version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 414
start: 4 17 119 12 47 3
data:
$ID,574
$MISSION,3
$DIVE,414
$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,29
$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,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
$GPS1,170419,123713,-3423.8101,2557.8291,6,1.0,46,-28.1,0.9,233.4,7,3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-69.9
$GPS2,170419,124637,-3423.9551,2557.5845,7,1.0,47,-28.1,0.7,234.3,7,3.9
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,HEADING
$TGT_LATLONG,-3413.807,2602.052
$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,-243.3,55,1809,621,548,0.0,0.0,0,123,0.00,0.00,-97.45,0.000,16386,0.000,0.000,54,1809,2999,2965,3033,0,0,0,0,0,0,14.96,28.83,14.97
$GC,129,-0.76,-243.3,54,1809,2966,3034,3.4,-7.0,18,164,14.52,2.40,-11.62,0.000,18692,0.301,0.070,2494,3207,3699,3718,3680,0,0,0,0,0,0,14.49,13.51,14.77
$GC,283,-0.76,-243.3,2494,3207,3710,3680,36.5,-12.5,47,291,0.08,2.38,0.00,0.000,3078,0.243,0.045,2510,1802,3695,3710,3680,0,0,0,0,0,0,14.69,14.80,14.84
$GC,355,-0.76,-243.3,2510,1802,3707,3680,45.5,-12.9,60,361,0.00,0.00,0.00,0.000,2054,0.000,0.000,2511,1802,3697,3714,3680,0,0,0,0,0,0,15.04,15.04,15.05
$GC,424,-0.76,-243.3,2510,1802,3710,3680,54.1,-12.4,73,430,0.00,0.00,0.00,0.000,2054,0.000,0.000,2511,1802,3695,3710,3680,0,0,0,0,0,0,15.06,15.06,15.06
$GC,492,-0.76,-243.3,2510,1802,3710,3680,62.4,-12.4,86,499,0.00,2.42,0.00,0.000,2564,0.000,0.066,2511,398,3695,3710,3680,0,0,0,0,0,0,15.05,14.80,15.06
$GC,522,-0.76,-243.3,2510,398,3710,3680,66.3,-12.0,91,528,0.00,2.35,0.00,0.000,3078,0.000,0.038,2511,1807,3695,3710,3680,0,0,0,0,0,0,14.94,14.84,14.95
$GC,594,-0.76,-243.3,2510,1809,3710,3680,74.6,-12.5,104,603,0.00,2.38,0.00,0.000,2308,0.000,0.056,2511,3213,3695,3710,3680,0,0,0,0,0,0,15.05,14.82,15.06
$GC,655,-0.76,-243.3,2510,3212,3710,3680,81.2,-9.6,114,661,0.00,2.35,0.00,0.000,3078,0.000,0.042,2511,1809,3695,3711,3680,0,0,0,0,0,0,14.83,14.75,14.84
$GC,727,-0.76,-243.3,2510,1809,3711,3680,89.4,-11.6,127,735,0.00,2.42,0.00,0.000,2564,0.000,0.065,2511,403,3695,3710,3680,0,0,0,0,0,0,15.08,14.81,15.08
$GC,742,-0.76,-243.3,2510,403,3711,3680,91.3,-11.1,129,748,0.00,2.35,0.00,0.000,3078,0.000,0.037,2511,1822,3695,3710,3680,0,0,0,0,0,0,14.95,14.86,14.97
$GC,812,-0.76,-243.3,2510,1824,3710,3680,99.2,-11.7,142,820,0.00,2.35,0.00,0.000,2308,0.000,0.054,2511,3213,3695,3710,3680,0,0,0,0,0,0,15.07,14.83,15.08
$GC,843,-0.76,-243.3,2511,3212,3710,3680,102.7,-9.7,147,850,0.00,2.35,0.00,0.000,3078,0.000,0.043,2511,1811,3695,3711,3679,0,0,0,0,0,0,14.95,14.85,14.97
$GC,915,-0.76,-243.3,2510,1809,3711,3680,110.3,-9.6,160,921,0.00,0.00,0.00,0.000,2054,0.000,0.000,2511,1811,3695,3711,3680,0,0,0,0,0,0,15.09,15.09,15.09
$GC,985,-0.76,-243.3,2510,1811,3711,3680,118.3,-11.0,173,990,0.00,0.00,0.00,0.000,2054,0.000,0.000,2511,1811,3695,3711,3679,0,0,0,0,0,0,15.09,15.09,15.09
