version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 334
start: 4 12 119 9 8 7
data:
$ID,574
$MISSION,3
$DIVE,334
$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,32
$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
$GPS1,120419,085819,-3352.1379,2709.0549,7,0.8,40,-28.0,1.1,220.7,10,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-64.4
$GPS2,120419,090742,-3352.3977,2708.7537,6,0.8,13,-28.1,1.2,209.4,10,9.4
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3346.998,2657.501
$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,328.1,20000,-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,-92.5,54,1814,622,553,0.0,0.0,0,122,0.00,0.00,-97.50,0.000,16386,0.000,0.000,53,1815,3024,2993,3056,0,0,0,0,0,0,15.00,28.83,15.00
$GC,127,-0.88,-92.5,54,1815,2993,3054,3.3,-6.9,18,151,14.12,2.35,-1.00,0.000,18692,0.295,0.067,2459,3213,3079,3059,3100,0,0,0,0,0,0,14.60,13.67,14.83
$GC,559,-0.88,-92.5,2460,3213,3066,3093,85.3,-15.0,102,566,0.00,2.35,0.00,0.000,3078,0.000,0.047,2460,1810,3079,3067,3092,0,0,0,0,0,0,14.91,14.80,14.92
$GC,631,-0.88,-92.5,2460,1810,3067,3092,96.1,-15.6,115,637,0.00,0.00,0.00,0.000,2054,0.000,0.000,2460,1810,3079,3067,3092,0,0,0,0,0,0,15.13,15.13,15.13
$GC,700,-0.88,-92.5,2459,1810,3067,3092,106.2,-14.4,128,707,0.03,2.40,0.00,0.000,2564,0.508,0.063,2468,401,3079,3067,3091,0,0,0,0,0,0,14.77,14.84,14.94
$GC,729,-0.88,-92.5,2471,401,3068,3091,110.8,-15.2,133,736,0.00,2.30,0.00,0.000,3078,0.000,0.037,2460,1801,3079,3068,3091,0,0,0,0,0,0,14.91,14.83,14.92
$GC,800,-0.88,-92.5,2460,1804,3068,3090,119.3,-11.2,146,807,0.00,2.38,0.00,0.000,2308,0.000,0.054,2460,3220,3078,3068,3088,0,0,0,0,0,0,15.14,14.86,15.14
$GC,996,-0.88,-92.5,2460,3220,3068,3090,140.9,-10.9,184,1002,0.00,2.35,0.00,0.000,3078,0.000,0.046,2460,1809,3079,3068,3090,0,0,0,0,0,0,14.97,14.88,14.98
$GC,1067,-0.88,-92.5,2460,1809,3069,3090,150.0,-13.6,197,1076,0.00,0.00,0.00,0.000,2054,0.000,0.000,2460,1809,3079,3069,3090,0,0,0,0,0,0,15.16,15.15,15.14
$GC,1142,-0.88,-92.5,2464,1809,3069,3089,160.2,-14.3,210,1148,0.00,0.00,0.00,0.000,2054,0.000,0.000,2460,1809,3079,3069,3089,0,0,0,0,0,0,15.14,15.15,15.14
$GC,1211,-0.88,-92.5,2459,1809,3069,3090,169.9,-13.6,223,1217,0.00,0.00,0.00,0.000,2054,0.000,0.000,2460,1809,3079,3069,3089,0,0,0,0,0,0,15.15,15.15,15.15
$GC,1279,-0.88,-92.5,2459,1809,3069,3090,179.3,-13.2,236,1286,0.00,2.40,0.00,0.000,2564,0.000,0.065,2460,401,3079,3069,3090,0,0,0,0,0,0,15.15,14.80,15.15
$GC,1308,-0.88,-92.5,2460,401,3068,3089,183.3,-14.6,241,1316,0.10,2.33,0.00,0.000,3078,0.256,0.037,2471,1818,3079,3069,3089,0,0,0,0,0,0,14.78,14.94,14.95
$STATE,1326,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1326,begin apogee
$GC,1332,-0.17,0.0,2471,1822,3069,3088,185.9,-13.3,244,1410,1.15,0.00,68.95,0.993,10246,0.171,0.000,2694,1823,2701,2713,2689,0,0,0,0,0,0,14.71,14.55,14.19
$STATE,1413,end apogee,CONTROL_FINISHED_OK
$STATE,1413,begin climb
$GC,1415,0.88,92.5,2694,1822,2713,2688,188.8,0.0,258,1501,1.55,2.33,74.22,0.991,10500,0.082,0.047,3027,3205,2322,2341,2304,0,0,0,0,0,0,14.64,14.49,14.11
$GC,1534,0.89,99.0,3026,3205,2337,2303,183.4,9.5,278,1547,0.00,2.40,6.32,0.753,11270,0.000,0.048,3035,1799,2296,2315,2277,0,0,0,0,0,0,14.70,14.61,14.04
$GC,1610,0.89,99.0,3035,1799,2314,2275,174.8,11.2,292,1616,0.00,2.45,0.00,0.000,2564,0.000,0.069,3040,391,2294,2313,2275,0,0,0,0,0,0,14.90,14.61,14.90
$GC,1760,0.89,99.0,3040,391,2308,2275,157.9,10.5,321,1766,0.00,2.33,0.00,0.000,3078,0.000,0.034,3039,1810,2291,2308,2274,0,0,0,0,0,0,14.91,14.83,14.92
