version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 338
start: 4 12 119 13 15 52
data:
$ID,574
$MISSION,3
$DIVE,338
$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,120
$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,49
$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
$GPS1,120419,130759,-3354.5205,2704.2317,6,1.0,46,-28.1,0.7,185.9,7,4.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-65.2
$GPS2,120419,131528,-3354.6721,2704.0205,6,0.9,17,-28.1,1.4,243.2,8,9.3
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3400.072,2715.302
$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,148.1,20000,-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,-92.5,59,1797,622,552,0.0,0.0,0,128,0.00,0.00,-100.45,0.000,16390,0.000,0.000,54,1797,3079,3050,3109,0,0,0,0,0,0,15.01,13.63,15.02
$GC,132,-0.88,-92.5,54,1797,3050,3109,3.6,-8.3,19,151,14.02,2.42,0.00,0.000,2564,0.288,0.053,2468,390,3079,3054,3105,0,0,0,0,0,0,14.63,14.79,14.85
$GC,163,-0.88,-92.5,2468,389,3059,3102,17.0,-38.4,24,170,0.00,2.35,0.00,0.000,3078,0.000,0.036,2459,1813,3080,3061,3099,0,0,0,0,0,0,14.93,14.85,14.95
$GC,234,-0.88,-92.5,2459,1816,3064,3095,32.7,-22.1,37,241,0.03,2.33,0.00,0.000,2308,0.532,0.048,2458,3217,3079,3064,3095,0,0,0,0,0,0,14.69,14.78,14.88
$GC,254,-0.88,-92.5,2458,3216,3064,3095,36.9,-20.8,40,261,0.05,2.38,0.00,0.000,3078,0.324,0.050,2468,1804,3079,3065,3094,0,0,0,0,0,0,14.70,14.85,14.88
$GC,325,-0.88,-92.5,2468,1804,3066,3094,49.2,-16.5,53,334,0.00,2.40,0.00,0.000,2564,0.000,0.067,2468,405,3080,3066,3094,0,0,0,0,0,0,15.09,14.81,15.09
$GC,423,-0.88,-92.5,2468,405,3066,3094,66.6,-18.6,71,430,0.00,2.33,0.00,0.000,3078,0.000,0.037,2460,1815,3079,3066,3093,0,0,0,0,0,0,14.99,14.90,15.00
$GC,495,-0.88,-92.5,2460,1819,3067,3093,78.2,-17.2,84,501,0.00,0.00,0.00,0.000,2054,0.000,0.000,2460,1819,3079,3067,3092,0,0,0,0,0,0,15.11,15.11,15.11
$GC,564,-0.88,-92.5,2460,1819,3067,3092,89.7,-16.9,97,570,0.00,0.00,0.00,0.000,2054,0.000,0.000,2460,1819,3080,3067,3093,0,0,0,0,0,0,15.12,15.13,15.13
$GC,635,-0.88,-92.5,2460,1819,3068,3093,101.2,-16.8,110,641,0.00,0.00,0.00,0.000,2054,0.000,0.000,2460,1819,3080,3067,3093,0,0,0,0,0,0,15.13,15.14,15.14
$GC,707,-0.88,-92.5,2460,1819,3067,3093,112.2,-14.8,123,713,0.00,0.00,0.00,0.000,2054,0.000,0.000,2460,1819,3080,3067,3093,0,0,0,0,0,0,15.12,15.13,15.12
$GC,776,-0.88,-92.5,2460,1819,3072,3093,122.1,-13.3,136,782,0.00,2.42,0.00,0.000,2564,0.000,0.063,2460,406,3082,3072,3093,0,0,0,0,0,0,15.14,14.86,15.14
$GC,857,-0.88,-92.5,2460,406,3067,3093,133.4,-14.4,151,864,0.08,2.33,0.00,0.000,3078,0.287,0.037,2468,1815,3080,3068,3092,0,0,0,0,0,0,14.77,14.93,14.95
$STATE,875,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,875,begin apogee
$GC,880,-0.17,0.0,2468,1818,3068,3092,136.3,-13.6,154,955,1.17,0.00,68.90,0.918,10246,0.169,0.000,2698,1819,2699,2711,2688,0,0,0,0,0,0,14.71,14.69,14.20
$STATE,958,end apogee,CONTROL_FINISHED_OK
$STATE,958,begin climb
$GC,961,0.88,92.5,2698,1819,2710,2688,139.6,0.0,167,1047,1.55,2.53,73.53,0.921,10756,0.080,0.067,3033,392,2321,2339,2303,0,0,0,0,0,0,14.66,14.47,14.03
