version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 201
start: 3 30 119 19 6 46
data:
$ID,574
$MISSION,3
$DIVE,201
$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,90
$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,33
$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
$GPS1,300319,185844,-3000.2856,3104.1636,8,1.0,15,-25.0,0.0,0.0,8,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-69.7
$GPS2,300319,190624,-3000.2737,3104.2063,8,1.0,15,-25.0,0.0,103.8,8,9.9
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3007.875,3113.075
$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,159.7,20000,-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,-92.5,54,1823,621,554,0.0,0.0,0,108,0.00,0.00,-85.12,0.000,16386,0.000,0.000,54,1823,2881,2852,2910,0,0,0,0,0,0,15.12,28.83,15.13
$GC,111,-0.88,-92.5,54,1823,2852,2910,3.7,-7.0,15,137,13.75,2.38,-3.55,0.000,18948,0.285,0.079,2466,392,3081,3070,3093,0,0,0,0,0,0,14.76,13.90,14.98
$GC,220,-0.88,-92.5,2466,392,3072,3090,34.9,-20.1,35,227,0.05,2.30,0.00,0.000,3078,0.354,0.035,2469,1813,3079,3070,3088,0,0,0,0,0,0,14.81,14.95,14.98
$GC,292,-0.88,-92.5,2469,1816,3074,3087,50.5,-22.6,48,298,0.00,2.30,0.00,0.000,2308,0.000,0.050,2461,3220,3080,3074,3087,0,0,0,0,0,0,15.19,14.98,15.20
$GC,382,-0.88,-92.5,2460,3221,3074,3087,67.4,-17.1,65,389,0.00,2.33,0.00,0.000,3078,0.000,0.042,2461,1799,3080,3074,3086,0,0,0,0,0,0,15.09,15.01,15.11
$GC,453,-0.88,-92.5,2461,1799,3075,3086,75.9,-13.7,78,459,0.00,2.33,0.00,0.000,2308,0.000,0.048,2451,3213,3080,3075,3086,0,0,0,0,0,0,15.22,15.02,15.22
$GC,549,-0.88,-92.5,2451,3216,3075,3086,90.1,-14.2,96,556,0.10,2.30,0.00,0.000,3078,0.233,0.044,2472,1809,3080,3075,3086,0,0,0,0,0,0,14.87,14.97,15.00
$GC,621,-0.88,-92.5,2471,1808,3076,3086,100.6,-16.4,109,627,0.00,0.00,0.00,0.000,2054,0.000,0.000,2471,1809,3081,3076,3086,0,0,0,0,0,0,15.22,15.24,15.24
$GC,692,-0.88,-92.5,2471,1809,3076,3086,110.1,-14.6,122,698,0.00,0.00,0.00,0.000,2054,0.000,0.000,2472,1808,3081,3076,3086,0,0,0,0,0,0,15.23,15.23,15.23
$GC,759,-0.88,-92.5,2471,1810,3077,3086,119.3,-12.8,135,769,0.00,2.30,0.00,0.000,2308,0.000,0.046,2463,3216,3081,3076,3086,0,0,0,0,0,0,15.24,14.97,15.24
$GC,807,-0.88,-92.5,2463,3220,3076,3086,125.5,-13.6,143,814,0.03,2.30,0.00,0.000,3078,0.474,0.044,2469,1807,3081,3076,3086,0,0,0,0,0,0,14.90,15.06,15.07
$GC,876,-0.88,-92.5,2472,1807,3075,3086,136.4,-16.6,156,883,0.00,2.33,0.00,0.000,2308,0.000,0.050,2461,3218,3081,3076,3086,0,0,0,0,0,0,15.25,15.03,15.25
$GC,901,-0.88,-92.5,2461,3219,3076,3086,140.1,-14.8,160,908,0.00,2.30,0.00,0.000,3078,0.000,0.041,2461,1803,3081,3076,3086,0,0,0,0,0,0,15.13,15.04,15.14
