version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 413
start: 4 17 119 11 41 22
data:
$ID,574
$MISSION,3
$DIVE,413
$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,42
$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
$GPS1,170419,113155,-3423.6599,2558.1699,7,0.8,42,-28.1,0.0,216.6,9,5.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-69.0
$GPS2,170419,114055,-3423.7644,2558.0190,7,0.8,15,-28.1,0.0,212.4,9,8.8
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,HEADING
$TGT_LATLONG,-3413.616,2602.486
$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,-243.3,53,1805,620,550,0.0,0.0,0,122,0.00,0.00,-96.80,0.000,16386,0.000,0.000,54,1805,2978,2943,3013,0,0,0,0,0,0,14.94,28.83,14.95
$GC,127,-0.76,-243.3,54,1805,2943,3013,3.6,-8.5,18,163,14.55,2.42,-12.12,0.000,19204,0.301,0.086,2509,397,3696,3712,3681,0,0,0,0,0,0,14.45,13.50,14.72
$GC,299,-0.76,-243.3,2503,397,3713,3681,40.3,-14.3,50,305,0.00,2.35,0.00,0.000,3078,0.000,0.038,2501,1809,3696,3713,3680,0,0,0,0,0,0,14.90,14.81,14.92
$GC,369,-0.76,-243.3,2501,1812,3713,3680,51.4,-16.6,63,376,0.00,2.40,0.00,0.000,2308,0.000,0.056,2501,3223,3696,3712,3681,0,0,0,0,0,0,15.04,14.71,15.04
$GC,404,-0.76,-243.3,2501,3222,3713,3681,56.2,-12.4,69,411,0.00,2.40,0.00,0.000,3078,0.000,0.044,2501,1799,3697,3713,3681,0,0,0,0,0,0,14.81,14.71,14.83
$GC,476,-0.76,-243.3,2501,1798,3713,3681,64.7,-11.8,82,482,0.00,0.00,0.00,0.000,2054,0.000,0.000,2502,1798,3697,3713,3681,0,0,0,0,0,0,15.06,15.06,15.06
$GC,545,-0.76,-243.3,2501,1798,3713,3681,73.4,-11.8,95,552,0.00,2.45,0.00,0.000,2308,0.000,0.054,2501,3223,3697,3713,3681,0,0,0,0,0,0,15.07,14.77,15.07
$GC,575,-0.76,-243.3,2501,3224,3714,3681,76.9,-11.6,100,581,0.00,2.38,0.00,0.000,3078,0.000,0.044,2501,1811,3697,3713,3681,0,0,0,0,0,0,14.84,14.74,14.86
$GC,645,-0.76,-243.3,2501,1811,3713,3681,85.9,-14.6,113,651,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1812,3697,3713,3681,0,0,0,0,0,0,15.07,15.07,15.07
$GC,715,-0.76,-243.3,2501,1811,3714,3681,96.9,-14.7,126,721,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1811,3697,3713,3681,0,0,0,0,0,0,15.07,15.07,15.07
$GC,785,-0.76,-243.3,2501,1812,3713,3681,107.0,-14.8,139,791,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1811,3697,3714,3680,0,0,0,0,0,0,15.08,15.08,15.08
$GC,855,-0.76,-243.3,2498,1812,3714,3681,117.5,-14.5,152,861,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1811,3697,3714,3681,0,0,0,0,0,0,15.09,15.09,15.09
$GC,927,-0.76,-243.3,2501,1809,3714,3681,127.1,-12.9,165,933,0.00,2.40,0.00,0.000,2308,0.000,0.053,2501,3218,3697,3714,3681,0,0,0,0,0,0,15.08,14.83,15.08
$GC,956,-0.76,-243.3,2501,3218,3714,3681,131.0,-11.4,170,962,0.00,2.38,0.00,0.000,3078,0.000,0.043,2500,1806,3697,3714,3681,0,0,0,0,0,0,14.90,14.81,14.92
