version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 340
start: 4 12 119 15 9 2
data:
$ID,574
$MISSION,3
$DIVE,340
$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,31
$R_STBD_OVSHOOT,43
$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
$GPS1,120419,150027,-3356.2556,2702.4668,6,1.0,14,-28.1,2.7,234.9,8,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-64.3
$GPS2,120419,150838,-3356.5500,2702.0171,6,1.1,14,-28.1,2.0,244.2,8,10.0
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3401.950,2713.302
$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,20,begin dive
$GC,22,-0.88,-92.5,87,1812,624,552,0.0,0.0,0,122,0.00,0.00,-97.20,0.000,16386,0.000,0.000,76,1813,3027,2999,3055,0,0,0,0,0,0,15.01,28.83,15.02
$GC,127,-0.88,-92.5,76,1813,3000,3055,3.2,-5.2,18,152,13.85,2.40,-0.98,0.000,18948,0.287,0.078,2466,402,3079,3061,3097,0,0,0,0,0,0,14.62,13.67,14.87
$GC,210,-0.88,-92.5,2465,402,3067,3093,26.5,-19.6,33,218,0.08,2.33,0.00,0.000,3078,0.295,0.036,2471,1816,3077,3068,3087,0,0,0,0,0,0,14.67,14.83,14.85
$GC,282,-0.88,-92.5,2470,1819,3069,3090,39.2,-19.5,46,289,0.00,2.42,0.00,0.000,2564,0.000,0.064,2471,405,3079,3069,3090,0,0,0,0,0,0,15.09,14.85,15.09
$GC,398,-0.88,-92.5,2471,404,3069,3090,61.8,-18.5,68,404,0.00,2.30,0.00,0.000,3078,0.000,0.037,2462,1810,3079,3069,3090,0,0,0,0,0,0,15.00,14.90,15.00
$GC,470,-0.88,-92.5,2462,1813,3070,3089,73.7,-17.2,81,476,0.00,2.42,0.00,0.000,2564,0.000,0.063,2461,398,3079,3070,3089,0,0,0,0,0,0,15.11,14.80,15.12
$GC,511,-0.88,-92.5,2461,398,3070,3089,80.5,-16.9,88,518,0.10,2.33,0.00,0.000,3078,0.261,0.037,2470,1812,3079,3070,3089,0,0,0,0,0,0,14.73,14.88,14.90
$GC,581,-0.88,-92.5,2470,1815,3071,3088,91.0,-14.1,101,587,0.00,0.00,0.00,0.000,2054,0.000,0.000,2471,1815,3079,3071,3088,0,0,0,0,0,0,15.13,15.14,15.13
$GC,653,-0.88,-92.5,2470,1815,3071,3088,100.2,-12.9,114,659,0.00,0.00,0.00,0.000,2054,0.000,0.000,2471,1815,3079,3071,3088,0,0,0,0,0,0,15.12,15.13,15.12
$GC,723,-0.88,-92.5,2470,1815,3072,3088,108.9,-10.9,127,729,0.00,2.40,0.00,0.000,2564,0.000,0.063,2471,405,3079,3071,3088,0,0,0,0,0,0,15.14,14.89,15.14
$GC,804,-0.88,-92.5,2470,404,3072,3088,118.5,-11.6,142,811,0.00,2.30,0.00,0.000,3078,0.000,0.037,2462,1810,3079,3071,3088,0,0,0,0,0,0,14.93,14.85,14.95
$GC,876,-0.88,-92.5,2462,1813,3072,3088,127.0,-11.1,155,882,0.00,0.00,0.00,0.000,2054,0.000,0.000,2462,1813,3077,3072,3082,0,0,0,0,0,0,15.14,15.15,15.15
$GC,947,-0.88,-92.5,2461,1814,3072,3088,135.8,-12.0,168,953,0.00,0.00,0.00,0.000,2054,0.000,0.000,2462,1814,3080,3072,3088,0,0,0,0,0,0,15.14,15.14,15.14