$GC,975,-0.88,-92.5,2460,1802,3076,3086,150.8,-16.3,173,982,0.00,0.00,0.00,0.000,2054,0.000,0.000,2461,1802,3081,3077,3086,0,0,0,0,0,0,15.24,15.25,15.24
$GC,1044,-0.88,-92.5,2461,1802,3077,3086,161.8,-13.9,186,1050,0.00,0.00,0.00,0.000,2054,0.000,0.000,2461,1802,3081,3076,3086,0,0,0,0,0,0,15.25,15.26,15.25
$STATE,1100,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1100,begin apogee
$GC,1104,-0.17,0.0,2461,1802,3076,3085,169.5,-13.6,197,1180,1.17,0.00,67.88,0.925,10246,0.164,0.000,2694,1802,2697,2712,2683,0,0,0,0,0,0,14.92,14.79,14.33
$STATE,1183,end apogee,CONTROL_FINISHED_OK
$STATE,1183,begin climb
$GC,1185,0.88,92.5,2695,1802,2715,2683,172.9,0.0,210,1268,1.52,2.40,72.97,0.931,10756,0.076,0.063,3030,402,2321,2342,2300,0,0,0,0,0,0,14.78,14.55,14.23
$GC,1316,0.88,92.5,3030,402,2339,2297,164.4,12.5,232,1322,0.00,2.30,0.00,0.000,3078,0.000,0.032,3030,1819,2318,2338,2299,0,0,0,0,0,0,14.81,14.74,14.83
$GC,1385,0.88,92.5,3030,1821,2338,2294,156.4,11.6,245,1391,0.00,0.00,0.00,0.000,2054,0.000,0.000,3030,1821,2315,2338,2293,0,0,0,0,0,0,15.05,15.05,15.04
$GC,1454,0.88,95.9,3030,1821,2337,2292,149.4,9.7,258,1460,0.00,0.00,0.00,0.000,2054,0.000,0.000,3030,1821,2315,2337,2293,0,0,0,0,0,0,15.10,15.11,15.11
$GC,1522,0.91,120.6,3030,1821,2337,2292,143.1,8.2,271,1551,0.00,0.00,22.70,0.870,10246,0.000,0.000,3030,1821,2206,2232,2180,0,0,0,0,0,0,15.14,14.77,14.43
$GC,1614,0.91,120.6,3030,1821,2229,2176,134.7,10.6,288,1621,0.00,2.25,0.00,0.000,2308,0.000,0.049,3030,3191,2202,2229,2176,0,0,0,0,0,0,15.09,14.91,15.10
$GC,1632,0.91,120.6,3030,3191,2227,2176,132.7,11.2,291,1639,0.00,2.30,0.00,0.000,3078,0.000,0.047,3033,1804,2201,2227,2176,0,0,0,0,0,0,15.00,14.92,15.02
$GC,1702,0.91,120.6,3033,1803,2227,2175,126.1,10.5,304,1709,0.00,2.38,0.00,0.000,2564,0.000,0.067,3033,398,2201,2227,2176,0,0,0,0,0,0,15.14,14.92,15.17
$GC,1716,0.91,120.6,3033,398,2225,2175,124.5,10.6,306,1722,0.00,2.25,0.00,0.000,3078,0.000,0.034,3033,1801,2200,2225,2175,0,0,0,0,0,0,14.99,14.92,15.00
$GC,1785,0.91,120.6,3033,1802,2225,2175,116.2,12.2,319,1791,0.00,2.28,0.00,0.000,2308,0.000,0.047,3033,3198,2199,2225,2174,0,0,0,0,0,0,15.17,14.91,15.18
$GC,1798,0.91,120.6,3033,3198,2224,2175,114.5,12.6,321,1805,0.00,2.30,0.00,0.000,3078,0.000,0.046,3033,1799,2199,2224,2175,0,0,0,0,0,0,15.07,14.97,15.08
$GC,1868,0.91,120.6,3036,1800,2224,2174,106.0,12.2,334,1875,0.00,2.28,0.00,0.000,2308,0.000,0.047,3033,3198,2199,2224,2174,0,0,0,0,0,0,15.19,14.99,15.19
$GC,1952,0.91,120.6,3033,3198,2223,2174,95.5,12.5,350,1959,0.00,2.30,0.00,0.000,3078,0.000,0.045,3037,1800,2199,2224,2174,0,0,0,0,0,0,15.09,15.04,15.11