$GC,1090,0.89,95.2,3032,392,2337,2301,133.4,9.8,189,1097,0.00,2.35,0.00,0.000,3078,0.000,0.034,3033,1819,2318,2336,2300,0,0,0,0,0,0,14.73,14.65,14.75
$GC,1161,0.89,95.2,3033,1820,2336,2297,126.4,10.4,202,1166,0.00,0.00,0.00,0.000,2054,0.000,0.000,3032,1820,2316,2336,2297,0,0,0,0,0,0,14.92,14.93,14.92
$GC,1229,0.89,96.6,3032,1820,2336,2296,118.8,9.9,215,1236,0.00,2.45,0.00,0.000,2564,0.000,0.064,3040,396,2315,2336,2295,0,0,0,0,0,0,14.99,14.76,14.99
$GC,1661,0.96,155.6,3040,396,2331,2294,83.5,5.7,300,1717,0.00,2.28,49.05,0.872,11270,0.000,0.034,3040,1799,2063,2093,2034,0,0,0,0,0,0,14.92,14.85,14.25
$GC,1781,0.96,155.6,3039,1800,2090,2031,73.3,11.2,322,1787,0.00,2.42,0.00,0.000,2564,0.000,0.068,3040,398,2060,2089,2031,0,0,0,0,0,0,14.98,14.69,14.98
$GC,1805,0.96,155.6,3039,398,2088,2031,70.6,10.8,326,1812,0.00,2.30,0.00,0.000,3078,0.000,0.035,3040,1796,2059,2089,2030,0,0,0,0,0,0,14.89,14.82,14.90
$GC,1875,0.96,155.6,3039,1798,2088,2028,62.4,12.8,339,1881,0.00,0.00,0.00,0.000,2054,0.000,0.000,3040,1798,2057,2087,2028,0,0,0,0,0,0,15.05,15.03,15.03
$GC,1944,0.96,155.6,3040,1798,2088,2027,54.7,10.6,352,1949,0.00,0.00,0.00,0.000,2054,0.000,0.000,3041,1798,2057,2088,2027,0,0,0,0,0,0,15.07,15.07,15.07
$GC,2012,0.99,180.4,3040,1798,2087,2026,48.0,8.2,365,2041,0.08,2.45,19.60,0.808,10756,0.187,0.067,3091,394,1962,1993,1931,0,0,0,0,0,0,14.83,14.74,14.34
$GC,2190,0.99,180.4,3091,394,1990,1926,28.0,13.5,399,2198,0.05,2.30,0.00,0.000,5126,0.333,0.035,3082,1806,1958,1990,1926,0,0,0,0,0,0,14.66,14.89,14.82
$GC,2262,0.99,180.4,3082,1806,1989,1924,19.3,12.7,412,2268,0.00,0.00,0.00,0.000,4102,0.000,0.000,3082,1807,1957,1990,1924,0,0,0,0,0,0,15.09,15.09,15.09
$GC,2330,0.99,180.4,3082,1808,1989,1923,9.2,15.4,425,2337,0.00,2.42,0.00,0.000,4612,0.000,0.068,3089,396,1956,1989,1923,0,0,0,0,0,0,15.11,14.86,15.11
$GC,2370,0.99,180.4,3090,395,1989,1923,3.8,14.3,432,2376,0.00,2.30,0.00,0.000,5126,0.000,0.037,3090,1800,1956,1989,1923,0,0,0,0,0,0,15.00,14.91,15.02
$STATE,2381,end climb,SURFACE_DEPTH_REACHED
$STATE,2381,begin surface coast
$FINISH,0.0,1.025469
$STATE,2397,end surface coast,CONTROL_FINISHED_OK
$STATE,2398,begin surface
$SM_CCo,2421,197.90,0.769,0,0,598,515.37
$SM_GC,0.77,13.90,0.00,197.90,0.050,0.000,0.769,121,1801,598,-8.18,-0.31,515.37,0,0,0,0,0,0,14.91,15.14,14.17
$IRIDIUM_FIX,-3340.91,2705.25,120419,121552
$TT8_MAMPS,0.021721,0.942242
$HUMID,43.30
$INTERNAL_PRESSURE,9.37092
$TCM_TEMP,20.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,110.5,35.8
$SC_FREEKB,3743712
$24V_AH,13.63,111.164
$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,30.925,42.750,211.075,197.900,0.000,23.254,16.256,194.383,3.500,0.000,18.339,935.805,409.924,545.437,1011.079,178.168,0.000,963.683,0.000,670.763,0.000,25.280,0.000
$DEVICE_MAMPS,531.675,68.085,921.060,768.825,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2446.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.311,0.000,0.000,0.000
$MEM,340928
$DATA_FILE_SIZE,10125,437
$CAP_FILE_SIZE,83304,0
$CFSIZE,2097086464,2028306432
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,877.77,0x2131c2,2,24
$GPS,120419,140059,-3355.292,2703.520,7,1.2,47,-28.1,1.4,228.9,7,4.3