version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 430
start: 4 18 119 20 11 35
data:
$ID,574
$MISSION,3
$DIVE,430
$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,310
$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,54
$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
$GPS1,180419,200158,-3428.1548,2530.4131,7,1.1,17,-28.0,0.9,224.9,8,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-66.6
$GPS2,180419,201107,-3428.2981,2530.3076,7,1.0,18,-28.0,0.6,211.9,8,9.0
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,-3421.356,2520.287
$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,338.0,20000,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.76,-194.6,54,1788,626,545,0.0,0.0,0,128,0.00,0.00,-102.70,0.000,16386,0.000,0.000,54,1789,3083,3050,3117,0,0,0,0,0,0,14.92,28.83,14.93
$GC,133,-0.76,-194.6,54,1789,3050,3117,3.7,-8.8,19,164,14.62,2.40,-7.05,0.000,18692,0.305,0.070,2494,3209,3498,3505,3491,0,0,0,0,0,0,14.45,13.48,14.76
$GC,298,-0.76,-194.6,2493,3210,3509,3487,36.2,-11.4,50,305,0.08,2.38,0.00,0.000,3078,0.256,0.046,2509,1809,3498,3511,3486,0,0,0,0,0,0,14.63,14.77,14.81
$GC,370,-0.76,-194.6,2509,1809,3512,3485,45.7,-13.7,63,376,0.00,0.00,0.00,0.000,2054,0.000,0.000,2509,1809,3498,3512,3485,0,0,0,0,0,0,15.02,15.02,15.02
$GC,440,-0.76,-194.6,2509,1809,3512,3485,55.4,-13.3,76,446,0.00,2.45,0.00,0.000,2564,0.000,0.067,2509,404,3498,3512,3485,0,0,0,0,0,0,15.03,14.68,15.04
$GC,454,-0.76,-194.6,2509,403,3512,3484,57.3,-12.4,78,461,0.00,2.33,0.00,0.000,3078,0.000,0.035,2509,1804,3499,3513,3485,0,0,0,0,0,0,14.81,14.71,14.81
$GC,525,-0.76,-194.6,2508,1806,3513,3484,65.3,-11.5,91,532,0.00,2.40,0.00,0.000,2308,0.000,0.055,2509,3213,3498,3513,3484,0,0,0,0,0,0,15.04,14.74,15.04
$GC,551,-0.76,-194.6,2508,3211,3513,3484,67.9,-9.6,95,557,0.00,2.38,0.00,0.000,3078,0.000,0.044,2508,1808,3498,3513,3484,0,0,0,0,0,0,14.86,14.76,14.88
$GC,622,-0.76,-194.6,2508,1808,3514,3484,74.5,-9.8,108,630,0.00,0.00,0.00,0.000,2054,0.000,0.000,2509,1808,3499,3514,3484,0,0,0,0,0,0,15.05,15.05,15.05
$GC,697,-0.76,-194.6,2508,1808,3514,3484,82.3,-10.0,121,703,0.00,2.40,0.00,0.000,2308,0.000,0.054,2508,3215,3501,3518,3484,0,0,0,0,0,0,15.04,14.80,15.05
$GC,763,-0.76,-194.6,2508,3216,3517,3484,89.4,-10.6,133,771,0.00,2.38,0.00,0.000,3078,0.000,0.044,2508,1802,3499,3514,3484,0,0,0,0,0,0,14.93,14.82,14.95
$GC,837,-0.76,-194.6,2508,1802,3514,3484,98.2,-12.0,146,843,0.00,0.00,0.00,0.000,2054,0.000,0.000,2509,1803,3499,3514,3484,0,0,0,0,0,0,15.07,15.07,15.07
$GC,907,-0.76,-194.6,2508,1802,3514,3483,106.6,-11.7,159,913,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1802,3499,3514,3484,0,0,0,0,0,0,15.05,15.05,15.05
$GC,976,-0.76,-194.6,2508,1802,3514,3484,114.8,-11.3,172,983,0.00,0.00,0.00,0.000,2054,0.000,0.000,2509,1802,3497,3514,3481,0,0,0,0,0,0,15.07,15.07,15.07