$GC,2022,0.91,120.6,3036,1799,2224,2174,87.8,10.6,363,2028,0.00,0.00,0.00,0.000,2054,0.000,0.000,3037,1799,2199,2224,2174,0,0,0,0,0,0,15.21,15.22,15.22
$GC,2090,0.92,121.7,3036,1799,2223,2173,80.8,9.9,376,2097,0.00,2.38,0.00,0.000,2564,0.000,0.067,3037,398,2198,2223,2173,0,0,0,0,0,0,15.22,14.93,15.23
$GC,2145,0.92,121.7,3037,404,2221,2173,75.5,10.2,386,2151,0.00,2.25,0.00,0.000,3078,0.000,0.034,3037,1804,2197,2222,2173,0,0,0,0,0,0,15.08,15.05,15.08
$GC,2214,0.95,146.6,3036,1805,2221,2173,69.6,8.2,399,2240,0.00,2.42,20.12,0.828,10756,0.000,0.063,3037,397,2101,2130,2072,0,0,0,0,0,0,15.22,14.89,14.47
$GC,2247,1.00,187.1,3036,396,2128,2072,66.9,7.1,404,2289,0.10,2.28,32.38,0.832,11270,0.158,0.034,3077,1811,1933,1966,1901,0,0,0,0,0,0,14.95,14.96,14.44
$GC,2351,1.00,187.1,3077,1809,1963,1898,55.4,10.3,423,2358,0.00,2.28,0.00,0.000,260,0.000,0.048,3078,3197,1929,1962,1897,0,0,0,0,0,0,15.09,14.87,15.09
$GC,2677,1.01,195.4,3077,3197,1959,1894,17.9,9.4,487,2690,0.00,2.30,3.62,0.605,13318,0.000,0.045,3086,1798,1902,1936,1869,0,0,0,0,0,0,15.10,15.02,14.49
$GC,2752,1.06,239.1,3086,1798,1935,1869,12.2,6.8,501,2783,0.00,2.42,24.83,0.847,10756,0.000,0.067,3091,396,1726,1763,1689,0,0,0,0,0,0,15.21,14.89,14.47
$GC,2827,1.07,243.9,3090,396,1760,1688,5.7,9.6,514,2835,0.00,2.28,2.67,0.386,11270,0.000,0.034,3091,1804,1705,1743,1668,0,0,0,0,0,0,15.02,14.96,14.48
$STATE,2851,end climb,SURFACE_DEPTH_REACHED
$STATE,2851,begin surface coast
$FINISH,0.1,1.023528
$STATE,2878,end surface coast,CONTROL_FINISHED_OK
$STATE,2878,begin surface
$SM_CCo,2900,155.55,0.759,0,0,597,515.37
$SM_GC,0.84,13.75,0.00,155.55,0.050,0.000,0.759,130,1803,597,-8.17,-0.23,515.37,0,0,0,0,0,0,14.95,15.17,14.31
$IRIDIUM_FIX,-2947.56,3102.52,300319,181333
$TT8_MAMPS,0.021721,0.954226
$HUMID,42.51
$INTERNAL_PRESSURE,9.56623
$TCM_TEMP,22.20
$XPDR_PINGS,14
$ALTIM_BOTTOM_PING,150.8,28.6
$SC_FREEKB,3818752
$24V_AH,13.90,78.514
$10V_AH,13.86,0.000
$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,30.475,64.775,247.175,155.550,0.000,26.308,42.086,199.436,9.250,0.000,16.335,1194.481,437.582,566.714,1187.235,141.679,0.000,1056.967,0.000,795.601,0.000,38.828,0.000
$DEVICE_MAMPS,473.535,78.795,931.005,758.880,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2923.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.675,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,13402,523
$CAP_FILE_SIZE,101935,0
$CFSIZE,2097086464,2056650752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.077,55.01,1
$GPS,300319,195901,-3000.371,3104.538,8,0.8,37,-25.0,0.6,56.5,10,5.4