$GC,1056,-0.76,-243.3,2510,1811,3711,3680,126.2,-11.4,186,1062,0.00,0.00,0.00,0.000,2054,0.000,0.000,2511,1810,3695,3710,3680,0,0,0,0,0,0,15.09,15.09,15.09
$GC,1125,-0.76,-243.3,2510,1811,3710,3680,134.2,-11.8,199,1131,0.00,0.00,0.00,0.000,2054,0.000,0.000,2511,1811,3695,3711,3680,0,0,0,0,0,0,15.09,15.10,15.09
$GC,1196,-0.76,-243.3,2510,1810,3711,3680,142.5,-10.3,212,1202,0.00,2.40,0.00,0.000,2308,0.000,0.051,2511,3219,3695,3710,3680,0,0,0,0,0,0,15.09,14.79,15.10
$GC,1225,-0.76,-243.3,2510,3219,3711,3680,145.9,-11.8,217,1231,0.00,2.35,0.00,0.000,3078,0.000,0.044,2511,1814,3695,3711,3680,0,0,0,0,0,0,14.84,14.73,14.85
$GC,1295,-0.76,-243.3,2510,1814,3711,3680,153.9,-12.9,230,1301,0.00,0.00,0.00,0.000,2054,0.000,0.000,2511,1814,3695,3710,3680,0,0,0,0,0,0,15.09,15.10,15.09
$GC,1366,-0.76,-243.3,2510,1814,3711,3680,162.5,-13.1,243,1372,0.00,0.00,0.00,0.000,2054,0.000,0.000,2511,1814,3695,3710,3680,0,0,0,0,0,0,15.09,15.10,15.10
$GC,1435,-0.76,-243.3,2510,1814,3711,3680,171.2,-12.3,256,1441,0.00,0.00,0.00,0.000,2054,0.000,0.000,2510,1814,3694,3710,3679,0,0,0,0,0,0,15.10,15.10,15.10
$GC,1503,-0.76,-243.3,2511,1814,3710,3679,179.6,-12.3,269,1509,0.00,0.00,0.00,0.000,2054,0.000,0.000,2511,1814,3695,3710,3680,0,0,0,0,0,0,15.10,15.10,15.10
$STATE,1524,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1525,begin apogee
$GC,1530,-0.17,0.0,2511,1814,3710,3679,182.1,-10.9,273,1723,0.95,0.00,182.90,1.183,10246,0.143,0.000,2701,1814,2698,2733,2664,0,0,0,0,0,0,14.69,14.22,13.85
$STATE,1726,end apogee,CONTROL_FINISHED_OK
$STATE,1726,begin climb
$GC,1729,0.76,243.3,2701,1814,2732,2663,190.9,0.0,308,1928,1.38,2.58,188.98,1.159,10756,0.090,0.070,2991,393,1707,1750,1665,0,0,0,0,0,0,14.37,14.17,13.79
$GC,2037,0.76,243.3,2990,394,1737,1665,167.9,13.5,363,2044,0.00,2.38,0.00,0.000,3078,0.000,0.034,2990,1810,1700,1737,1663,0,0,0,0,0,0,14.70,14.62,14.71
$GC,2108,0.76,243.3,2990,1813,1737,1661,158.7,13.4,376,2115,0.00,2.35,0.00,0.000,2308,0.000,0.049,2991,3206,1699,1737,1661,0,0,0,0,0,0,14.88,14.64,14.88
$GC,2128,0.76,243.3,2990,3206,1736,1660,156.1,12.3,379,2134,0.00,2.40,0.00,0.000,3078,0.000,0.051,2991,1805,1698,1736,1660,0,0,0,0,0,0,14.78,14.69,14.81
$GC,2199,0.76,243.3,2991,1804,1738,1659,146.7,13.6,392,2205,0.00,0.00,0.00,0.000,2054,0.000,0.000,2992,1804,1698,1737,1659,0,0,0,0,0,0,14.95,14.95,14.95
$GC,2267,0.76,243.3,2991,1803,1736,1659,137.1,13.9,405,2274,0.00,2.38,0.00,0.000,2308,0.000,0.048,2991,3213,1698,1737,1659,0,0,0,0,0,0,14.98,14.73,14.98
$GC,2292,0.76,243.3,2991,3211,1735,1658,133.0,16.7,409,2298,0.00,2.42,0.00,0.000,3078,0.000,0.053,2995,1795,1697,1735,1659,0,0,0,0,0,0,14.88,14.76,14.89
$GC,2363,0.76,243.3,2991,1794,1736,1658,122.7,15.3,422,2369,0.00,0.00,0.00,0.000,2054,0.000,0.000,2992,1795,1696,1735,1658,0,0,0,0,0,0,15.00,15.00,15.00
$GC,2431,0.76,243.3,2991,1795,1735,1657,111.4,16.7,435,2438,0.00,2.42,0.00,0.000,2564,0.000,0.072,3000,393,1696,1735,1658,0,0,0,0,0,0,15.03,14.77,15.03
$GC,2456,0.76,243.3,2999,391,1735,1658,107.3,17.5,439,2463,0.00,2.33,0.00,0.000,1030,0.000,0.034,3000,1804,1696,1735,1658,0,0,0,0,0,0,14.91,14.84,14.93
