version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 391
start: 4 15 119 21 37 47
data:
$ID,574
$MISSION,3
$DIVE,391
$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,125
$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,31
$R_STBD_OVSHOOT,39
$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
$GPS1,150419,212831,-3423.4792,2558.4319,6,0.8,31,-28.1,0.0,254.8,11,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-68.4
$GPS2,150419,213719,-3423.5310,2558.3384,7,0.8,17,-28.1,0.8,238.7,10,8.7
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,-3429.725,2609.072
$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,153.1,20000,-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,-194.6,73,1809,624,547,0.0,0.0,0,117,0.00,0.00,-92.25,0.000,16386,0.000,0.000,68,1809,2897,2861,2933,0,0,0,0,0,0,14.96,28.83,14.97
$GC,122,-0.76,-194.6,69,1809,2862,2932,3.1,-5.6,17,153,14.40,2.42,-10.25,0.000,18692,0.301,0.072,2496,3215,3498,3511,3485,0,0,0,0,0,0,14.50,13.55,14.75
$GC,317,-0.76,-194.6,2496,3218,3512,3484,42.0,-13.7,54,325,0.05,2.38,0.00,0.000,3078,0.303,0.044,2507,1803,3497,3511,3484,0,0,0,0,0,0,14.68,14.83,14.86
$GC,387,-0.76,-194.6,2507,1803,3513,3483,51.5,-15.0,67,393,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1803,3498,3513,3483,0,0,0,0,0,0,15.06,15.06,15.06
$GC,456,-0.76,-194.6,2507,1803,3513,3484,61.8,-15.1,80,462,0.00,2.40,0.00,0.000,2564,0.000,0.064,2508,407,3498,3513,3483,0,0,0,0,0,0,15.07,14.82,15.07
$GC,480,-0.76,-194.6,2507,406,3514,3483,65.3,-14.2,84,487,0.00,2.35,0.00,0.000,3078,0.000,0.037,2508,1820,3498,3514,3483,0,0,0,0,0,0,14.91,14.82,14.93
$GC,552,-0.76,-194.6,2508,1823,3513,3483,74.1,-11.8,97,559,0.00,2.35,0.00,0.000,2308,0.000,0.054,2508,3217,3498,3514,3482,0,0,0,0,0,0,15.07,14.84,15.07
$GC,592,-0.76,-194.6,2509,3217,3514,3483,78.6,-8.7,104,599,0.00,2.35,0.00,0.000,3078,0.000,0.042,2508,1809,3498,3514,3482,0,0,0,0,0,0,14.96,14.86,14.97
$GC,664,-0.76,-194.6,2507,1809,3514,3482,84.8,-10.0,117,672,0.00,2.40,0.00,0.000,2564,0.000,0.063,2508,408,3498,3514,3482,0,0,0,0,0,0,15.09,14.76,15.09
$GC,731,-0.76,-194.6,2508,408,3514,3482,92.3,-10.4,129,738,0.00,2.35,0.00,0.000,3078,0.000,0.037,2508,1821,3498,3514,3482,0,0,0,0,0,0,14.97,14.88,14.98
$GC,802,-0.76,-194.6,2508,1825,3514,3482,99.8,-10.5,142,810,0.00,2.35,0.00,0.000,2308,0.000,0.054,2507,3219,3498,3514,3482,0,0,0,0,0,0,15.08,14.85,15.09
$GC,838,-0.76,-194.6,2508,3219,3514,3480,103.6,-9.0,148,845,0.00,2.35,0.00,0.000,3078,0.000,0.043,2508,1809,3498,3514,3482,0,0,0,0,0,0,14.99,14.87,14.99
$GC,912,-0.76,-194.6,2508,1809,3515,3482,110.2,-9.8,161,918,0.00,2.40,0.00,0.000,2564,0.000,0.063,2508,406,3498,3515,3481,0,0,0,0,0,0,15.10,14.85,15.11
$GC,951,-0.76,-194.6,2508,406,3515,3482,114.7,-10.9,168,958,0.00,2.33,0.00,0.000,3078,0.000,0.035,2508,1814,3498,3515,3482,0,0,0,0,0,0,14.98,14.89,14.99
$GC,1022,-0.76,-194.6,2507,1816,3515,3482,122.3,-11.8,181,1029,0.00,2.35,0.00,0.000,2308,0.000,0.054,2508,3214,3498,3515,3482,0,0,0,0,0,0,15.11,14.85,15.11