$GC,1017,-0.88,-92.5,2461,1814,3072,3087,144.3,-11.5,181,1025,0.00,0.00,0.00,0.000,2054,0.000,0.000,2462,1813,3079,3072,3087,0,0,0,0,0,0,15.15,15.16,15.16
$GC,1089,-0.88,-92.5,2462,1813,3072,3088,153.8,-14.7,194,1096,0.00,2.33,0.00,0.000,2308,0.000,0.053,2451,3217,3079,3072,3087,0,0,0,0,0,0,15.15,14.83,15.19
$GC,1109,-0.88,-92.5,2452,3217,3071,3087,156.4,-12.9,197,1116,0.10,2.35,0.00,0.000,3078,0.237,0.046,2471,1799,3079,3072,3087,0,0,0,0,0,0,14.78,14.92,14.88
$GC,1182,-0.88,-92.5,2471,1798,3072,3087,166.5,-15.1,210,1188,0.00,0.00,0.00,0.000,2054,0.000,0.000,2471,1798,3079,3072,3087,0,0,0,0,0,0,15.16,15.16,15.16
$GC,1251,-0.88,-92.5,2471,1798,3072,3087,176.9,-15.3,223,1257,0.00,2.38,0.00,0.000,2308,0.000,0.053,2463,3216,3079,3072,3086,0,0,0,0,0,0,15.16,14.88,15.16
$GC,1290,-0.88,-92.5,2462,3215,3072,3087,182.4,-13.4,230,1297,0.00,2.35,0.00,0.000,3078,0.000,0.046,2463,1803,3079,3072,3087,0,0,0,0,0,0,14.97,14.86,14.99
$STATE,1302,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1302,begin apogee
$GC,1307,-0.17,0.0,2463,1803,3072,3086,184.3,-13.4,232,1385,1.20,0.00,69.15,0.982,10246,0.168,0.000,2695,1802,2700,2714,2686,0,0,0,0,0,0,14.72,14.55,14.17
$STATE,1389,end apogee,CONTROL_FINISHED_OK
$STATE,1389,begin climb
$GC,1391,0.88,92.5,2695,1802,2713,2686,187.4,0.0,246,1470,1.55,0.00,74.18,0.988,10246,0.083,0.000,3028,1802,2322,2341,2303,0,0,0,0,0,0,14.65,14.52,14.08
$GC,1535,0.91,113.2,3028,1802,2341,2297,181.5,8.5,271,1557,0.00,0.00,17.60,0.913,10246,0.000,0.000,3028,1802,2239,2263,2215,0,0,0,0,0,0,14.85,14.64,14.19
$GC,1620,0.91,113.2,3027,1802,2260,2211,172.9,10.3,287,1625,0.00,0.00,0.00,0.000,2054,0.000,0.000,3028,1802,2235,2259,2211,0,0,0,0,0,0,14.91,14.91,14.91
$GC,1688,0.91,113.2,3028,1802,2259,2210,165.4,10.6,300,1695,0.00,2.38,0.00,0.000,2308,0.000,0.050,3028,3208,2234,2258,2210,0,0,0,0,0,0,14.98,14.77,14.98
$GC,1722,0.91,113.2,3027,3208,2256,2210,161.5,11.2,306,1729,0.00,2.38,0.00,0.000,3078,0.000,0.049,3037,1801,2233,2256,2210,0,0,0,0,0,0,14.85,14.74,14.87
$GC,1793,0.91,113.2,3036,1801,2256,2209,153.9,11.0,319,1799,0.00,0.00,0.00,0.000,2054,0.000,0.000,3037,1801,2232,2256,2209,0,0,0,0,0,0,15.04,15.04,15.04
$GC,1862,0.91,113.2,3036,1801,2255,2209,146.3,10.7,332,1868,0.00,0.00,0.00,0.000,2054,0.000,0.000,3037,1801,2232,2255,2209,0,0,0,0,0,0,15.07,15.07,15.07
$GC,1931,0.91,113.2,3037,1800,2255,2205,139.3,10.0,345,1937,0.00,2.40,0.00,0.000,2564,0.000,0.070,3037,389,2230,2254,2207,0,0,0,0,0,0,15.08,14.84,15.09
$GC,1950,0.91,115.1,3037,389,2253,2207,137.4,9.9,348,1957,0.00,2.33,0.00,0.000,3078,0.000,0.036,3037,1812,2230,2253,2207,0,0,0,0,0,0,14.97,14.90,14.98