$GC,1028,-0.76,-243.3,2501,1809,3714,3681,139.6,-12.8,183,1035,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1806,3697,3714,3681,0,0,0,0,0,0,15.08,15.09,15.09
$GC,1102,-0.76,-243.3,2501,1806,3714,3681,149.2,-12.7,196,1107,0.00,0.00,0.00,0.000,2054,0.000,0.000,2502,1806,3697,3714,3681,0,0,0,0,0,0,15.09,15.09,15.09
$GC,1170,-0.76,-243.3,2501,1806,3713,3681,158.0,-12.4,209,1175,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1806,3696,3711,3681,0,0,0,0,0,0,15.09,15.09,15.09
$GC,1238,-0.76,-243.3,2501,1806,3714,3681,166.8,-12.3,222,1244,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1806,3697,3714,3681,0,0,0,0,0,0,15.10,15.10,15.09
$STATE,1280,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1280,begin apogee
$GC,1286,-0.17,0.0,2501,1806,3713,3681,172.0,-12.5,230,1479,1.00,0.00,183.05,1.162,10246,0.148,0.000,2699,1806,2698,2733,2664,0,0,0,0,0,0,14.60,14.31,13.84
$STATE,1482,end apogee,CONTROL_FINISHED_OK
$STATE,1482,begin climb
$GC,1485,0.76,243.3,2699,1806,2732,2663,181.8,0.0,265,1688,1.40,2.53,189.18,1.140,10756,0.084,0.072,2997,396,1706,1746,1666,0,0,0,0,0,0,14.38,14.29,13.81
$GC,1797,0.76,243.3,2997,396,1736,1665,155.3,14.3,321,1804,0.00,2.38,0.00,0.000,3078,0.000,0.034,2997,1812,1700,1737,1663,0,0,0,0,0,0,14.71,14.63,14.71
$GC,1868,0.76,243.3,2997,1814,1737,1661,145.7,13.6,334,1874,0.00,0.00,0.00,0.000,2054,0.000,0.000,2998,1814,1699,1737,1661,0,0,0,0,0,0,14.89,14.88,14.87
$GC,1937,0.76,243.3,2997,1815,1737,1660,136.2,13.7,347,1944,0.00,2.33,0.00,0.000,2308,0.000,0.048,2997,3198,1698,1737,1660,0,0,0,0,0,0,14.94,14.72,14.95
$GC,1962,0.76,243.3,2997,3198,1735,1659,132.7,14.4,351,1968,0.00,2.40,0.00,0.000,3078,0.000,0.053,2999,1803,1695,1735,1656,0,0,0,0,0,0,14.80,14.69,14.81
$GC,2033,0.76,243.3,2999,1802,1735,1659,123.2,13.7,364,2039,0.00,0.00,0.00,0.000,2054,0.000,0.000,2999,1803,1695,1735,1656,0,0,0,0,0,0,14.97,14.98,14.98
$GC,2101,0.76,243.3,2999,1803,1735,1658,113.6,13.7,377,2108,0.00,2.35,0.00,0.000,2308,0.000,0.047,2999,3198,1696,1735,1658,0,0,0,0,0,0,15.01,14.75,15.01
$GC,2126,0.76,243.3,2999,3199,1734,1658,110.2,13.5,381,2132,0.00,2.40,0.00,0.000,3078,0.000,0.054,2999,1798,1696,1734,1658,0,0,0,0,0,0,14.83,14.72,14.85
$GC,2197,0.76,243.3,2999,1797,1734,1658,101.4,13.0,394,2203,0.00,0.00,0.00,0.000,2054,0.000,0.000,2999,1797,1696,1735,1657,0,0,0,0,0,0,15.03,15.04,15.04
$GC,2266,0.76,243.3,2999,1797,1735,1657,92.1,13.0,407,2272,0.00,0.00,0.00,0.000,2054,0.000,0.000,3000,1797,1696,1735,1657,0,0,0,0,0,0,15.04,15.04,15.04
$GC,2335,0.76,243.3,2999,1793,1735,1656,84.0,12.3,420,2341,0.00,2.35,0.00,0.000,260,0.000,0.048,2999,3197,1695,1734,1656,0,0,0,0,0,0,15.04,14.83,15.06
$GC,2364,0.76,243.3,2999,3197,1734,1656,80.4,10.7,425,2371,0.00,2.38,0.00,0.000,1030,0.000,0.053,3005,1799,1695,1734,1656,0,0,0,0,0,0,14.92,14.83,14.95