$GC,2527,0.76,243.3,2999,1806,1735,1657,96.0,16.8,452,2533,0.00,2.33,0.00,0.000,260,0.000,0.048,2999,3197,1696,1735,1657,0,0,0,0,0,0,15.03,14.82,15.04
$GC,2576,0.76,243.3,2997,3195,1734,1657,87.6,16.4,461,2583,0.00,2.40,0.00,0.000,1030,0.000,0.052,3000,1792,1695,1734,1656,0,0,0,0,0,0,14.91,14.82,14.94
$GC,2647,0.76,243.3,3000,1792,1734,1656,76.9,15.6,474,2654,0.00,2.42,0.00,0.000,516,0.000,0.072,3008,391,1695,1734,1656,0,0,0,0,0,0,15.04,14.80,15.05
$GC,2681,0.76,243.3,3008,391,1734,1657,71.1,15.8,480,2688,0.00,2.33,0.00,0.000,5126,0.000,0.034,3008,1801,1695,1734,1656,0,0,0,0,0,0,14.95,14.87,14.96
$GC,2753,0.76,243.3,3008,1803,1734,1656,61.6,13.1,493,2759,0.00,2.33,0.00,0.000,4356,0.000,0.048,3008,3197,1695,1734,1656,0,0,0,0,0,0,15.05,14.83,15.05
$GC,2812,0.76,243.3,3008,3197,1733,1656,53.1,14.5,504,2819,0.00,2.40,0.00,0.000,5126,0.000,0.053,3010,1800,1694,1733,1656,0,0,0,0,0,0,14.95,14.83,14.97
$GC,2883,0.76,243.3,3009,1800,1733,1656,43.9,11.6,517,2890,0.00,2.42,0.00,0.000,4612,0.000,0.073,3010,396,1694,1733,1656,0,0,0,0,0,0,15.07,14.73,15.07
$GC,3019,0.76,243.3,3009,395,1733,1656,28.9,10.7,543,3026,0.00,2.33,0.00,0.000,5126,0.000,0.034,3010,1810,1694,1733,1656,0,0,0,0,0,0,14.85,14.77,14.87
$GC,3091,0.84,304.3,3009,1811,1733,1655,22.8,8.3,556,3141,0.00,2.35,43.35,1.001,10500,0.000,0.047,3010,3197,1458,1505,1412,0,0,0,0,0,0,15.09,14.57,14.19
$GC,3210,0.84,304.3,3009,3197,1502,1410,11.6,10.5,578,3216,0.00,2.42,0.00,0.000,3078,0.000,0.052,3010,1787,1455,1502,1409,0,0,0,0,0,0,14.78,14.68,14.79
$GC,3281,0.84,304.3,3009,1786,1502,1407,3.4,14.3,591,3288,0.00,2.42,0.00,0.000,2308,0.000,0.050,3010,3199,1454,1502,1407,0,0,0,0,0,0,14.98,14.73,14.98
$STATE,3292,end climb,SURFACE_DEPTH_REACHED
$STATE,3293,begin surface coast
$FINISH,0.1,1.013141
$STATE,3314,end surface coast,CONTROL_FINISHED_OK
$STATE,3314,begin surface
$SM_CCo,3341,143.43,0.817,0,0,597,515.37
$SM_GC,0.88,13.60,2.40,143.43,0.044,0.044,0.817,128,1807,597,-8.17,0.82,515.37,0,0,0,0,0,0,14.80,14.79,14.09
$IRIDIUM_FIX,-3412.10,2557.68,170419,113530
$TT8_MAMPS,0.021721,0.947485
$HUMID,46.18
$INTERNAL_PRESSURE,9.28303
$TCM_TEMP,18.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,155.7,36.1
$SC_FREEKB,3704000
$24V_AH,13.51,130.414
$10V_AH,13.49,0.000
$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,30.525,76.300,415.225,143.425,0.000,26.114,17.498,249.018,5.750,0.000,48.453,1216.521,527.290,706.629,1342.017,268.396,0.000,1300.794,0.000,900.034,0.000,39.051,0.000
$DEVICE_MAMPS,301.410,72.675,1183.455,817.020,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3376.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.730,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,16746,597
$CAP_FILE_SIZE,113594,0
$CFSIZE,2097086464,2014248960
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,1794.93,0x23609a,1,24
$GPS,170419,134637,-3424.112,2557.322,6,1.2,46,-28.1,1.3,226.6,7,4.5