$GC,1057,-0.76,-194.6,2508,3214,3513,3481,126.5,-11.2,187,1064,0.00,2.35,0.00,0.000,3078,0.000,0.043,2508,1806,3498,3515,3481,0,0,0,0,0,0,14.97,14.88,15.00
$GC,1128,-0.76,-194.6,2508,1806,3514,3481,133.8,-11.6,200,1135,0.00,2.40,0.00,0.000,2564,0.000,0.063,2505,409,3498,3515,3481,0,0,0,0,0,0,15.09,14.85,15.10
$GC,1153,-0.76,-194.6,2507,408,3515,3481,137.2,-13.2,204,1159,0.00,2.33,0.00,0.000,3078,0.000,0.035,2508,1822,3498,3515,3481,0,0,0,0,0,0,14.98,14.90,15.00
$GC,1226,-0.76,-194.6,2508,1825,3515,3481,145.3,-12.4,217,1233,0.00,2.35,0.00,0.000,2308,0.000,0.054,2509,3217,3498,3515,3481,0,0,0,0,0,0,15.11,14.86,15.11
$GC,1276,-0.76,-194.6,2508,3218,3514,3481,151.1,-10.4,226,1282,0.00,2.35,0.00,0.000,3078,0.000,0.042,2508,1811,3497,3514,3481,0,0,0,0,0,0,14.97,14.88,15.00
$GC,1346,-0.76,-194.6,2507,1809,3515,3481,159.1,-12.2,239,1353,0.00,2.40,0.00,0.000,2564,0.000,0.064,2508,409,3498,3515,3481,0,0,0,0,0,0,15.10,14.85,15.10
$GC,1366,-0.76,-194.6,2508,409,3514,3480,161.7,-12.5,242,1372,0.00,2.33,0.00,0.000,3078,0.000,0.036,2508,1815,3497,3515,3480,0,0,0,0,0,0,14.98,14.90,15.00
$STATE,1428,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1430,begin apogee
$GC,1436,-0.17,0.0,2508,1818,3515,3480,169.1,-11.4,254,1590,0.95,0.00,146.40,1.158,10246,0.149,0.000,2697,1818,2699,2730,2668,0,0,0,0,0,0,14.65,14.31,13.90
$STATE,1592,end apogee,CONTROL_FINISHED_OK
$STATE,1592,begin climb
$GC,1595,0.76,194.6,2697,1818,2729,2667,178.1,0.0,282,1757,1.38,2.42,150.60,1.147,11012,0.075,0.050,2993,3199,1903,1941,1866,0,0,0,0,0,0,14.43,14.33,13.85
$GC,1811,0.76,194.6,2992,3199,1934,1870,167.1,13.3,320,1818,0.00,2.42,0.00,0.000,1030,0.000,0.049,3001,1795,1899,1935,1864,0,0,0,0,0,0,14.59,14.50,14.61
$GC,1882,0.76,194.6,3001,1799,1934,1861,157.8,13.8,333,1888,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1799,1897,1934,1861,0,0,0,0,0,0,14.83,14.84,14.84
$GC,1951,0.76,194.6,3000,1798,1932,1860,148.2,13.6,346,1958,0.00,2.40,0.00,0.000,260,0.000,0.047,3001,3207,1896,1932,1861,0,0,0,0,0,0,14.91,14.68,14.92
$GC,1971,0.76,194.6,3001,3206,1931,1860,145.5,13.6,349,1977,0.00,2.40,0.00,0.000,1030,0.000,0.050,3003,1803,1895,1931,1860,0,0,0,0,0,0,14.77,14.68,14.79
$GC,2042,0.76,194.6,3003,1804,1931,1860,136.2,13.4,362,2048,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1803,1895,1931,1860,0,0,0,0,0,0,14.97,14.98,14.97
$GC,2110,0.76,194.6,3003,1804,1930,1859,126.6,13.7,375,2117,0.00,2.45,0.00,0.000,516,0.000,0.070,3011,387,1894,1930,1859,0,0,0,0,0,0,15.00,14.69,15.00
$GC,2129,0.76,194.6,3011,386,1929,1857,123.8,13.9,378,2136,0.00,2.35,0.00,0.000,5126,0.000,0.034,3011,1812,1893,1929,1858,0,0,0,0,0,0,14.87,14.83,14.87
$GC,2201,0.76,194.6,3011,1814,1928,1858,114.1,14.2,391,2206,0.00,0.00,0.00,0.000,4102,0.000,0.000,3011,1814,1893,1929,1858,0,0,0,0,0,0,15.03,15.04,15.04
$GC,2268,0.76,194.6,3011,1814,1929,1858,104.4,14.8,404,2275,0.00,2.45,0.00,0.000,4612,0.000,0.068,3021,395,1893,1929,1858,0,0,0,0,0,0,15.05,14.80,15.05
$GC,2293,0.76,194.6,3020,395,1927,1858,100.3,16.4,408,2300,0.03,2.33,0.00,0.000,5126,0.467,0.034,3011,1802,1892,1927,1858,0,0,0,0,0,0,14.67,14.86,14.88
