version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 335
start: 4 12 119 10 17 26
data:
$ID,574
$MISSION,3
$DIVE,335
$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,29
$R_STBD_OVSHOOT,51
$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
$GPS1,120419,100736,-3352.8250,2707.6907,6,1.1,18,-28.1,1.0,198.8,8,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-65.4
$GPS2,120419,101701,-3353.0801,2707.4009,6,0.9,37,-28.1,1.0,191.1,9,5.6
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3347.680,2656.147
$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,20,begin dive
$GC,22,-0.88,-92.5,54,1800,622,552,0.0,0.0,0,122,0.00,0.00,-97.15,0.000,16386,0.000,0.000,54,1799,3024,2992,3057,0,0,0,0,0,0,15.01,28.83,15.02
$GC,127,-0.88,-92.5,54,1799,2992,3057,3.5,-7.8,18,151,14.05,2.38,-0.98,0.000,18692,0.291,0.069,2459,3207,3077,3055,3099,0,0,0,0,0,0,14.62,13.64,14.86
$GC,563,-0.88,-92.5,2459,3206,3064,3092,83.2,-14.6,103,570,0.05,2.35,0.00,0.000,3078,0.319,0.047,2469,1801,3078,3065,3092,0,0,0,0,0,0,14.74,14.90,14.93
$GC,633,-0.88,-92.5,2469,1800,3067,3090,92.8,-14.0,116,639,0.00,0.00,0.00,0.000,2054,0.000,0.000,2469,1799,3078,3067,3090,0,0,0,0,0,0,15.13,15.13,15.13
$GC,703,-0.88,-92.5,2468,1800,3067,3090,102.3,-13.3,129,710,0.00,2.38,0.00,0.000,2308,0.000,0.054,2460,3208,3078,3067,3090,0,0,0,0,0,0,15.11,14.90,15.13
$GC,849,-0.88,-92.5,2460,3208,3067,3089,121.1,-11.8,157,856,0.00,2.33,0.00,0.000,3078,0.000,0.047,2461,1813,3078,3067,3089,0,0,0,0,0,0,14.91,14.83,14.92
$GC,923,-0.88,-92.5,2460,1812,3067,3089,130.3,-13.4,170,930,0.00,2.35,0.00,0.000,2308,0.000,0.054,2454,3208,3078,3067,3089,0,0,0,0,0,0,15.14,14.90,15.15
$GC,1015,-0.88,-92.5,2453,3206,3067,3088,142.8,-11.8,187,1022,0.08,2.35,0.00,0.000,3078,0.262,0.047,2469,1804,3078,3068,3088,0,0,0,0,0,0,14.71,14.83,14.88
$GC,1086,-0.88,-92.5,2468,1804,3067,3088,152.7,-14.2,200,1092,0.00,0.00,0.00,0.000,2054,0.000,0.000,2469,1807,3078,3068,3088,0,0,0,0,0,0,15.15,15.14,15.15
$GC,1160,-0.88,-92.5,2468,1804,3067,3088,162.9,-14.0,213,1166,0.00,0.00,0.00,0.000,2054,0.000,0.000,2469,1804,3078,3068,3088,0,0,0,0,0,0,15.16,15.16,15.15
$GC,1228,-0.88,-92.5,2468,1804,3068,3088,172.2,-13.0,226,1234,0.00,0.00,0.00,0.000,2054,0.000,0.000,2469,1804,3080,3068,3093,0,0,0,0,0,0,15.15,15.16,15.15
$STATE,1260,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1260,begin apogee
$GC,1265,-0.17,0.0,2469,1803,3068,3088,176.4,-13.6,232,1343,1.17,0.00,68.78,0.978,10246,0.173,0.000,2697,1803,2701,2713,2689,0,0,0,0,0,0,14.75,14.57,14.23
$STATE,1346,end apogee,CONTROL_FINISHED_OK
$STATE,1346,begin climb
$GC,1348,0.88,92.5,2697,1803,2712,2688,179.9,0.0,246,1434,1.55,2.45,74.32,0.978,10756,0.084,0.067,3033,396,2322,2341,2304,0,0,0,0,0,0,14.65,14.47,14.02
$GC,1482,0.91,112.6,3033,396,2337,2301,175.3,8.6,269,1506,0.00,2.33,17.58,0.900,11270,0.000,0.034,3033,1805,2239,2262,2216,0,0,0,0,0,0,14.73,14.66,14.16
$GC,1569,0.91,112.6,3033,1805,2258,2212,166.1,10.8,285,1574,0.00,0.00,0.00,0.000,2054,0.000,0.000,3033,1805,2235,2259,2212,0,0,0,0,0,0,14.90,14.90,14.90
$GC,1637,0.92,119.4,3033,1805,2255,2211,159.3,9.5,298,1650,0.00,2.33,6.28,0.735,10500,0.000,0.047,3033,3197,2212,2235,2189,0,0,0,0,0,0,14.97,14.64,14.24
$GC,1678,0.92,119.4,3033,3197,2233,2189,154.1,12.9,305,1685,0.00,2.38,0.00,0.000,3078,0.000,0.050,3036,1798,2210,2233,2188,0,0,0,0,0,0,14.85,14.76,14.85
$GC,1749,0.92,119.4,3037,1798,2232,2188,146.5,11.6,318,1755,0.00,0.00,0.00,0.000,2054,0.000,0.000,3036,1798,2210,2232,2188,0,0,0,0,0,0,15.02,15.02,15.02
