version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 412
start: 4 17 119 10 37 4
data:
$ID,574
$MISSION,3
$DIVE,412
$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,250
$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,20
$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,28
$R_STBD_OVSHOOT,38
$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,2
$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
$GPS1,170419,102731,-3423.6414,2558.3938,7,1.2,39,-28.1,0.9,359.6,8,6.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-72.6
$GPS2,170419,103637,-3423.7097,2558.2705,7,1.2,19,-28.1,0.0,14.7,8,9.0
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,HEADING
$TGT_LATLONG,-3413.562,2602.738
$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,48.1,20000,-13.9,-10.010,-17.09,3711
$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,-0.76,-243.3,53,1831,620,551,0.0,0.0,0,123,0.00,0.00,-97.65,0.000,16386,0.000,0.000,53,1832,2985,2952,3018,0,0,0,0,0,0,14.94,28.83,14.95
$GC,128,-0.76,-243.3,52,1832,2952,3018,3.5,-7.9,18,164,14.55,2.47,-12.07,0.000,18948,0.301,0.089,2505,404,3695,3711,3679,0,0,0,0,0,0,14.48,13.49,14.76
$GC,299,-0.76,-243.3,2504,404,3712,3679,41.0,-16.8,50,306,0.00,2.35,0.00,0.000,3078,0.000,0.039,2505,1811,3695,3711,3680,0,0,0,0,0,0,14.81,14.72,14.82
$GC,372,-0.76,-243.3,2504,1816,3711,3680,52.0,-14.8,63,378,0.00,2.40,0.00,0.000,2308,0.000,0.056,2505,3225,3696,3712,3680,0,0,0,0,0,0,15.04,14.79,15.04
$GC,402,-0.76,-243.3,2505,3225,3712,3679,56.3,-12.1,68,408,0.00,2.40,0.00,0.000,3078,0.000,0.042,2505,1796,3696,3712,3680,0,0,0,0,0,0,14.92,14.81,14.92
$GC,475,-0.76,-243.3,2504,1796,3713,3679,65.7,-13.1,81,481,0.00,0.00,0.00,0.000,2054,0.000,0.000,2505,1797,3695,3711,3680,0,0,0,0,0,0,15.05,15.05,15.05
$GC,544,-0.76,-243.3,2504,1796,3712,3679,75.7,-14.5,94,551,0.00,2.42,0.00,0.000,2308,0.000,0.054,2505,3218,3695,3712,3679,0,0,0,0,0,0,15.06,14.73,15.06
$GC,574,-0.76,-243.3,2505,3218,3712,3680,79.5,-12.9,99,581,0.00,2.38,0.00,0.000,3078,0.000,0.044,2505,1805,3696,3713,3680,0,0,0,0,0,0,14.84,14.74,14.85
$GC,645,-0.76,-243.3,2504,1805,3712,3678,88.9,-14.2,112,651,0.00,0.00,0.00,0.000,2054,0.000,0.000,2505,1805,3696,3712,3680,0,0,0,0,0,0,15.07,15.07,15.07
$GC,714,-0.76,-243.3,2504,1805,3712,3680,98.8,-13.4,125,721,0.00,2.42,0.00,0.000,2308,0.000,0.055,2505,3220,3695,3712,3679,0,0,0,0,0,0,15.07,14.73,15.08
$GC,738,-0.76,-243.3,2504,3220,3713,3679,102.0,-13.3,129,745,0.00,2.38,0.00,0.000,3078,0.000,0.044,2505,1806,3696,3714,3679,0,0,0,0,0,0,14.95,14.84,14.96
$GC,809,-0.76,-243.3,2504,1806,3713,3679,110.5,-12.1,142,816,0.00,2.42,0.00,0.000,2564,0.000,0.066,2505,399,3699,3713,3686,0,0,0,0,0,0,15.07,14.70,15.08
$GC,833,-0.76,-243.3,2504,399,3712,3680,114.2,-14.4,146,840,0.00,2.35,0.00,0.000,3078,0.000,0.037,2505,1820,3695,3712,3679,0,0,0,0,0,0,14.95,14.86,14.96
$GC,904,-0.76,-243.3,2504,1822,3712,3680,122.2,-12.1,159,910,0.00,2.35,0.00,0.000,2308,0.000,0.057,2505,3213,3696,3713,3679,0,0,0,0,0,0,15.08,14.83,15.09
