version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 332
start: 4 12 119 6 39 16
data:
$ID,574
$MISSION,3
$DIVE,332
$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,95
$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,300
$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,31
$R_STBD_OVSHOOT,52
$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,3
$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
$GPS1,120419,062931,-3349.8894,2713.0427,8,0.9,43,-28.0,2.2,206.2,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-66.9
$GPS2,120419,063851,-3350.2974,2712.5806,7,0.8,15,-28.0,1.6,200.8,10,9.2
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3344.898,2701.333
$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,328.0,20000,-23.0,-10.010,-25.49,1417
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.88,-92.5,80,1806,621,554,0.0,0.0,0,122,0.00,0.00,-97.50,0.000,16386,0.000,0.000,74,1806,3050,3019,3081,0,0,0,0,0,0,14.98,28.83,15.00
$GC,127,-0.88,-92.5,75,1804,3018,3081,3.5,-7.6,18,146,13.93,2.38,-0.55,0.000,18692,0.288,0.058,2456,3214,3079,3056,3103,0,0,0,0,0,0,14.59,13.66,14.85
$GC,569,-0.88,-92.5,2456,3224,3066,3094,84.1,-14.8,104,577,0.08,2.38,0.00,0.000,3078,0.268,0.047,2470,1804,3080,3067,3093,0,0,0,0,0,0,14.69,14.82,14.85
$GC,640,-0.88,-92.5,2471,1804,3068,3093,94.6,-14.4,117,648,0.00,2.38,0.00,0.000,2308,0.000,0.052,2469,3212,3080,3068,3093,0,0,0,0,0,0,15.12,14.83,15.13
$GC,666,-0.88,-92.5,2462,3212,3068,3093,98.2,-13.7,121,672,0.00,2.35,0.00,0.000,3078,0.000,0.045,2462,1808,3080,3068,3092,0,0,0,0,0,0,15.00,14.90,15.01
$GC,737,-0.88,-92.5,2463,1807,3068,3092,107.8,-13.3,134,743,0.00,0.00,0.00,0.000,2054,0.000,0.000,2462,1807,3080,3067,3093,0,0,0,0,0,0,15.13,15.14,15.13
$GC,806,-0.88,-92.5,2462,1807,3068,3092,117.0,-12.7,147,812,0.00,0.00,0.00,0.000,2054,0.000,0.000,2462,1807,3080,3068,3093,0,0,0,0,0,0,15.13,15.14,15.14
$GC,875,-0.88,-92.5,2462,1807,3068,3093,126.3,-13.8,160,881,0.00,0.00,0.00,0.000,2054,0.000,0.000,2462,1807,3081,3069,3093,0,0,0,0,0,0,15.14,15.14,15.14
$GC,947,-0.88,-92.5,2464,1807,3069,3092,135.5,-14.3,173,954,0.00,2.35,0.00,0.000,2308,0.000,0.052,2453,3206,3080,3069,3092,0,0,0,0,0,0,15.12,14.90,15.13
$GC,1109,-0.88,-92.5,2454,3206,3069,3092,157.5,-12.3,204,1116,0.08,2.33,0.00,0.000,3078,0.261,0.045,2469,1808,3080,3069,3092,0,0,0,0,0,0,14.69,14.83,14.85
$GC,1179,-0.88,-92.5,2468,1809,3069,3092,165.7,-11.8,217,1186,0.00,2.40,0.00,0.000,2564,0.000,0.065,2469,401,3080,3070,3091,0,0,0,0,0,0,15.14,14.81,15.14
$GC,1214,-0.88,-92.5,2469,401,3070,3092,170.4,-13.1,223,1221,0.00,2.30,0.00,0.000,3078,0.000,0.035,2461,1808,3080,3070,3091,0,0,0,0,0,0,14.92,14.84,14.95
