version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 390
start: 4 15 119 20 34 43
data:
$ID,574
$MISSION,3
$DIVE,390
$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,200
$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,70
$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,47
$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
$GPS1,150419,202528,-3423.3872,2558.2603,8,1.0,18,-28.1,0.8,294.3,8,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-67.0
$GPS2,150419,203416,-3423.4375,2558.1523,6,1.0,19,-28.1,0.8,161.5,8,9.4
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,-3419.744,2610.441
$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,98.1,20000,-15.7,-10.010,-18.71,2973
$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,-0.76,-194.6,88,1805,623,548,0.0,0.0,0,117,0.00,0.00,-92.07,0.000,16386,0.000,0.000,83,1805,2897,2861,2934,0,0,0,0,0,0,14.96,28.83,14.97
$GC,122,-0.76,-194.6,83,1804,2862,2934,3.3,-6.7,17,153,14.32,2.42,-10.05,0.000,18948,0.302,0.076,2504,403,3497,3510,3484,0,0,0,0,0,0,14.48,13.54,14.73
$GC,293,-0.76,-194.6,2503,403,3512,3484,41.0,-14.5,49,300,0.00,2.33,0.00,0.000,3078,0.000,0.039,2501,1800,3498,3512,3484,0,0,0,0,0,0,14.92,14.83,14.94
$GC,365,-0.76,-194.6,2501,1808,3511,3483,50.4,-12.8,62,372,0.00,2.40,0.00,0.000,2308,0.000,0.055,2501,3222,3498,3512,3484,0,0,0,0,0,0,15.06,14.78,15.04
$GC,440,-0.76,-194.6,2501,3222,3513,3482,59.7,-12.2,76,448,0.00,2.38,0.00,0.000,3078,0.000,0.044,2505,1809,3497,3512,3482,0,0,0,0,0,0,14.90,14.81,14.92
$GC,512,-0.76,-194.6,2501,1809,3513,3482,69.8,-15.2,89,520,0.00,2.40,0.00,0.000,2564,0.000,0.064,2501,406,3497,3513,3482,0,0,0,0,0,0,15.06,14.83,15.07
$GC,543,-0.76,-194.6,2501,406,3513,3482,74.9,-15.7,94,550,0.00,2.35,0.00,0.000,3078,0.000,0.039,2501,1824,3497,3513,3481,0,0,0,0,0,0,14.96,14.87,14.97
$GC,615,-0.76,-194.6,2501,1827,3513,3482,84.9,-13.9,107,622,0.00,2.38,0.00,0.000,2308,0.000,0.055,2501,3223,3498,3515,3482,0,0,0,0,0,0,15.08,14.81,15.09
$GC,650,-0.76,-194.6,2501,3223,3514,3483,89.2,-11.8,113,657,0.00,2.40,0.00,0.000,3078,0.000,0.044,2501,1800,3498,3514,3482,0,0,0,0,0,0,14.92,14.82,14.93
$GC,721,-0.76,-194.6,2501,1800,3514,3481,97.7,-11.5,126,728,0.00,2.40,0.00,0.000,2564,0.000,0.063,2501,401,3498,3514,3482,0,0,0,0,0,0,15.09,14.84,15.09
$GC,750,-0.76,-194.6,2500,401,3514,3481,101.9,-12.4,131,757,0.00,2.35,0.00,0.000,3078,0.000,0.037,2500,1820,3497,3514,3481,0,0,0,0,0,0,14.92,14.84,14.94
$GC,822,-0.76,-194.6,2500,1823,3514,3482,110.3,-12.0,144,829,0.00,2.35,0.00,0.000,2308,0.000,0.055,2501,3217,3497,3514,3481,0,0,0,0,0,0,15.09,14.85,15.10
$GC,876,-0.76,-194.6,2500,3216,3514,3481,116.7,-10.5,154,883,0.00,2.35,0.00,0.000,3078,0.000,0.043,2501,1812,3497,3514,3481,0,0,0,0,0,0,14.97,14.88,14.98
$GC,947,-0.76,-194.6,2500,1810,3514,3481,124.2,-11.0,167,955,0.00,2.40,0.00,0.000,2564,0.000,0.063,2501,408,3497,3514,3481,0,0,0,0,0,0,15.09,14.85,15.09