$GC,938,-0.76,-243.3,2504,3213,3713,3680,126.5,-11.3,165,945,0.00,2.35,0.00,0.000,3078,0.000,0.043,2505,1809,3695,3712,3679,0,0,0,0,0,0,14.95,14.85,14.96
$GC,1011,-0.76,-243.3,2504,1808,3713,3679,134.5,-11.9,178,1019,0.00,0.00,0.00,0.000,2054,0.000,0.000,2505,1808,3696,3713,3679,0,0,0,0,0,0,15.09,15.09,15.09
$GC,1083,-0.76,-243.3,2505,1808,3713,3679,143.3,-12.2,191,1089,0.00,0.00,0.00,0.000,2054,0.000,0.000,2505,1808,3696,3713,3679,0,0,0,0,0,0,15.07,15.07,15.07
$GC,1156,-0.76,-243.3,2504,1808,3713,3679,152.5,-12.4,204,1163,0.00,2.40,0.00,0.000,2308,0.000,0.054,2505,3212,3696,3713,3680,0,0,0,0,0,0,15.09,14.83,15.09
$GC,1181,-0.76,-243.3,2504,3213,3712,3679,155.4,-11.1,208,1188,0.00,2.38,0.00,0.000,3078,0.000,0.044,2505,1809,3695,3712,3679,0,0,0,0,0,0,14.90,14.80,14.92
$GC,1252,-0.76,-243.3,2504,1809,3713,3679,163.7,-12.3,221,1258,0.00,0.00,0.00,0.000,2054,0.000,0.000,2505,1809,3695,3712,3679,0,0,0,0,0,0,15.07,15.08,15.08
$STATE,1293,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1294,begin apogee
$GC,1299,-0.17,0.0,2505,1809,3712,3679,169.3,-12.5,229,1492,0.98,0.00,182.57,1.168,10246,0.148,0.000,2698,1809,2698,2733,2664,0,0,0,0,0,0,14.69,14.36,13.85
$STATE,1496,end apogee,CONTROL_FINISHED_OK
$STATE,1496,begin climb
$GC,1498,0.76,243.3,2698,1808,2733,2663,178.7,0.0,264,1701,1.40,2.53,189.07,1.141,10756,0.084,0.073,2992,399,1705,1745,1666,0,0,0,0,0,0,14.38,14.28,13.81
$GC,1800,0.76,243.3,2992,399,1738,1666,154.8,14.0,318,1807,0.00,2.38,0.00,0.000,3078,0.000,0.034,2992,1810,1701,1738,1665,0,0,0,0,0,0,14.65,14.57,14.66
$GC,1871,0.76,243.3,2992,1812,1737,1662,145.2,13.4,331,1877,0.00,0.00,0.00,0.000,2054,0.000,0.000,2992,1813,1700,1738,1662,0,0,0,0,0,0,14.86,14.86,14.86
$GC,1940,0.76,243.3,2991,1813,1738,1666,135.8,13.5,344,1947,0.00,2.33,0.00,0.000,2308,0.000,0.047,2992,3200,1699,1738,1661,0,0,0,0,0,0,14.93,14.68,14.93
$GC,1960,0.76,243.3,2992,3200,1736,1660,133.0,14.2,347,1966,0.00,2.40,0.00,0.000,3078,0.000,0.053,2992,1807,1698,1737,1660,0,0,0,0,0,0,14.78,14.69,14.80
$GC,2031,0.76,243.3,2992,1804,1737,1659,123.5,14.0,360,2037,0.00,0.00,0.00,0.000,2054,0.000,0.000,2992,1805,1698,1737,1660,0,0,0,0,0,0,14.97,14.98,14.98
$GC,2099,0.76,243.3,2992,1804,1737,1659,113.5,14.5,373,2106,0.00,2.35,0.00,0.000,2308,0.000,0.048,2991,3199,1698,1737,1659,0,0,0,0,0,0,15.00,14.74,15.00
$GC,2124,0.76,243.3,2991,3200,1735,1659,110.0,14.4,377,2131,0.00,2.40,0.00,0.000,3078,0.000,0.053,2992,1796,1697,1736,1659,0,0,0,0,0,0,14.80,14.69,14.83
$GC,2195,0.76,243.3,2992,1796,1736,1659,101.0,13.1,390,2201,0.00,0.00,0.00,0.000,2054,0.000,0.000,2992,1795,1697,1736,1659,0,0,0,0,0,0,15.03,15.03,15.03
$GC,2264,0.76,243.3,2992,1796,1735,1658,91.9,12.1,403,2269,0.00,0.00,0.00,0.000,2054,0.000,0.000,2992,1796,1697,1736,1659,0,0,0,0,0,0,15.04,15.04,15.04
$GC,2332,0.76,243.3,2991,1796,1737,1659,84.2,12.5,416,2338,0.00,2.38,0.00,0.000,2308,0.000,0.049,2992,3205,1697,1736,1658,0,0,0,0,0,0,15.05,14.82,15.05