$GC,1285,-0.88,-92.5,2460,1810,3070,3091,179.6,-14.1,236,1292,0.00,2.35,0.00,0.000,2308,0.000,0.055,2461,3213,3080,3070,3091,0,0,0,0,0,0,15.14,14.83,15.14
$GC,1377,-0.88,-92.5,2461,3213,3070,3091,191.9,-13.3,253,1383,0.00,2.33,0.00,0.000,3078,0.000,0.045,2461,1813,3080,3070,3090,0,0,0,0,0,0,15.02,14.92,15.03
$GC,1447,-0.88,-92.5,2460,1813,3070,3090,201.3,-13.2,266,1454,0.00,2.35,0.00,0.000,2308,0.000,0.053,2455,3215,3080,3070,3091,0,0,0,0,0,0,15.14,14.91,15.15
$STATE,1525,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1525,begin apogee
$GC,1533,-0.17,0.0,2455,1790,3070,3090,211.9,-12.7,281,1610,1.25,0.00,69.68,1.018,10246,0.169,0.000,2696,1790,2699,2712,2687,0,0,0,0,0,0,14.76,14.56,14.19
$STATE,1614,end apogee,CONTROL_FINISHED_OK
$STATE,1614,begin climb
$GC,1616,0.88,92.5,2696,1790,2711,2687,215.0,0.0,295,1701,1.55,0.00,74.82,1.019,10758,0.091,0.000,3025,1790,2321,2341,2301,0,0,0,0,0,0,14.64,14.35,14.04
$GC,1764,0.90,106.2,3024,1790,2338,2296,208.4,9.0,321,1782,0.00,2.40,11.25,0.891,10500,0.000,0.049,3025,3201,2267,2290,2245,0,0,0,0,0,0,14.85,14.50,14.07
$GC,1850,0.90,106.2,3024,3201,2287,2245,199.6,11.6,337,1857,0.00,2.38,0.00,0.000,3078,0.000,0.046,3033,1796,2266,2287,2245,0,0,0,0,0,0,14.82,14.73,14.83
$GC,1921,0.90,106.2,3033,1796,2286,2244,192.5,10.1,350,1928,0.00,2.38,0.00,0.000,2308,0.000,0.050,3033,3203,2265,2286,2244,0,0,0,0,0,0,14.98,14.73,14.99
$GC,2060,0.90,106.2,3033,3203,2284,2246,177.6,10.3,377,2067,0.00,2.38,0.00,0.000,3078,0.000,0.050,3032,1795,2262,2283,2242,0,0,0,0,0,0,14.93,14.83,14.95
$GC,2132,0.91,114.2,3033,1795,2283,2242,171.0,9.4,390,2144,0.00,0.00,7.68,0.819,10502,0.000,0.000,3033,1795,2233,2255,2211,0,0,0,0,0,0,15.07,14.83,14.29
$GC,2208,0.91,114.2,3033,1795,2255,2211,163.2,10.6,404,2213,0.00,0.00,0.00,0.000,2054,0.000,0.000,3033,1795,2233,2255,2211,0,0,0,0,0,0,15.07,15.07,15.07
$GC,2276,0.94,140.7,3033,1795,2254,2210,156.8,8.1,417,2305,0.00,2.42,22.30,0.951,10756,0.000,0.070,3033,395,2124,2151,2098,0,0,0,0,0,0,15.09,14.64,14.21
$GC,2403,0.94,140.7,3033,395,2147,2097,144.3,10.5,441,2410,0.00,2.33,0.00,0.000,3078,0.000,0.034,3033,1812,2122,2147,2097,0,0,0,0,0,0,14.92,14.85,14.94
$GC,2474,0.96,155.8,3033,1813,2147,2096,138.1,8.9,454,2493,0.05,2.38,13.32,0.889,10500,0.255,0.057,3065,3197,2063,2090,2037,0,0,0,0,0,0,14.75,14.77,14.33
$GC,2521,0.96,155.8,3065,3197,2089,2035,133.0,11.5,462,2528,0.00,2.35,0.00,0.000,5126,0.000,0.049,3074,1801,2062,2089,2035,0,0,0,0,0,0,14.83,14.75,14.84
$GC,2591,0.96,155.8,3074,1801,2088,2034,124.1,13.1,475,2598,0.00,2.35,0.00,0.000,4356,0.000,0.050,3074,3195,2061,2088,2034,0,0,0,0,0,0,15.04,14.77,15.05
$GC,2646,0.96,155.8,3073,3196,2087,2034,116.4,14.3,485,2652,0.00,2.35,0.00,0.000,5126,0.000,0.052,3077,1801,2060,2087,2033,0,0,0,0,0,0,14.88,14.84,14.89