$GC,2435,0.76,243.3,3005,1799,1734,1656,72.7,10.6,438,2442,0.00,2.42,0.00,0.000,516,0.000,0.072,3014,395,1694,1734,1655,0,0,0,0,0,0,15.06,14.71,15.06
$GC,2460,0.76,243.3,3013,394,1734,1656,69.7,10.9,442,2466,0.00,2.33,0.00,0.000,5126,0.000,0.034,3013,1809,1695,1734,1656,0,0,0,0,0,0,14.86,14.78,14.87
$GC,2531,0.76,243.3,3010,1812,1734,1656,61.2,13.0,455,2538,0.00,2.33,0.00,0.000,4356,0.000,0.047,3011,3204,1695,1734,1656,0,0,0,0,0,0,15.07,14.80,15.08
$GC,2561,0.76,243.3,3013,3204,1733,1656,56.8,13.9,460,2567,0.00,2.42,0.00,0.000,5126,0.000,0.054,3014,1793,1694,1733,1656,0,0,0,0,0,0,14.86,14.75,14.88
$GC,2632,0.76,243.3,3014,1793,1733,1655,48.3,11.6,473,2639,0.00,2.42,0.00,0.000,4612,0.000,0.073,3019,394,1694,1733,1656,0,0,0,0,0,0,15.08,14.81,15.08
$GC,2677,0.76,243.3,3018,394,1733,1656,42.3,12.6,481,2683,0.00,2.33,0.00,0.000,5126,0.000,0.034,3018,1804,1694,1733,1656,0,0,0,0,0,0,14.91,14.83,14.91
$GC,2748,0.80,269.2,3018,1807,1733,1656,35.5,9.3,494,2777,0.00,2.33,21.10,0.985,12548,0.000,0.049,3019,3198,1599,1641,1558,0,0,0,0,0,0,15.08,14.78,14.21
$GC,2840,0.80,269.2,3018,3198,1639,1558,25.8,12.2,511,2847,0.00,2.40,0.00,0.000,5126,0.000,0.052,3020,1796,1598,1639,1557,0,0,0,0,0,0,14.81,14.69,14.82
$GC,2912,0.80,269.2,3019,1796,1639,1556,18.2,11.5,524,2918,0.00,0.00,0.00,0.000,4102,0.000,0.000,3020,1795,1597,1639,1556,0,0,0,0,0,0,15.03,15.03,15.03
$GC,2981,0.80,269.2,3020,1796,1639,1555,10.2,11.4,537,2987,0.00,2.45,0.00,0.000,4612,0.000,0.073,3020,395,1597,1639,1555,0,0,0,0,0,0,15.04,14.70,15.04
$GC,3005,0.80,269.2,3017,395,1638,1554,7.4,11.1,541,3012,0.00,2.33,0.00,0.000,5126,0.000,0.033,3020,1802,1596,1638,1555,0,0,0,0,0,0,14.82,14.75,14.83
$STATE,3042,end climb,SURFACE_DEPTH_REACHED
$STATE,3042,begin surface coast
$FINISH,0.4,1.025422
$STATE,3071,end surface coast,CONTROL_FINISHED_OK
$STATE,3071,begin surface
$SM_CCo,3095,166.55,0.815,0,0,598,515.37
$SM_GC,0.89,13.60,0.00,166.55,0.044,0.000,0.815,127,1804,598,-8.17,-0.25,515.37,0,0,0,0,0,0,14.85,15.07,14.07
$IRIDIUM_FIX,-3409.50,2556.54,170419,103106
$TT8_MAMPS,0.021721,0.918274
$HUMID,45.98
$INTERNAL_PRESSURE,9.28303
$TCM_TEMP,18.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,145.3,36.6
$SC_FREEKB,3704512
$24V_AH,13.50,130.166
$10V_AH,13.55,0.000
$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,30.550,62.025,393.325,166.550,0.000,24.022,19.078,258.241,5.250,0.000,16.195,1116.751,487.500,700.260,1251.232,258.784,0.000,1256.441,0.000,831.676,0.000,36.009,0.000
$DEVICE_MAMPS,300.645,85.680,1162.035,814.725,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3132.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.337,0.000,0.000,0.000
$MEM,340928
$DATA_FILE_SIZE,13422,553
$CAP_FILE_SIZE,105206,0
$CFSIZE,2097086464,2014412800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,170419,123713,-3423.810,2557.829,6,1.0,46,-28.1,0.9,233.4,7,3.8