version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 198
start: 3 30 119 16 18 14
data:
$ID,574
$MISSION,3
$DIVE,198
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$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,167
$T_MISSION,182
$T_ABORT,197
$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,95
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53998
$MASS_COMP,0
$NAV_MODE,3
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,270
$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,34
$R_STBD_OVSHOOT,56
$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
$GPS1,300319,160931,-3001.0823,3104.0437,8,0.9,27,-25.0,0.3,145.6,9,5.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-71.6
$GPS2,300319,161751,-3001.0703,3104.0557,8,0.9,14,-25.0,0.0,45.7,9,9.7
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-2953.360,3055.335
$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,340.6,20000,-23.0,-9.980,-25.43,1422
$D_GRID,500
$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,21,-0.88,-92.5,54,1806,619,557,0.0,0.0,0,108,0.00,0.00,-84.65,0.000,16386,0.000,0.000,52,1807,2902,2873,2932,0,0,0,0,0,0,15.11,28.83,15.11
$GC,111,-0.88,-92.5,54,1807,2872,2931,3.7,-7.5,15,137,13.82,2.30,-3.10,0.000,18692,0.286,0.070,2460,3205,3079,3068,3090,0,0,0,0,0,0,14.73,14.20,14.97
$GC,229,-0.88,-92.5,2460,3205,3071,3087,33.8,-17.3,37,237,0.05,2.33,0.00,0.000,3078,0.322,0.050,2469,1810,3079,3071,3087,0,0,0,0,0,0,14.77,14.88,14.94
$GC,299,-0.88,-92.5,2469,1809,3072,3086,46.9,-18.0,50,306,0.00,0.00,0.00,0.000,2054,0.000,0.000,2469,1809,3079,3072,3086,0,0,0,0,0,0,15.17,15.18,15.18
$GC,369,-0.88,-92.5,2469,1809,3073,3086,59.3,-17.6,63,376,0.00,2.33,0.00,0.000,2308,0.000,0.047,2461,3211,3079,3072,3086,0,0,0,0,0,0,15.19,14.99,15.19
$GC,430,-0.88,-92.5,2461,3212,3073,3086,70.4,-17.5,74,438,0.00,2.33,0.00,0.000,3078,0.000,0.045,2460,1800,3079,3072,3086,0,0,0,0,0,0,15.04,14.97,15.06
$GC,502,-0.88,-92.5,2461,1800,3073,3083,81.7,-12.9,87,509,0.00,2.33,0.00,0.000,2564,0.000,0.059,2460,404,3079,3073,3086,0,0,0,0,0,0,15.21,14.99,15.21
$GC,521,-0.88,-92.5,2458,403,3066,3085,84.3,-12.9,90,530,0.10,2.28,0.00,0.000,3078,0.261,0.035,2471,1813,3079,3073,3086,0,0,0,0,0,0,14.89,15.02,15.04
$GC,593,-0.88,-92.5,2471,1815,3083,3085,94.7,-15.3,103,601,0.00,2.30,0.00,0.000,2308,0.000,0.050,2462,3215,3079,3074,3085,0,0,0,0,0,0,15.21,15.01,15.22
$GC,649,-0.88,-92.5,2462,3215,3074,3085,102.7,-12.3,113,656,0.00,2.30,0.00,0.000,3078,0.000,0.042,2462,1806,3079,3074,3085,0,0,0,0,0,0,15.04,14.96,15.04