$GC,2366,0.76,243.3,2992,3205,1735,1658,80.2,11.9,422,2373,0.00,2.42,0.00,0.000,3078,0.000,0.054,2994,1795,1696,1735,1658,0,0,0,0,0,0,14.92,14.81,14.95
$GC,2437,0.76,243.3,2994,1795,1735,1658,72.1,12.0,435,2444,0.00,2.42,0.00,0.000,2564,0.000,0.072,3003,393,1696,1735,1658,0,0,0,0,0,0,15.04,14.80,15.04
$GC,2472,0.76,243.3,3002,393,1734,1658,67.4,13.5,441,2478,0.00,2.33,0.00,0.000,1030,0.000,0.034,3002,1808,1696,1735,1658,0,0,0,0,0,0,14.94,14.87,14.95
$GC,2544,0.76,243.3,3003,1809,1734,1658,58.8,12.9,454,2551,0.00,2.33,0.00,0.000,260,0.000,0.048,3003,3202,1696,1735,1657,0,0,0,0,0,0,15.06,14.76,15.06
$GC,2594,0.76,243.3,3002,3202,1734,1657,52.0,13.1,463,2600,0.00,2.40,0.00,0.000,1030,0.000,0.054,3002,1795,1695,1734,1657,0,0,0,0,0,0,14.83,14.73,14.85
$GC,2665,0.76,243.3,3003,1795,1734,1657,44.4,10.6,476,2670,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1795,1695,1734,1657,0,0,0,0,0,0,15.07,15.09,15.08
$GC,2733,0.81,282.1,3003,1795,1734,1656,37.7,8.9,489,2773,0.00,2.38,31.80,1.062,10500,0.000,0.045,3003,3207,1547,1591,1504,0,0,0,0,0,0,15.08,14.70,14.21
$GC,2817,0.87,330.6,3003,3207,1588,1503,30.6,8.7,504,2863,0.08,2.42,40.03,1.027,11270,0.193,0.054,3037,1798,1352,1401,1303,0,0,0,0,0,0,14.70,14.71,14.07
$GC,2927,0.87,330.6,3037,1798,1398,1299,16.9,16.0,524,2933,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1796,1348,1398,1299,0,0,0,0,0,0,14.85,14.86,14.85
$GC,2996,0.87,330.6,3037,1798,1397,1298,7.0,12.7,537,3002,0.00,2.47,0.00,0.000,516,0.000,0.077,3041,388,1347,1397,1298,0,0,0,0,0,0,14.92,14.67,14.92
$GC,3025,0.87,330.6,3039,388,1396,1297,3.3,13.9,542,3032,0.00,2.35,0.00,0.000,1030,0.000,0.031,3038,1798,1346,1396,1297,0,0,0,0,0,0,14.79,14.73,14.81
$STATE,3037,end climb,SURFACE_DEPTH_REACHED
$STATE,3037,begin surface coast
$FINISH,0.1,1.011119
$STATE,3059,end surface coast,CONTROL_FINISHED_OK
$STATE,3059,begin surface
$SM_CCo,3083,124.45,0.803,0,0,598,515.37
$SM_GC,0.85,13.70,0.00,124.45,0.041,0.000,0.803,122,1801,598,-8.17,-0.34,515.37,0,0,0,0,0,0,14.79,14.98,14.09
$IRIDIUM_FIX,-3409.50,2556.54,170419,092747
$TT8_MAMPS,0.021721,0.92127
$HUMID,45.47
$INTERNAL_PRESSURE,9.28303
$TCM_TEMP,18.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,145.1,34.0
$SC_FREEKB,3705024
$24V_AH,13.49,129.925
$10V_AH,13.54,0.000
$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,30.700,71.750,443.475,124.450,0.000,26.178,16.076,260.081,5.250,0.000,20.321,1094.958,463.965,700.631,1250.022,255.682,0.000,1263.688,0.000,828.820,0.000,37.647,0.000
$DEVICE_MAMPS,301.410,88.740,1168.155,803.250,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3120.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.653,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,13430,548
$CAP_FILE_SIZE,106331,0
$CFSIZE,2097086464,2014576640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,170419,113155,-3423.660,2558.170,7,0.8,42,-28.1,0.0,216.6,9,5.2