$GC,1047,-0.76,-194.6,2508,1802,3514,3484,122.8,-11.7,185,1053,0.00,0.00,0.00,0.000,2054,0.000,0.000,2509,1802,3499,3514,3484,0,0,0,0,0,0,15.05,15.06,15.06
$GC,1119,-0.76,-194.6,2508,1802,3514,3483,130.9,-11.8,198,1124,0.00,0.00,0.00,0.000,2054,0.000,0.000,2507,1802,3498,3514,3483,0,0,0,0,0,0,15.07,15.08,15.08
$GC,1192,-0.76,-194.6,2508,1802,3514,3483,139.2,-11.0,211,1198,0.00,2.42,0.00,0.000,2308,0.000,0.054,2508,3218,3498,3514,3483,0,0,0,0,0,0,15.07,14.81,15.07
$GC,1232,-0.76,-194.6,2508,3218,3514,3483,143.5,-9.7,218,1238,0.00,2.38,0.00,0.000,3078,0.000,0.044,2508,1810,3498,3514,3483,0,0,0,0,0,0,14.94,14.83,14.95
$GC,1303,-0.76,-194.6,2508,1812,3514,3482,151.0,-11.3,231,1309,0.00,0.00,0.00,0.000,2054,0.000,0.000,2506,1811,3498,3514,3482,0,0,0,0,0,0,15.06,15.06,15.06
$GC,1372,-0.76,-194.6,2508,1812,3514,3482,159.0,-11.3,244,1378,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1812,3497,3513,3482,0,0,0,0,0,0,15.07,15.08,15.08
$STATE,1394,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1394,begin apogee
$GC,1400,-0.17,0.0,2508,1811,3514,3481,162.0,-11.9,248,1555,0.95,0.00,147.25,1.164,10246,0.154,0.000,2695,1809,2698,2729,2667,0,0,0,0,0,0,14.68,14.38,13.86
$STATE,1557,end apogee,CONTROL_FINISHED_OK
$STATE,1557,begin climb
$GC,1559,0.76,194.6,2695,1809,2727,2667,164.2,0.0,276,1722,1.50,2.42,151.27,1.132,11012,0.083,0.048,3005,3205,1903,1940,1867,0,0,0,0,0,0,14.39,14.31,13.80
$GC,1757,0.76,194.6,3004,3204,1935,1864,158.1,11.3,310,1763,0.00,2.45,0.00,0.000,5126,0.000,0.050,3008,1803,1900,1935,1866,0,0,0,0,0,0,14.54,14.45,14.55
$GC,1827,0.76,194.6,3008,1803,1934,1863,149.1,14.0,323,1833,0.00,0.00,0.00,0.000,4102,0.000,0.000,3007,1802,1898,1934,1863,0,0,0,0,0,0,14.78,14.78,14.78
$GC,1896,0.76,194.6,3008,1803,1933,1862,139.6,13.8,336,1902,0.00,0.00,0.00,0.000,4102,0.000,0.000,3008,1803,1897,1932,1862,0,0,0,0,0,0,14.87,14.88,14.88
$GC,1965,0.76,194.6,3008,1803,1932,1861,130.5,13.5,349,1972,0.00,2.40,0.00,0.000,4356,0.000,0.047,3008,3212,1896,1931,1861,0,0,0,0,0,0,14.92,14.63,14.92
$GC,2005,0.76,194.6,3008,3212,1930,1861,125.2,13.3,356,2012,0.00,2.42,0.00,0.000,5126,0.000,0.050,3017,1801,1895,1930,1861,0,0,0,0,0,0,14.73,14.63,14.74
$GC,2076,0.76,194.6,3016,1801,1930,1860,116.0,13.3,369,2082,0.00,0.00,0.00,0.000,4102,0.000,0.000,3016,1800,1894,1929,1860,0,0,0,0,0,0,14.98,14.98,14.98
$GC,2145,0.76,194.6,3016,1801,1930,1860,106.6,13.1,382,2151,0.00,0.00,0.00,0.000,4102,0.000,0.000,3016,1801,1893,1929,1858,0,0,0,0,0,0,15.00,15.00,15.00
$GC,2213,0.76,194.6,3016,1800,1930,1860,97.7,12.9,395,2219,0.00,0.00,0.00,0.000,4102,0.000,0.000,3016,1801,1895,1930,1860,0,0,0,0,0,0,15.01,15.02,15.02
$GC,2282,0.76,194.6,3016,1801,1930,1860,88.9,12.9,408,2288,0.00,0.00,0.00,0.000,4102,0.000,0.000,3017,1801,1894,1929,1859,0,0,0,0,0,0,15.03,15.03,15.04