$GC,720,-0.88,-92.5,2462,1806,3074,3085,113.6,-15.5,126,727,0.00,2.33,0.00,0.000,2308,0.000,0.048,2452,3218,3079,3074,3084,0,0,0,0,0,0,15.22,14.99,15.22
$GC,873,-0.88,-92.5,2452,3218,3074,3087,139.3,-16.6,155,881,0.10,2.30,0.00,0.000,3078,0.226,0.042,2473,1804,3079,3074,3085,0,0,0,0,0,0,14.94,15.04,15.07
$GC,944,-0.88,-92.5,2472,1804,3075,3085,150.3,-14.8,168,951,0.00,2.33,0.00,0.000,2564,0.000,0.060,2471,406,3079,3074,3085,0,0,0,0,0,0,15.23,14.95,15.23
$GC,991,-0.88,-92.5,2473,406,3075,3084,158.0,-16.4,176,998,0.00,2.28,0.00,0.000,3078,0.000,0.034,2473,1816,3080,3075,3085,0,0,0,0,0,0,15.09,15.02,15.11
$GC,1061,-0.88,-92.5,2473,1819,3074,3084,168.1,-15.3,189,1068,0.00,2.30,0.00,0.000,2308,0.000,0.051,2464,3216,3080,3075,3085,0,0,0,0,0,0,15.24,15.00,15.24
$GC,1085,-0.88,-92.5,2464,3216,3075,3085,171.8,-15.2,193,1091,0.00,2.30,0.00,0.000,3078,0.000,0.042,2464,1806,3079,3075,3084,0,0,0,0,0,0,15.07,14.98,15.07
$STATE,1147,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1148,begin apogee
$GC,1153,-0.17,0.0,2464,1805,3075,3085,181.2,-14.5,205,1227,1.17,0.00,67.88,0.943,10246,0.165,0.000,2697,1805,2704,2723,2685,0,0,0,0,0,0,14.92,14.75,14.35
$STATE,1230,end apogee,CONTROL_FINISHED_OK
$STATE,1230,begin climb
$GC,1232,0.88,92.5,2696,1805,2716,2684,184.9,0.0,218,1316,1.52,2.40,73.50,0.948,11012,0.078,0.044,3029,3210,2321,2342,2300,0,0,0,0,0,0,14.76,14.59,14.19
$GC,1478,0.89,97.3,3029,3209,2336,2296,170.0,9.6,263,1492,0.00,2.35,4.15,0.581,11270,0.000,0.047,3033,1799,2303,2325,2282,0,0,0,0,0,0,14.94,14.85,14.29
$GC,1554,0.95,149.1,3033,1798,2324,2282,164.3,6.2,277,1602,0.00,2.45,41.90,0.918,10756,0.000,0.069,3033,397,2091,2121,2061,0,0,0,0,0,0,15.11,14.74,14.29
$GC,1620,0.95,149.1,3032,395,2117,2061,158.5,10.1,288,1627,0.00,2.30,0.00,0.000,3078,0.000,0.032,3033,1816,2089,2117,2061,0,0,0,0,0,0,14.88,14.81,14.90
$GC,1690,0.95,149.1,3033,1817,2116,2060,149.6,11.9,301,1695,0.00,0.00,0.00,0.000,2054,0.000,0.000,3033,1818,2088,2116,2060,0,0,0,0,0,0,15.05,15.06,15.06
$GC,1757,0.95,149.1,3033,1818,2115,2059,140.1,13.7,314,1764,0.00,2.25,0.00,0.000,2308,0.000,0.047,3033,3188,2086,2114,2059,0,0,0,0,0,0,15.10,14.85,15.11
$GC,1816,0.95,149.1,3033,3188,2113,2059,132.4,12.5,325,1822,0.00,2.30,0.00,0.000,3078,0.000,0.047,3034,1799,2086,2113,2059,0,0,0,0,0,0,15.02,14.94,15.04
$GC,1885,0.95,149.1,3033,1799,2113,2058,124.8,10.4,338,1891,0.00,0.00,0.00,0.000,2054,0.000,0.000,3033,1798,2085,2113,2058,0,0,0,0,0,0,15.15,15.15,15.15
$GC,1953,0.95,149.1,3033,1799,2113,2057,115.9,14.5,351,1961,0.00,2.30,0.00,0.000,2308,0.000,0.047,3033,3191,2084,2112,2057,0,0,0,0,0,0,15.17,14.95,15.18