$GC,972,-0.76,-194.6,2500,408,3515,3481,127.4,-12.6,171,978,0.00,2.33,0.00,0.000,3078,0.000,0.036,2498,1817,3497,3514,3481,0,0,0,0,0,0,14.98,14.89,14.99
$GC,1047,-0.76,-194.6,2498,1820,3514,3481,135.5,-12.3,184,1053,0.00,2.35,0.00,0.000,2308,0.000,0.054,2498,3214,3497,3514,3481,0,0,0,0,0,0,15.10,14.86,15.11
$GC,1076,-0.76,-194.6,2497,3214,3514,3481,139.6,-10.3,189,1083,0.00,2.35,0.00,0.000,3078,0.000,0.041,2498,1809,3497,3514,3481,0,0,0,0,0,0,14.97,14.88,14.99
$GC,1147,-0.76,-194.6,2498,1808,3514,3481,147.7,-12.4,202,1153,0.00,0.00,0.00,0.000,2054,0.000,0.000,2498,1808,3497,3514,3480,0,0,0,0,0,0,15.09,15.09,15.09
$GC,1215,-0.76,-194.6,2498,1808,3514,3481,156.5,-12.9,215,1222,0.00,2.38,0.00,0.000,2308,0.000,0.050,2491,3213,3497,3513,3481,0,0,0,0,0,0,15.11,14.82,15.11
$GC,1255,-0.76,-194.6,2490,3213,3514,3481,161.5,-12.3,222,1262,0.08,2.35,0.00,0.000,3078,0.243,0.044,2508,1813,3497,3514,3481,0,0,0,0,0,0,14.71,14.79,14.88
$STATE,1267,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1267,begin apogee
$GC,1273,-0.17,0.0,2507,1812,3514,3481,163.2,-12.3,224,1428,0.95,0.00,146.68,1.140,10246,0.147,0.000,2699,1811,2697,2728,2667,0,0,0,0,0,0,14.73,14.40,13.92
$STATE,1430,end apogee,CONTROL_FINISHED_OK
$STATE,1430,begin climb
$GC,1432,0.76,194.6,2699,1811,2728,2667,171.5,0.0,252,1589,1.40,0.00,150.88,1.125,10758,0.057,0.000,3013,1811,1905,1942,1868,0,0,0,0,0,0,14.46,14.33,13.87
$GC,1653,0.76,194.6,3012,1811,1936,1862,160.4,13.2,291,1659,0.00,0.00,0.00,0.000,4102,0.000,0.000,3013,1811,1898,1936,1861,0,0,0,0,0,0,14.73,14.74,14.74
$GC,1721,0.76,194.6,3013,1811,1931,1860,151.0,14.1,304,1728,0.00,2.38,0.00,0.000,4356,0.000,0.047,3013,3209,1897,1934,1860,0,0,0,0,0,0,14.85,14.65,14.85
$GC,1756,0.76,194.6,3013,3210,1932,1860,145.6,14.3,310,1763,0.08,2.42,0.00,0.000,5126,0.302,0.049,3009,1793,1896,1932,1860,0,0,0,0,0,0,14.54,14.68,14.73
$GC,1827,0.76,194.6,3008,1793,1930,1859,136.2,13.4,323,1832,0.00,0.00,0.00,0.000,4102,0.000,0.000,3008,1793,1895,1931,1859,0,0,0,0,0,0,14.95,14.95,14.95
$GC,1895,0.76,194.6,3008,1793,1931,1858,126.1,14.0,336,1902,0.00,2.38,0.00,0.000,4356,0.000,0.047,3008,3203,1894,1931,1858,0,0,0,0,0,0,14.98,14.77,14.98
$GC,1915,0.76,194.6,3008,3204,1930,1858,123.3,13.9,339,1921,0.00,2.40,0.00,0.000,5126,0.000,0.050,3013,1795,1894,1930,1858,0,0,0,0,0,0,14.87,14.77,14.89
$GC,1986,0.76,194.6,3012,1795,1929,1858,113.6,14.3,352,1991,0.00,0.00,0.00,0.000,4102,0.000,0.000,3013,1795,1894,1930,1859,0,0,0,0,0,0,15.00,15.01,15.00
$GC,2054,0.76,194.6,3013,1795,1930,1857,103.4,14.2,365,2061,0.00,2.38,0.00,0.000,4356,0.000,0.047,3013,3209,1893,1930,1857,0,0,0,0,0,0,15.04,14.82,15.04
$GC,2074,0.76,194.6,3013,3209,1929,1857,100.5,14.4,368,2081,0.08,2.40,0.00,0.000,5126,0.302,0.050,3008,1798,1893,1929,1857,0,0,0,0,0,0,14.64,14.78,14.84