$GC,1817,0.92,119.4,3037,1798,2232,2187,138.4,11.5,331,1823,0.00,0.00,0.00,0.000,2054,0.000,0.000,3037,1798,2209,2232,2187,0,0,0,0,0,0,15.04,15.04,15.04
$GC,1886,0.92,119.4,3037,1798,2231,2187,130.4,11.1,344,1892,0.00,2.35,0.00,0.000,2308,0.000,0.050,3037,3191,2209,2231,2187,0,0,0,0,0,0,15.07,14.85,15.07
$GC,1965,0.92,119.4,3037,3191,2229,2186,121.4,11.0,359,1972,0.00,2.35,0.00,0.000,3078,0.000,0.050,3037,1799,2208,2230,2186,0,0,0,0,0,0,14.96,14.83,14.97
$GC,2035,0.92,120.6,3036,1800,2230,2185,114.4,9.9,372,2042,0.00,2.35,0.00,0.000,2308,0.000,0.050,3037,3195,2207,2229,2185,0,0,0,0,0,0,15.10,14.88,15.11
$GC,2085,0.94,136.2,3037,3195,2229,2185,109.8,8.9,381,2108,0.00,2.35,14.25,0.861,11270,0.000,0.050,3038,1799,2142,2168,2117,0,0,0,0,0,0,14.95,14.85,14.30
$GC,2172,0.96,158.0,3037,1799,2167,2116,101.5,8.4,397,2196,0.00,2.40,18.70,0.876,10500,0.000,0.050,3037,3196,2053,2081,2025,0,0,0,0,0,0,15.07,14.78,14.26
$GC,2278,0.96,158.0,3037,3196,2080,2023,90.5,10.2,417,2285,0.00,2.38,0.00,0.000,3078,0.000,0.051,3040,1793,2051,2080,2023,0,0,0,0,0,0,14.84,14.75,14.85
$GC,2349,0.96,158.0,3039,1793,2079,2021,83.5,11.0,430,2355,0.00,0.00,0.00,0.000,2054,0.000,0.000,3040,1794,2050,2079,2022,0,0,0,0,0,0,15.07,15.07,15.07
$GC,2418,0.96,158.0,3039,1794,2078,2021,75.7,10.7,443,2424,0.00,2.35,0.00,0.000,2308,0.000,0.051,3040,3192,2051,2078,2025,0,0,0,0,0,0,15.08,14.88,15.09
$GC,2489,0.96,158.0,3040,3193,2077,2021,68.2,11.1,456,2495,0.00,2.35,0.00,0.000,3078,0.000,0.052,3040,1800,2049,2077,2021,0,0,0,0,0,0,14.88,14.79,14.90
$GC,2559,0.96,158.0,3040,1800,2077,2020,60.7,10.1,469,2566,0.00,2.33,0.00,0.000,2308,0.000,0.050,3040,3194,2048,2077,2020,0,0,0,0,0,0,15.11,14.85,15.11
$GC,2775,1.00,188.8,3040,3194,2076,2019,41.2,7.8,511,2810,0.10,2.35,24.35,0.840,11270,0.161,0.051,3079,1799,1928,1959,1898,0,0,0,0,0,0,14.85,14.86,14.39
$GC,2872,1.00,188.8,3079,1799,1956,1894,30.1,12.3,529,2879,0.00,2.33,0.00,0.000,260,0.000,0.050,3079,3193,1925,1956,1894,0,0,0,0,0,0,15.04,14.83,15.05
$GC,2912,1.00,188.8,3079,3194,1955,1894,25.2,13.1,536,2918,0.00,2.38,0.00,0.000,1030,0.000,0.053,3081,1793,1924,1955,1893,0,0,0,0,0,0,14.94,14.84,14.95
$GC,2982,1.00,188.8,3080,1793,1954,1892,16.0,12.7,549,2989,0.00,2.35,0.00,0.000,260,0.000,0.052,3081,3194,1923,1954,1892,0,0,0,0,0,0,15.07,14.86,15.07
$GC,3072,1.00,188.8,3080,3194,1953,1891,5.3,13.3,566,3079,0.00,2.35,0.00,0.000,5126,0.000,0.049,3084,1796,1922,1953,1891,0,0,0,0,0,0,14.98,14.88,14.99
$STATE,3089,end climb,SURFACE_DEPTH_REACHED
$STATE,3089,begin surface coast
$FINISH,0.1,1.025415
$STATE,3110,end surface coast,CONTROL_FINISHED_OK
$STATE,3110,begin surface
$SM_CCo,3134,196.80,0.789,0,0,599,515.37
$SM_GC,0.77,13.85,0.00,196.80,0.047,0.000,0.789,126,1794,599,-8.17,-0.51,515.37,0,0,0,0,0,0,14.90,15.13,14.15
$IRIDIUM_FIX,-3338.31,2709.87,120419,090150
$TT8_MAMPS,0.021721,0.930258
$HUMID,43.89
$INTERNAL_PRESSURE,9.35139
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,155.3,31.0
$SC_FREEKB,3745248
$24V_AH,13.64,110.674
$10V_AH,13.87,0.000
$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,30.850,56.550,224.250,196.800,0.000,24.608,40.231,246.698,5.750,0.000,38.496,1239.654,554.675,574.705,1327.448,210.099,0.000,1088.014,0.000,878.443,0.000,40.326,0.000
$DEVICE_MAMPS,319.005,68.850,977.670,789.480,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3171.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.505,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,13394,573
$CAP_FILE_SIZE,104182,0
$CFSIZE,2097086464,2028765184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,120419,111419,-3353.436,2706.461,7,1.0,41,-28.1,1.4,208.7,8,4.8