$GC,2057,0.95,149.1,3033,3191,2112,2056,100.3,14.8,371,2064,0.00,2.30,0.00,0.000,3078,0.000,0.048,3033,1799,2083,2111,2056,0,0,0,0,0,0,15.02,14.94,15.04
$GC,2128,0.95,149.1,3033,1799,2111,2056,91.0,14.0,384,2135,0.00,2.30,0.00,0.000,2308,0.000,0.046,3033,3198,2083,2111,2056,0,0,0,0,0,0,15.21,14.97,15.21
$GC,2217,0.95,149.1,3033,3198,2110,2055,77.1,16.2,401,2224,0.00,2.33,0.00,0.000,3078,0.000,0.050,3034,1800,2082,2110,2055,0,0,0,0,0,0,15.06,15.01,15.07
$GC,2287,0.97,162.3,3033,1800,2110,2055,70.0,9.0,414,2307,0.08,2.38,11.00,0.761,10756,0.192,0.067,3077,395,2035,2065,2006,0,0,0,0,0,0,15.01,14.94,14.57
$GC,2374,0.99,183.0,3077,395,2061,2006,62.9,8.5,430,2399,0.00,2.25,16.95,0.791,9222,0.000,0.033,3077,1797,1953,1985,1922,0,0,0,0,0,0,15.07,15.01,14.53
$GC,2461,0.99,183.0,3077,1798,1982,1918,54.4,12.3,446,2467,0.00,0.00,0.00,0.000,4102,0.000,0.000,3077,1798,1950,1982,1918,0,0,0,0,0,0,15.15,15.14,15.16
$GC,2529,0.99,183.0,3077,1798,1981,1917,45.8,12.5,459,2536,0.00,2.28,0.00,0.000,260,0.000,0.047,3077,3198,1949,1981,1917,0,0,0,0,0,0,15.17,14.95,15.18
$GC,2633,0.99,183.0,3076,3198,1980,1917,33.1,10.6,479,2641,0.00,2.30,0.00,0.000,5126,0.000,0.046,3083,1796,1948,1980,1916,0,0,0,0,0,0,15.05,14.95,15.07
$GC,2704,1.04,219.3,3082,1796,1979,1915,27.6,7.4,492,2734,0.00,2.42,24.85,0.930,10756,0.000,0.067,3084,396,1804,1838,1771,0,0,0,0,0,0,15.21,14.88,14.42
$STATE,2920,end climb,SURFACE_DEPTH_REACHED
$STATE,2920,begin surface coast
$FINISH,0.1,1.023486
$STATE,2946,end surface coast,CONTROL_FINISHED_OK
$STATE,2947,begin surface
$SM_CCo,2971,168.77,0.760,0,0,598,515.37
$SM_GC,0.89,13.70,2.33,168.77,0.047,0.034,0.760,121,1796,598,-8.18,-1.61,515.37,0,0,0,0,0,0,15.00,14.99,14.31
$IRIDIUM_FIX,-2950.05,3102.52,300319,150108
$TT8_MAMPS,0.020972,0.941493
$HUMID,42.04
$INTERNAL_PRESSURE,9.55647
$TCM_TEMP,22.40
$XPDR_PINGS,13
$ALTIM_BOTTOM_PING,155.1,35.9
$SC_FREEKB,3820288
$24V_AH,14.19,78.028
$10V_AH,13.93,0.000
$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,30.550,69.525,240.225,168.775,0.000,23.850,19.449,250.778,9.000,0.000,15.356,1232.105,463.376,566.112,1239.869,147.711,0.000,1060.294,0.000,819.002,0.000,37.484,0.000
$DEVICE_MAMPS,322.065,70.380,947.835,760.410,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3003.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.472,0.000,0.000,0.000
$MEM,340928
$DATA_FILE_SIZE,13421,539
$CAP_FILE_SIZE,102995,0
$CFSIZE,2097086464,2057142272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.038,79.62,1
$GPS,300319,171131,-3000.810,3103.904,8,0.9,18,-25.0,0.0,112.7,9,9.2