$GC,2021,0.92,120.7,3037,1813,2253,2207,130.3,9.6,361,2034,0.00,2.45,6.35,0.746,10756,0.000,0.066,3040,393,2207,2232,2183,0,0,0,0,0,0,15.09,14.73,14.26
$GC,2258,0.92,121.0,3039,392,2228,2183,106.5,10.0,407,2265,0.00,2.30,0.00,0.000,3078,0.000,0.036,3040,1800,2204,2227,2182,0,0,0,0,0,0,15.00,14.90,15.01
$GC,2329,0.94,137.0,3040,1801,2228,2181,100.3,8.9,420,2353,0.00,2.45,14.35,0.861,10756,0.000,0.067,3045,394,2140,2167,2114,0,0,0,0,0,0,15.12,14.84,14.38
$GC,2397,0.94,137.0,3044,393,2165,2113,93.4,11.5,432,2404,0.00,2.30,0.00,0.000,3078,0.000,0.036,3044,1803,2138,2164,2112,0,0,0,0,0,0,14.90,14.81,14.91
$GC,2468,0.94,139.3,3044,1803,2164,2111,86.2,9.8,445,2473,0.00,0.00,0.00,0.000,2054,0.000,0.000,3045,1803,2138,2165,2111,0,0,0,0,0,0,15.10,15.10,15.10
$GC,2536,0.94,142.5,3045,1803,2164,2110,79.3,9.8,458,2548,0.00,0.00,5.55,0.682,10502,0.000,0.000,3045,1803,2119,2147,2091,0,0,0,0,0,0,15.11,14.76,14.38
$GC,2612,0.95,150.6,3044,1804,2146,2089,71.9,9.4,472,2626,0.00,2.47,7.80,0.763,10756,0.000,0.067,3047,390,2087,2116,2058,0,0,0,0,0,0,15.11,14.85,14.40
$GC,3061,0.96,152.7,3046,389,2109,2055,32.6,9.9,560,3067,0.00,2.30,0.00,0.000,3078,0.000,0.035,3047,1802,2081,2109,2054,0,0,0,0,0,0,15.02,14.95,15.04
$GC,3132,0.97,165.4,3046,1803,2108,2053,27.5,9.1,573,3150,0.00,2.40,11.57,0.878,10756,0.000,0.066,3055,395,2023,2055,1991,0,0,0,0,0,0,15.14,14.76,14.33
$STATE,3423,end climb,SURFACE_DEPTH_REACHED
$STATE,3423,begin surface coast
$FINISH,0.2,1.025028
$STATE,3464,end surface coast,CONTROL_FINISHED_OK
$STATE,3464,begin surface
$SM_CCo,3490,209.45,0.785,0,0,599,515.37
$SM_GC,0.67,13.68,2.35,209.45,0.048,0.035,0.785,121,1814,599,-8.18,-1.58,515.37,0,0,0,0,0,0,14.95,14.97,14.16
$IRIDIUM_FIX,-3338.31,2705.25,120419,140406
$TT8_MAMPS,0.021721,0.953477
$HUMID,43.97
$INTERNAL_PRESSURE,9.39045
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,160.4,33.3
$SC_FREEKB,3742688
$24V_AH,13.67,111.510
$10V_AH,13.78,0.000
$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,30.550,56.800,206.550,209.450,0.000,26.087,41.274,207.603,6.000,0.000,15.340,1401.058,633.825,585.542,1362.509,220.283,0.000,1145.014,0.000,970.943,0.000,39.004,0.000
$DEVICE_MAMPS,294.525,78.030,988.380,784.890,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3517.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.472,0.000,0.000,0.000
$MEM,340928
$DATA_FILE_SIZE,16734,638
$CAP_FILE_SIZE,113666,0
$CFSIZE,2097086464,2027945984
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,1867.53,0x2131ca,1,24
$GPS,120419,161201,-3357.610,2700.956,7,0.8,37,-28.1,2.0,234.6,11,4.6