123,0,0,0,0,0,0,15.09,14.84,14.30
$GC,3461,0.93,134.8,3063,392,2171,2123,67.7,10.8,636,3468,0.00,2.30,0.00,0.000,5126,0.000,0.037,3064,1796,2147,2171,2123,0,0,0,0,0,0,14.90,14.83,14.91
$GC,3532,1.01,200.3,3063,1798,2171,2122,62.8,5.3,649,3594,0.00,2.40,52.05,1.092,10500,0.000,0.050,3064,3197,1881,1912,1850,0,0,0,0,0,0,15.11,14.65,14.19
$GC,3617,1.01,200.3,3063,3197,1911,1850,55.5,11.1,664,3623,0.00,2.40,0.00,0.000,3078,0.000,0.052,3070,1796,1880,1911,1850,0,0,0,0,0,0,14.73,14.64,14.74
$GC,3688,1.01,200.3,3070,1796,1909,1846,48.1,10.4,677,3694,0.00,2.45,0.00,0.000,2564,0.000,0.073,3070,398,1877,1909,1846,0,0,0,0,0,0,14.97,14.69,14.97
$GC,3763,1.01,200.3,3070,398,1905,1844,40.1,11.6,691,3770,0.00,2.33,0.00,0.000,3078,0.000,0.037,3070,1801,1874,1905,1844,0,0,0,0,0,0,14.86,14.79,14.88
$GC,3834,1.02,201.0,3070,1802,1905,1843,32.7,10.0,704,3841,0.00,2.35,0.00,0.000,2308,0.000,0.051,3070,3211,1873,1905,1842,0,0,0,0,0,0,15.04,14.82,15.04
$GC,3854,1.02,201.0,3070,3210,1905,1842,30.6,10.1,707,3860,0.00,2.40,0.00,0.000,3078,0.000,0.053,3070,1799,1873,1905,1842,0,0,0,0,0,0,14.93,14.83,14.95
$GC,3924,1.02,203.2,3070,1799,1904,1842,23.9,9.9,720,3931,0.00,2.45,0.00,0.000,2564,0.000,0.074,3070,389,1873,1905,1841,0,0,0,0,0,0,15.06,14.81,15.07
$GC,3973,1.02,203.2,3070,390,1903,1841,18.2,12.1,729,3980,0.00,2.33,0.00,0.000,3078,0.000,0.036,3070,1805,1871,1903,1839,0,0,0,0,0,0,14.97,14.88,14.97
$GC,4044,1.04,221.4,3070,1806,1903,1839,11.4,8.7,742,4063,0.00,2.45,11.50,0.848,10756,0.000,0.067,3075,385,1794,1828,1761,0,0,0,0,0,0,15.08,14.73,14.34
$GC,4076,1.08,255.8,3075,384,1828,1761,9.0,7.5,747,4105,0.05,2.33,20.65,0.839,11270,0.269,0.037,3100,1800,1653,1688,1619,0,0,0,0,0,0,14.75,14.86,14.30
$STATE,4125,end climb,SURFACE_DEPTH_REACHED
$STATE,4127,begin surface coast
$FINISH,0.2,1.024844
$STATE,4148,end surface coast,CONTROL_FINISHED_OK
$STATE,4148,begin surface
$SM_CCo,4172,161.12,0.781,0,0,599,515.37
$SM_GC,0.79,14.00,0.00,161.12,0.045,0.000,0.781,124,1802,599,-8.17,-0.28,515.37,0,0,0,0,0,0,14.83,15.02,14.14
$IRIDIUM_FIX,-3348.69,2651.35,120419,201551
$TT8_MAMPS,0.021721,0.919772
$HUMID,45.07
$INTERNAL_PRESSURE,9.36116
$TCM_TEMP,19.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,215.8,36.4
$SC_FREEKB,3740128
$24V_AH,13.67,112.527
$10V_AH,13.83,0.000
$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,31.200,99.350,266.900,161.125,0.000,27.043,18.585,245.528,9.000,0.000,42.221,1658.404,749.412,623.026,1601.315,261.290,0.000,1291.692,0.000,1165.204,0.000,57.196,0.000
$DEVICE_MAMPS,291.465,81.090,1232.415,781.065,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4210.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,33.375,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,20095,760
$CAP_FILE_SIZE,137266,0
$CFSIZE,2097086464,2026995712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,120419,224555,-3406.346,2648.974,7,1.1,39,-28.2,1.6,233.7,8,4.5