$GC,2351,0.76,194.6,3016,1801,1929,1859,80.0,12.9,421,2357,0.00,2.38,0.00,0.000,4356,0.000,0.048,3016,3204,1894,1929,1859,0,0,0,0,0,0,15.04,14.76,15.04
$GC,2415,0.76,194.6,3016,3204,1928,1859,71.1,14.0,433,2422,0.08,2.40,0.00,0.000,5126,0.298,0.051,3009,1799,1893,1928,1858,0,0,0,0,0,0,14.57,14.72,14.78
$GC,2487,0.76,194.6,3009,1799,1928,1859,61.0,14.7,446,2494,0.00,2.38,0.00,0.000,4356,0.000,0.048,3009,3207,1893,1927,1859,0,0,0,0,0,0,15.05,14.81,15.05
$GC,2507,0.76,194.6,3009,3207,1927,1859,57.8,15.1,449,2513,0.00,2.42,0.00,0.000,5126,0.000,0.052,3016,1789,1893,1928,1859,0,0,0,0,0,0,14.92,14.81,14.94
$GC,2578,0.76,194.6,3016,1790,1928,1858,49.6,10.6,462,2585,0.00,2.40,0.00,0.000,4356,0.000,0.049,3016,3212,1893,1927,1859,0,0,0,0,0,0,15.04,14.82,15.04
$GC,2633,0.76,194.6,3016,3212,1927,1859,43.5,10.4,472,2639,0.00,2.42,0.00,0.000,5126,0.000,0.052,3016,1791,1892,1927,1858,0,0,0,0,0,0,14.93,14.81,14.95
$GC,2705,0.81,234.6,3016,1791,1927,1858,37.5,8.6,485,2744,0.00,2.45,31.25,1.044,8708,0.000,0.073,3023,387,1741,1779,1703,0,0,0,0,0,0,15.05,14.66,14.20
$GC,2779,0.83,252.7,3016,388,1776,1703,30.2,9.4,498,2803,0.00,2.35,15.82,0.977,11270,0.000,0.033,3016,1813,1668,1708,1628,0,0,0,0,0,0,14.83,14.74,14.09
$GC,2867,0.83,252.7,3016,1813,1706,1625,21.2,11.0,514,2873,0.00,2.35,0.00,0.000,2308,0.000,0.048,3016,3193,1665,1705,1625,0,0,0,0,0,0,14.92,14.69,14.92
$GC,2921,0.83,252.7,3016,3194,1704,1624,14.7,11.5,524,2928,0.00,2.40,0.00,0.000,3078,0.000,0.053,3017,1800,1664,1704,1624,0,0,0,0,0,0,14.78,14.68,14.80
$GC,2993,0.83,252.7,3016,1801,1704,1623,7.3,10.7,537,2998,0.00,0.00,0.00,0.000,2054,0.000,0.000,3017,1800,1663,1705,1622,0,0,0,0,0,0,14.97,14.97,14.97
$STATE,3029,end climb,SURFACE_DEPTH_REACHED
$STATE,3029,begin surface coast
$FINISH,0.5,1.025813
$STATE,3057,end surface coast,CONTROL_FINISHED_OK
$STATE,3057,begin surface
$SM_CCo,3081,179.70,0.817,0,0,596,515.37
$SM_GC,0.86,13.68,0.00,179.70,0.047,0.000,0.817,127,1800,596,-8.17,-0.34,515.37,0,0,0,0,0,0,14.78,15.02,14.04
$IRIDIUM_FIX,-3414.71,2626.89,180419,185802
$TT8_MAMPS,0.021721,0.928011
$HUMID,45.11
$INTERNAL_PRESSURE,9.25373
$TCM_TEMP,18.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,135.1,36.3
$SC_FREEKB,3695552
$24V_AH,13.48,135.402
$10V_AH,13.60,0.000
$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,30.900,57.550,345.600,179.700,0.000,25.044,18.574,254.577,4.750,0.000,19.959,1133.703,490.718,679.784,1251.801,266.059,0.000,1226.128,0.000,829.888,0.000,34.803,0.000
$DEVICE_MAMPS,305.235,72.675,1163.565,817.020,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3120.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.315,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,13423,549
$CAP_FILE_SIZE,105820,0
$CFSIZE,2097086464,2011168768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,180419,210719,-3428.424,2529.400,7,0.8,40,-28.0,1.0,192.1,10,8.1