$GC,2716,0.96,155.8,3076,1800,2087,2033,106.6,14.0,498,2723,0.00,2.45,0.00,0.000,4612,0.000,0.071,3077,389,2059,2086,2033,0,0,0,0,0,0,15.08,14.77,15.08
$GC,2797,0.96,155.8,3077,389,2083,2033,95.7,13.0,513,2804,0.00,2.30,0.00,0.000,5126,0.000,0.034,3077,1803,2058,2084,2033,0,0,0,0,0,0,14.94,14.86,14.95
$GC,2868,0.96,155.8,3077,1801,2084,2034,86.2,12.9,526,2874,0.00,2.33,0.00,0.000,4356,0.000,0.050,3077,3193,2057,2082,2033,0,0,0,0,0,0,15.11,14.88,15.11
$GC,2891,0.96,155.8,3077,3193,2083,2033,82.8,13.6,530,2899,0.08,2.35,0.00,0.000,5126,0.311,0.050,3070,1798,2057,2082,2033,0,0,0,0,0,0,14.66,14.80,14.85
$GC,2963,0.96,155.8,3070,1798,2080,2032,74.4,10.9,543,2970,0.00,2.33,0.00,0.000,4356,0.000,0.049,3069,3193,2057,2083,2031,0,0,0,0,0,0,15.11,14.89,15.11
$GC,3158,0.98,169.1,3070,3192,2081,2031,58.2,9.0,581,3177,0.00,2.33,10.85,0.819,13318,0.000,0.041,3078,1792,2008,2036,1980,0,0,0,0,0,0,15.03,14.92,14.34
$GC,3240,1.06,234.9,3077,1792,2037,1981,53.5,5.2,596,3301,0.00,2.40,52.17,0.885,10500,0.000,0.050,3078,3186,1739,1772,1707,0,0,0,0,0,0,15.09,14.66,14.31
$GC,3421,1.06,234.9,3077,3186,1767,1702,29.9,14.6,630,3427,0.00,2.35,0.00,0.000,3078,0.000,0.052,3084,1807,1734,1767,1701,0,0,0,0,0,0,14.81,14.74,14.82
$GC,3491,1.06,234.9,3084,1807,1767,1698,19.6,13.7,643,3498,0.00,2.33,0.00,0.000,2308,0.000,0.051,3084,3189,1732,1767,1698,0,0,0,0,0,0,15.03,14.74,15.03
$GC,3581,1.06,234.9,3084,3188,1765,1696,7.2,14.5,660,3588,0.00,2.38,0.00,0.000,3078,0.000,0.054,3084,1798,1731,1766,1697,0,0,0,0,0,0,14.87,14.76,14.88
$STATE,3614,end climb,SURFACE_DEPTH_REACHED
$STATE,3614,begin surface coast
$FINISH,0.3,1.025440
$STATE,3636,end surface coast,CONTROL_FINISHED_OK
$STATE,3636,begin surface
$SM_CCo,3660,171.95,0.792,0,0,597,515.37
$SM_GC,0.73,13.98,0.00,171.95,0.046,0.000,0.792,112,1796,597,-8.21,-0.45,515.37,0,0,0,0,0,0,14.87,15.10,14.15
$IRIDIUM_FIX,-3335.73,2721.47,120419,050807
$TT8_MAMPS,0.021721,0.939246
$HUMID,44.56
$INTERNAL_PRESSURE,9.34163
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,185.6,35.8
$SC_FREEKB,3746784
$24V_AH,13.66,110.118
$10V_AH,13.84,0.000
$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,30.975,75.525,262.075,171.950,0.000,24.518,21.893,272.383,7.250,0.000,17.758,1445.451,654.331,592.745,1469.969,238.449,0.000,1184.412,0.000,1020.753,0.000,46.627,0.000
$DEVICE_MAMPS,311.355,71.145,1018.980,791.775,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3708.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,34.793,0.000,0.000,0.000
$MEM,340928
$DATA_FILE_SIZE,16776,670
$CAP_FILE_SIZE,120304,0
$CFSIZE,2097086464,2029289472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,120419,074406,-3351.105,2710.878,6,1.0,15,-28.0,1.9,237.6,8,9.7