$GC,2145,0.76,194.6,3008,1798,1929,1857,90.1,15.1,381,2152,0.00,2.42,0.00,0.000,4612,0.000,0.070,3017,388,1893,1929,1857,0,0,0,0,0,0,15.05,14.81,15.06
$GC,2221,0.76,194.6,3023,388,1927,1856,78.6,14.5,395,2228,0.00,2.35,0.00,0.000,5126,0.000,0.033,3017,1814,1891,1926,1856,0,0,0,0,0,0,14.95,14.88,14.97
$GC,2293,0.76,194.6,3017,1817,1926,1856,69.4,12.8,408,2299,0.00,2.30,0.00,0.000,4356,0.000,0.047,3017,3200,1890,1926,1855,0,0,0,0,0,0,15.07,14.76,15.08
$GC,2336,0.76,194.6,3017,3199,1926,1856,63.8,11.3,416,2343,0.00,2.38,0.00,0.000,5126,0.000,0.050,3017,1796,1890,1925,1856,0,0,0,0,0,0,14.96,14.85,14.97
$GC,2408,0.76,194.6,3017,1796,1926,1855,56.1,11.7,429,2414,0.00,2.42,0.00,0.000,4612,0.000,0.070,3020,388,1890,1925,1855,0,0,0,0,0,0,15.09,14.76,15.09
$GC,2457,0.76,194.6,3020,388,1925,1854,50.3,11.2,438,2465,0.05,2.33,0.00,0.000,5126,0.327,0.033,3011,1810,1889,1925,1854,0,0,0,0,0,0,14.63,14.90,14.83
$GC,2529,0.76,194.6,3010,1813,1925,1855,42.4,11.3,451,2536,0.00,2.33,0.00,0.000,4356,0.000,0.048,3010,3204,1889,1925,1854,0,0,0,0,0,0,15.09,14.83,15.09
$GC,2594,0.76,194.6,3010,3204,1925,1854,34.5,11.8,463,2600,0.00,2.38,0.00,0.000,5126,0.000,0.049,3017,1800,1889,1925,1854,0,0,0,0,0,0,14.94,14.83,14.94
$GC,2665,0.76,194.6,3017,1800,1925,1854,27.0,10.5,476,2671,0.00,2.35,0.00,0.000,4356,0.000,0.047,3018,3202,1889,1925,1854,0,0,0,0,0,0,15.10,14.87,15.10
$GC,2694,0.76,194.6,3017,3202,1924,1854,23.7,11.6,481,2701,0.00,2.38,0.00,0.000,5126,0.000,0.050,3018,1799,1889,1924,1854,0,0,0,0,0,0,14.95,14.83,14.97
$GC,2765,0.83,248.9,3017,1799,1925,1853,17.6,8.1,494,2806,0.00,2.45,33.50,0.968,10756,0.000,0.070,3026,391,1684,1725,1643,0,0,0,0,0,0,15.09,14.65,14.30
$STATE,2917,end climb,SURFACE_DEPTH_REACHED
$STATE,2917,begin surface coast
$FINISH,0.5,1.024792
$STATE,2954,end surface coast,CONTROL_FINISHED_OK
$STATE,2955,begin surface
$SM_CCo,2981,174.00,0.802,0,0,597,515.37
$SM_GC,0.87,13.62,2.38,174.00,0.044,0.032,0.802,121,1799,597,-8.17,-1.61,515.37,0,0,0,0,0,0,14.84,14.85,14.09
$IRIDIUM_FIX,-3409.50,2558.88,150419,192746
$TT8_MAMPS,0.021721,0.66661
$HUMID,45.82
$INTERNAL_PRESSURE,9.30256
$TCM_TEMP,18.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,135.5,36.2
$SC_FREEKB,3716480
$24V_AH,13.54,123.717
$10V_AH,13.70,0.000
$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,30.575,85.450,331.050,174.000,0.000,25.237,16.479,250.548,4.750,0.000,20.879,1106.620,479.742,654.175,1209.623,245.239,0.000,1184.992,0.000,803.500,0.000,34.413,0.000
$DEVICE_MAMPS,326.655,75.735,1139.850,801.720,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3013.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.174,0.000,0.000,0.000
$MEM,340928
$DATA_FILE_SIZE,13437,530
$CAP_FILE_SIZE,105798,0
$CFSIZE,2097086464,2018770944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,150419,212831,-3423.479,2558.432,6,0.8,31,-28.1,0.0,254.8,11,9.5