$GC,2364,0.76,194.6,3009,1805,1927,1857,90.9,13.7,421,2371,0.00,2.42,0.00,0.000,4612,0.000,0.069,3019,394,1892,1927,1857,0,0,0,0,0,0,15.07,14.74,15.07
$GC,2399,0.76,194.6,3019,394,1926,1857,86.5,13.4,427,2406,0.08,2.30,0.00,0.000,5126,0.282,0.034,3005,1805,1891,1926,1857,0,0,0,0,0,0,14.68,14.88,14.90
$GC,2471,0.76,194.6,3004,1806,1926,1856,76.5,13.7,440,2477,0.00,2.45,0.00,0.000,516,0.000,0.070,3010,396,1891,1926,1856,0,0,0,0,0,0,15.07,14.78,15.08
$GC,2525,0.76,194.6,3009,396,1925,1856,68.9,12.9,450,2531,0.00,2.30,0.00,0.000,5126,0.000,0.034,3010,1801,1890,1925,1856,0,0,0,0,0,0,14.88,14.80,14.89
$GC,2596,0.76,194.6,3009,1803,1925,1856,61.1,11.4,463,2602,0.00,2.33,0.00,0.000,4356,0.000,0.050,3010,3196,1890,1925,1856,0,0,0,0,0,0,15.09,14.82,15.09
$GC,2645,0.76,194.6,3009,3196,1925,1856,54.7,12.2,472,2652,0.00,2.38,0.00,0.000,5126,0.000,0.051,3010,1796,1890,1925,1855,0,0,0,0,0,0,14.88,14.78,14.90
$GC,2716,0.76,194.6,3010,1796,1925,1855,46.7,11.5,485,2722,0.00,0.00,0.00,0.000,4102,0.000,0.000,3010,1796,1890,1925,1855,0,0,0,0,0,0,15.10,15.11,15.11
$GC,2785,0.76,194.6,3009,1796,1925,1855,38.4,11.3,498,2791,0.00,2.35,0.00,0.000,4356,0.000,0.047,3010,3199,1890,1925,1855,0,0,0,0,0,0,15.10,14.77,15.10
$GC,2875,0.76,194.6,3010,3198,1924,1855,29.1,10.4,515,2882,0.00,2.38,0.00,0.000,5126,0.000,0.049,3017,1792,1889,1924,1855,0,0,0,0,0,0,14.87,14.77,14.89
$GC,2946,0.76,194.6,3013,1796,1924,1854,22.3,11.1,528,2953,0.00,2.38,0.00,0.000,4356,0.000,0.048,3016,3206,1889,1924,1854,0,0,0,0,0,0,15.10,14.83,15.11
$GC,2976,0.77,202.9,3016,3207,1924,1854,19.0,9.7,533,2988,0.00,2.40,5.07,0.721,13318,0.000,0.050,3017,1789,1871,1908,1835,0,0,0,0,0,0,14.92,14.81,14.23
$GC,3052,0.90,303.1,3016,1789,1908,1834,13.5,6.5,547,3124,0.00,2.45,65.47,0.918,10756,0.000,0.072,3017,396,1460,1506,1414,0,0,0,0,0,0,15.09,14.51,14.16
$STATE,3192,end climb,SURFACE_DEPTH_REACHED
$STATE,3192,begin surface coast
$FINISH,1.7,1.024850
$STATE,3203,end surface coast,CONTROL_FINISHED_OK
$STATE,3203,begin surface
$SM_CCo,3231,138.93,0.796,0,0,598,515.37
$SM_GC,0.77,13.68,2.38,138.93,0.047,0.031,0.796,125,1807,598,-8.17,-1.64,515.37,0,0,0,0,0,0,14.75,14.76,14.09
$IRIDIUM_FIX,-3406.89,2558.88,150419,202855
$TT8_MAMPS,0.021721,0.922768
$HUMID,45.39
$INTERNAL_PRESSURE,9.30256
$TCM_TEMP,18.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,145.3,33.4
$SC_FREEKB,3715968
$24V_AH,13.55,123.941
$10V_AH,13.52,0.000
$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,30.550,95.000,367.550,138.925,0.000,27.037,22.213,240.049,5.250,0.000,18.217,1196.889,511.693,665.931,1279.036,258.852,0.000,1238.734,0.000,869.470,0.000,37.558,0.000
$DEVICE_MAMPS,467.415,71.910,1158.210,796.365,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3264.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.622,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,13442,575
$CAP_FILE_SIZE,114201,0
$CFSIZE,2097086464,2018607104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,150419,223519,-3423.843,2558.583,7,0.9,39,-28.1,0.0,153.9,9,4.6