version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 339
start: 4 12 119 14 9 45
data:
$ID,574
$MISSION,3
$DIVE,339
$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,33
$R_STBD_OVSHOOT,47
$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
$GPS1,120419,140059,-3355.2925,2703.5203,7,1.2,47,-28.1,1.4,228.9,7,4.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-66.4
$GPS2,120419,140921,-3355.4805,2703.2312,7,1.2,47,-28.1,1.2,249.2,7,4.3
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3400.880,2714.514
$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,-92.5,53,1805,623,552,0.0,0.0,0,122,0.00,0.00,-97.35,0.000,16386,0.000,0.000,54,1806,2994,2963,3026,0,0,0,0,0,0,15.04,28.83,15.04
$GC,127,-0.88,-92.5,54,1806,2963,3026,3.0,-5.9,18,152,13.98,2.40,-1.62,0.000,18948,0.288,0.076,2465,399,3080,3063,3098,0,0,0,0,0,0,14.62,13.69,14.88
$GC,244,-0.88,-92.5,2465,399,3067,3093,31.6,-18.8,40,252,0.08,2.33,0.00,0.000,3078,0.295,0.037,2470,1811,3080,3068,3093,0,0,0,0,0,0,14.65,14.80,14.83
$GC,316,-0.88,-92.5,2470,1813,3070,3091,44.3,-17.5,53,322,0.00,0.00,0.00,0.000,2054,0.000,0.000,2470,1813,3080,3070,3091,0,0,0,0,0,0,15.10,15.10,15.11
$GC,385,-0.88,-92.5,2471,1812,3070,3090,55.4,-15.6,66,392,0.00,2.45,0.00,0.000,2564,0.000,0.063,2471,398,3080,3070,3090,0,0,0,0,0,0,15.11,14.83,15.09
$GC,466,-0.88,-92.5,2471,398,3071,3090,69.0,-17.0,81,472,0.00,2.33,0.00,0.000,3078,0.000,0.037,2462,1812,3080,3070,3090,0,0,0,0,0,0,14.96,14.88,14.97
$GC,536,-0.88,-92.5,2462,1815,3071,3089,79.5,-14.6,94,543,0.00,0.00,0.00,0.000,2054,0.000,0.000,2462,1816,3080,3071,3089,0,0,0,0,0,0,15.13,15.13,15.14
$GC,609,-0.88,-92.5,2462,1816,3071,3089,90.2,-14.6,107,615,0.00,0.00,0.00,0.000,2054,0.000,0.000,2462,1815,3080,3072,3089,0,0,0,0,0,0,15.13,15.14,15.14
$GC,680,-0.88,-92.5,2462,1816,3071,3089,100.1,-13.3,120,685,0.00,0.00,0.00,0.000,2054,0.000,0.000,2462,1816,3080,3071,3089,0,0,0,0,0,0,15.14,15.14,15.14
$GC,751,-0.88,-92.5,2462,1816,3072,3089,110.5,-15.2,133,758,0.00,2.40,0.00,0.000,2564,0.000,0.063,2462,405,3080,3072,3088,0,0,0,0,0,0,15.14,14.90,15.15
$GC,788,-0.88,-92.5,2460,405,3078,3089,115.5,-13.4,139,795,0.08,2.30,0.00,0.000,3078,0.292,0.036,2468,1815,3080,3072,3089,0,0,0,0,0,0,14.76,14.94,14.95
$GC,859,-0.88,-92.5,2468,1817,3072,3088,124.4,-12.4,152,870,0.00,2.40,0.00,0.000,2564,0.000,0.064,2468,406,3080,3072,3088,0,0,0,0,0,0,15.14,14.81,15.14
$GC,893,-0.88,-92.5,2468,406,3072,3087,128.7,-13.0,157,900,0.00,2.30,0.00,0.000,3078,0.000,0.036,2460,1816,3080,3072,3088,0,0,0,0,0,0,15.03,14.94,15.04
$GC,964,-0.88,-92.5,2459,1819,3072,3088,137.6,-14.1,170,970,0.00,0.00,0.00,0.000,2054,0.000,0.000,2459,1819,3080,3072,3088,0,0,0,0,0,0,15.14,15.14,15.15
$GC,1032,-0.88,-92.5,2460,1819,3072,3088,147.0,-13.8,183,1038,0.00,0.00,0.00,0.000,2054,0.000,0.000,2460,1819,3080,3073,3088,0,0,0,0,0,0,15.15,15.16,15.15
$STATE,1043,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1043,begin apogee
