version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 333
start: 4 12 119 7 54 15
data:
$ID,574
$MISSION,3
$DIVE,333
$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,30
$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,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
$GPS1,120419,074406,-3351.1047,2710.8779,6,1.0,15,-28.0,1.9,237.6,8,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-65.9
$GPS2,120419,075349,-3351.4680,2710.4595,6,1.0,14,-28.0,2.3,235.5,8,9.5
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3346.068,2659.209
$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,-92.5,57,1793,622,553,0.0,0.0,0,122,0.00,0.00,-97.25,0.000,16386,0.000,0.000,55,1794,3009,2976,3042,0,0,0,0,0,0,14.99,28.83,15.00
$GC,127,-0.88,-92.5,55,1794,2978,3042,3.2,-6.3,18,152,14.07,2.40,-1.30,0.000,18692,0.291,0.067,2458,3216,3080,3061,3100,0,0,0,0,0,0,14.59,13.66,14.85
$GC,350,-0.88,-92.5,2458,3217,3067,3093,50.1,-21.0,61,358,0.05,2.38,0.00,0.000,3078,0.327,0.048,2467,1808,3080,3067,3093,0,0,0,0,0,0,14.66,14.83,14.86
$GC,421,-0.88,-92.5,2467,1807,3067,3093,65.0,-17.6,74,431,0.00,2.38,0.00,0.000,2308,0.000,0.058,2459,3200,3080,3068,3092,0,0,0,0,0,0,15.10,14.86,15.10
$GC,641,-0.88,-92.5,2458,3201,3069,3092,96.6,-14.4,116,648,0.05,2.33,0.00,0.000,3078,0.322,0.046,2468,1812,3080,3069,3092,0,0,0,0,0,0,14.73,14.90,14.92
$GC,712,-0.88,-92.5,2468,1811,3069,3092,106.3,-13.6,129,718,0.00,2.40,0.00,0.000,2564,0.000,0.066,2469,405,3080,3070,3091,0,0,0,0,0,0,15.12,14.88,15.13
$GC,752,-0.88,-92.5,2469,405,3070,3091,112.6,-16.6,136,759,0.00,2.30,0.00,0.000,3078,0.000,0.037,2461,1804,3080,3070,3091,0,0,0,0,0,0,15.01,14.92,15.02
$GC,823,-0.88,-92.5,2460,1807,3071,3091,122.5,-14.2,149,829,0.00,0.00,0.00,0.000,2054,0.000,0.000,2461,1806,3080,3070,3091,0,0,0,0,0,0,15.13,15.14,15.13
$GC,893,-0.88,-92.5,2461,1807,3070,3091,132.2,-13.8,162,899,0.00,2.35,0.00,0.000,2308,0.000,0.054,2451,3214,3080,3070,3091,0,0,0,0,0,0,15.12,14.90,15.12
$GC,1070,-0.88,-92.5,2450,3215,3071,3090,158.0,-13.2,196,1077,0.10,2.35,0.00,0.000,3078,0.234,0.047,2470,1811,3080,3071,3090,0,0,0,0,0,0,14.71,14.83,14.87
$GC,1141,-0.88,-92.5,2470,1810,3071,3090,167.0,-11.9,209,1148,0.00,2.42,0.00,0.000,2564,0.000,0.067,2471,401,3080,3071,3090,0,0,0,0,0,0,15.14,14.88,15.15
$GC,1172,-0.88,-92.5,2470,400,3071,3087,171.3,-14.5,214,1179,0.00,2.33,0.00,0.000,3078,0.000,0.037,2463,1814,3080,3071,3089,0,0,0,0,0,0,15.02,14.93,15.03
$GC,1242,-0.88,-92.5,2462,1817,3071,3089,180.1,-12.8,227,1248,0.00,0.00,0.00,0.000,2054,0.000,0.000,2462,1818,3080,3071,3089,0,0,0,0,0,0,15.13,15.14,15.13