$GC,1831,0.89,99.5,3039,1812,2308,2271,151.1,10.0,334,1837,0.00,0.00,0.00,0.000,2054,0.000,0.000,3040,1812,2288,2307,2270,0,0,0,0,0,0,15.04,15.05,15.04
$GC,1899,0.89,99.5,3039,1812,2308,2271,144.1,10.0,347,1905,0.00,0.00,0.00,0.000,2054,0.000,0.000,3040,1812,2289,2308,2271,0,0,0,0,0,0,15.07,15.07,15.07
$GC,1968,0.90,106.9,3039,1812,2308,2270,137.2,9.5,360,1980,0.00,0.00,6.93,0.760,10246,0.000,0.000,3040,1812,2263,2284,2243,0,0,0,0,0,0,15.08,14.86,14.33
$GC,2044,0.91,112.6,3040,1810,2284,2243,130.1,9.6,374,2056,0.00,2.30,6.55,0.741,10500,0.000,0.048,3040,3200,2240,2261,2219,0,0,0,0,0,0,15.07,14.73,14.33
$GC,2170,0.91,116.3,3040,3200,2259,2218,117.0,9.7,398,2182,0.00,2.35,4.35,0.619,11270,0.000,0.049,3047,1798,2225,2246,2204,0,0,0,0,0,0,14.97,14.88,14.24
$GC,2245,0.91,116.3,3046,1798,2246,2204,108.7,11.1,412,2252,0.00,2.35,0.00,0.000,2308,0.000,0.051,3047,3196,2224,2246,2203,0,0,0,0,0,0,15.09,14.79,15.09
$GC,2410,0.93,134.8,3046,3196,2244,2203,92.5,8.7,444,2433,0.00,2.35,16.33,0.870,11270,0.000,0.050,3050,1796,2148,2174,2123,0,0,0,0,0,0,15.00,14.90,14.36
$GC,2496,0.96,152.0,3050,1796,2171,2121,84.7,8.8,460,2519,0.00,2.45,14.73,0.858,10756,0.000,0.070,3053,398,2076,2104,2049,0,0,0,0,0,0,15.07,14.73,14.28
$GC,2532,0.96,152.0,3053,398,2102,2051,81.0,10.5,466,2539,0.00,2.30,0.00,0.000,3078,0.000,0.035,3053,1798,2076,2102,2050,0,0,0,0,0,0,14.90,14.81,14.91
$GC,2603,0.96,152.0,3053,1797,2102,2049,73.4,10.8,479,2609,0.00,2.35,0.00,0.000,2308,0.000,0.050,3054,3201,2075,2102,2049,0,0,0,0,0,0,15.04,14.83,15.04
$GC,2934,1.00,187.9,3053,3201,2100,2047,39.6,7.4,544,2969,0.00,2.35,28.52,0.845,11270,0.000,0.050,3057,1802,1934,1965,1903,0,0,0,0,0,0,15.00,14.90,14.43
$GC,3032,1.00,187.9,3057,1802,1961,1898,29.4,11.3,562,3038,0.00,0.00,0.00,0.000,2054,0.000,0.000,3057,1802,1929,1960,1898,0,0,0,0,0,0,15.03,15.04,15.04
$GC,3100,1.00,187.9,3056,1802,1960,1897,22.0,11.0,575,3107,0.00,2.35,0.00,0.000,2308,0.000,0.050,3057,3195,1927,1959,1896,0,0,0,0,0,0,15.05,14.76,15.06
$GC,3154,1.00,187.9,3057,3195,1958,1896,15.3,12.3,585,3161,0.00,2.38,0.00,0.000,3078,0.000,0.054,3057,1795,1926,1958,1895,0,0,0,0,0,0,14.95,14.85,14.97
$GC,3225,1.00,187.9,3057,1794,1958,1894,7.9,10.2,598,3231,0.00,2.35,0.00,0.000,2308,0.000,0.050,3056,3200,1925,1958,1893,0,0,0,0,0,0,15.07,14.87,15.08
$STATE,3272,end climb,SURFACE_DEPTH_REACHED
$STATE,3272,begin surface coast
$FINISH,1.4,1.025366
$STATE,3284,end surface coast,CONTROL_FINISHED_OK
$STATE,3284,begin surface
$SM_CCo,3310,198.23,0.793,0,0,598,515.37
$SM_GC,0.74,13.73,2.40,198.23,0.047,0.052,0.793,129,1808,598,-8.18,0.76,515.37,0,0,0,0,0,0,14.88,14.88,14.14
$IRIDIUM_FIX,-3338.31,2713.36,120419,074737
$TT8_MAMPS,0.020972,0.702562
$HUMID,44.64
$INTERNAL_PRESSURE,9.35139
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,160.2,35.4
$SC_FREEKB,3745760
$24V_AH,13.67,110.494
$10V_AH,13.88,0.000
$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,30.675,56.625,226.900,198.225,0.000,26.185,45.443,262.753,6.000,0.000,15.711,1315.479,598.904,576.192,1377.707,212.280,0.000,1110.884,0.000,932.193,0.000,40.410,0.000
$DEVICE_MAMPS,507.960,70.380,992.970,792.540,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3348.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.801,0.000,0.000,0.000
$MEM,340928
$DATA_FILE_SIZE,16714,609
$CAP_FILE_SIZE,108027,0
$CFSIZE,2097086464,2028929024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,120419,100736,-3352.825,2707.691,6,1.1,18,-28.1,1.0,198.8,8,9.9