$GC,1048,-0.17,0.0,2460,1819,3072,3088,148.8,-13.8,185,1126,1.23,0.00,69.05,0.933,10246,0.174,0.000,2696,1819,2701,2715,2687,0,0,0,0,0,0,14.76,14.58,14.26
$STATE,1129,end apogee,CONTROL_FINISHED_OK
$STATE,1129,begin climb
$GC,1131,0.88,92.5,2696,1819,2715,2687,152.1,0.0,199,1210,1.55,0.00,74.15,0.934,10246,0.083,0.000,3028,1819,2322,2343,2302,0,0,0,0,0,0,14.66,14.54,14.11
$GC,1275,0.88,92.5,3028,1820,2339,2295,145.0,10.0,224,1281,0.00,2.47,0.00,0.000,2564,0.000,0.065,3037,399,2315,2337,2294,0,0,0,0,0,0,14.86,14.64,14.86
$GC,1299,0.88,92.5,3036,397,2335,2294,142.4,10.9,228,1306,0.00,2.35,0.00,0.000,3078,0.000,0.035,3035,1818,2314,2335,2294,0,0,0,0,0,0,14.79,14.71,14.81
$GC,1370,0.88,92.5,3036,1819,2335,2293,134.8,10.5,241,1375,0.00,0.00,0.00,0.000,2054,0.000,0.000,3036,1819,2314,2335,2293,0,0,0,0,0,0,14.95,14.96,14.96
$GC,1438,0.88,92.5,3036,1819,2335,2292,127.5,10.7,254,1444,0.00,0.00,0.00,0.000,2054,0.000,0.000,3037,1818,2313,2335,2292,0,0,0,0,0,0,15.02,15.02,15.02
$GC,1507,0.88,93.8,3036,1818,2334,2290,120.7,9.9,267,1513,0.00,2.45,0.00,0.000,2564,0.000,0.067,3037,395,2312,2333,2291,0,0,0,0,0,0,15.05,14.73,15.05
$GC,2005,0.98,171.9,3037,395,2329,2290,86.6,4.4,365,2073,0.08,2.28,60.78,0.893,11270,0.186,0.034,3071,1806,1997,2028,1967,0,0,0,0,0,0,14.89,14.94,14.23
$GC,2137,0.98,171.9,3071,1806,2024,1962,75.0,12.7,389,2144,0.00,2.30,0.00,0.000,260,0.000,0.048,3071,3187,1992,2023,1962,0,0,0,0,0,0,14.95,14.70,14.96
$GC,2151,0.98,171.9,3071,3187,2023,1962,73.2,12.9,391,2158,0.00,2.35,0.00,0.000,5126,0.000,0.050,3077,1799,1992,2023,1962,0,0,0,0,0,0,14.86,14.76,14.88
$GC,2222,0.98,171.9,3077,1799,2022,1960,63.8,13.8,404,2228,0.00,2.42,0.00,0.000,4612,0.000,0.071,3077,389,1990,2021,1960,0,0,0,0,0,0,15.02,14.71,15.02
$STATE,2733,end climb,SURFACE_DEPTH_REACHED
$STATE,2733,begin surface coast
$FINISH,0.1,1.025239
$STATE,2758,end surface coast,CONTROL_FINISHED_OK
$STATE,2758,begin surface
$SM_CCo,2784,202.15,0.776,0,0,598,515.37
$SM_GC,0.73,13.77,2.35,202.15,0.048,0.033,0.776,126,1803,598,-8.18,-1.58,515.37,0,0,0,0,0,0,14.92,14.96,14.17
$IRIDIUM_FIX,-3340.91,2702.94,120419,131101
$TT8_MAMPS,0.021721,0.874832
$HUMID,43.34
$INTERNAL_PRESSURE,9.38069
$TCM_TEMP,20.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,125.0,32.5
$SC_FREEKB,3743200
$24V_AH,13.69,111.329
$10V_AH,13.73,0.000
$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,30.750,37.875,203.975,202.150,0.000,26.016,44.365,194.833,4.250,0.000,48.164,1096.971,511.204,535.487,1175.419,181.754,0.000,992.086,0.000,778.458,0.000,28.329,0.000
$DEVICE_MAMPS,295.290,76.500,934.065,776.475,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2807.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.790,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,13455,510
$CAP_FILE_SIZE,88052,0
$CFSIZE,2097086464,2028142592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,120419,150027,-3356.256,2702.467,6,1.0,14,-28.1,2.7,234.9,8,9.2