$GC,1311,-0.88,-92.5,2462,1818,3071,3089,189.3,-13.0,240,1318,0.00,2.35,0.00,0.000,2308,0.000,0.054,2453,3217,3079,3070,3089,0,0,0,0,0,0,15.14,14.91,15.15
$STATE,1374,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1374,begin apogee
$GC,1382,-0.17,0.0,2453,1794,3071,3089,197.6,-13.1,252,1460,1.27,0.00,70.12,0.999,10246,0.178,0.000,2696,1793,2698,2710,2686,0,0,0,0,0,0,14.70,14.67,14.21
$STATE,1463,end apogee,CONTROL_FINISHED_OK
$STATE,1463,begin climb
$GC,1465,0.88,92.5,2696,1794,2710,2685,201.7,0.0,266,1544,1.58,0.00,73.88,1.000,10758,0.084,0.000,3031,1793,2323,2342,2305,0,0,0,0,0,0,14.64,14.51,14.07
$GC,1608,0.89,101.5,3031,1793,2338,2299,194.4,9.4,291,1621,0.00,0.00,8.65,0.829,10246,0.000,0.000,3031,1794,2284,2304,2264,0,0,0,0,0,0,14.84,14.64,14.16
$GC,1685,0.89,101.5,3031,1794,2304,2261,186.5,10.5,305,1691,0.00,2.40,0.00,0.000,2308,0.000,0.050,3031,3207,2282,2303,2261,0,0,0,0,0,0,14.90,14.71,14.90
$GC,1764,0.89,101.5,3031,3207,2300,2261,177.7,11.9,320,1771,0.00,2.40,0.00,0.000,3078,0.000,0.050,3033,1798,2280,2300,2261,0,0,0,0,0,0,14.87,14.77,14.88
$GC,1835,0.89,101.5,3033,1798,2299,2260,169.8,10.7,333,1840,0.00,0.00,0.00,0.000,2054,0.000,0.000,3033,1798,2279,2300,2259,0,0,0,0,0,0,15.01,15.02,15.02
$GC,1903,0.91,119.0,3032,1795,2299,2259,163.6,8.7,346,1927,0.00,2.45,15.15,0.907,10756,0.000,0.071,3033,397,2211,2233,2189,0,0,0,0,0,0,15.04,14.75,14.31
$GC,1980,0.91,119.0,3033,397,2230,2188,155.5,12.2,360,1987,0.00,2.33,0.00,0.000,3078,0.000,0.034,3033,1814,2208,2230,2187,0,0,0,0,0,0,14.83,14.76,14.85
$GC,2052,0.92,124.5,3033,1815,2230,2185,148.0,9.6,373,2064,0.00,2.30,4.75,0.679,10500,0.000,0.051,3033,3197,2191,2214,2168,0,0,0,0,0,0,15.04,14.81,14.17
$GC,2168,0.92,124.5,3033,3197,2213,2167,135.7,10.9,395,2174,0.00,2.38,0.00,0.000,3078,0.000,0.049,3040,1795,2191,2214,2168,0,0,0,0,0,0,14.97,14.85,14.97
$GC,2238,0.92,124.5,3040,1795,2213,2168,127.8,11.8,408,2245,0.00,2.35,0.00,0.000,2308,0.000,0.050,3040,3193,2192,2214,2170,0,0,0,0,0,0,15.07,14.87,15.07
$GC,2263,0.92,124.5,3039,3193,2214,2168,124.8,11.9,412,2269,0.00,2.35,0.00,0.000,3078,0.000,0.049,3044,1797,2191,2214,2168,0,0,0,0,0,0,14.97,14.87,14.98
$GC,2333,0.92,124.5,3043,1797,2213,2168,116.9,11.0,425,2340,0.00,2.35,0.00,0.000,2308,0.000,0.050,3044,3197,2190,2213,2168,0,0,0,0,0,0,15.09,14.88,15.09
$GC,2443,0.92,124.5,3043,3197,2213,2168,105.2,10.1,446,2450,0.00,2.38,0.00,0.000,3078,0.000,0.050,3047,1793,2190,2213,2167,0,0,0,0,0,0,15.00,14.89,15.01
$GC,2514,0.93,134.6,3046,1793,2212,2167,98.2,9.3,459,2532,0.00,2.42,9.43,0.838,10756,0.000,0.072,3046,400,2151,2175,2127,0,0,0,0,0,0,15.11,14.85,14.40
$GC,2621,0.93,134.6,3046,401,2173,2126,86.9,10.3,479,2628,0.00,2.28,0.00,0.000,3078,0.000,0.034,3047,1798,2149,2173,2125,0,0,0,0,0,0,14.91,14.84,14.92
$GC,2692,0.94,136.5,3046,1798,2173,2125,80.2,9.9,492,2698,0.00,2.42,0.00,0.000,2564,0.000,0.066,3049,387,2148,2173,2124,0,0,0,0,0,0,15.11,14.83,15.11
$GC,2711,0.94,136.5,3049,388,2173,2124,77.9,10.6,495,2718,0.00,2.30,0.00,0.000,3078,0.000,0.034,3049,1803,2148,2173,2124,0,0,0,0,0,0,14.92,14.85,14.93
$GC,2782,0.96,159.7,3048,1803,2173,2124,71.9,8.3,508,2811,0.00,2.33,21.40,0.896,10500,0.000,0.049,3047,3201,2047,2076,2019,0,0,0,0,0,0,15.12,14.83,14.40
$GC,3092,0.97,161.5,3049,3201,2073,2016,43.1,9.9,568,3098,0.00,2.38,0.00,0.000,3078,0.000,0.051,3050,1796,2044,2073,2015,0,0,0,0,0,0,14.94,14.84,14.95
$GC,3163,0.98,172.6,3050,1796,2072,2014,36.7,9.2,581,3180,0.00,0.00,10.68,0.783,10246,0.000,0.000,3051,1796,1996,2027,1966,0,0,0,0,0,0,15.11,14.87,14.31
$GC,3244,0.99,178.1,3050,1796,2026,1965,29.1,9.6,596,3256,0.00,2.35,5.53,0.656,10500,0.000,0.050,3051,3197,1973,2004,1943,0,0,0,0,0,0,15.08,14.72,14.28
$GC,3334,0.99,178.1,3050,3197,2004,1942,20.0,10.7,613,3341,0.00,2.38,0.00,0.000,3078,0.000,0.053,3054,1792,1973,2004,1943,0,0,0,0,0,0,14.97,14.86,14.98
$GC,3405,0.99,178.1,3053,1792,2004,1942,12.9,10.2,626,3412,0.00,2.42,0.00,0.000,2564,0.000,0.073,3054,397,1972,2002,1942,0,0,0,0,0,0,15.09,14.78,15.09
$GC,3429,0.99,178.1,3053,397,2002,1942,10.0,10.7,630,3436,0.00,2.30,0.00,0.000,3078,0.000,0.035,3054,1808,1971,2002,1941,0,0,0,0,0,0,14.99,14.90,15.00
$STATE,3498,end climb,SURFACE_DEPTH_REACHED
$STATE,3498,begin surface coast
$FINISH,0.3,1.025593
$STATE,3534,end surface coast,CONTROL_FINISHED_OK
$STATE,3534,begin surface
$SM_CCo,3558,205.23,0.793,0,0,599,515.37
$SM_GC,0.72,13.82,0.00,205.23,0.049,0.000,0.793,110,1809,599,-8.22,-0.08,515.37,0,0,0,0,0,0,14.90,15.14,14.14
$IRIDIUM_FIX,-3335.73,2713.36,120419,063309
$TT8_MAMPS,0.020223,0.838131
$HUMID,44.21
$INTERNAL_PRESSURE,9.36116
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,170.4,37.1
$SC_FREEKB,3746272
$24V_AH,13.66,110.309
$10V_AH,13.79,0.000
$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,30.950,75.650,219.575,205.225,0.000,25.617,42.102,279.954,6.500,0.000,17.194,1417.310,645.959,597.265,1461.147,233.711,0.000,1170.713,0.000,991.402,0.000,43.475,0.000
$DEVICE_MAMPS,327.420,73.440,999.855,793.305,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3601.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.099,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,16744,650
$CAP_FILE_SIZE,118539,0
$CFSIZE,2097086464,2029092864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,120419,085819,-3352.138,2709.055,7,0.8,40,-28.0,1.1,220.7,10,4.6