version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 344
start: 4 12 119 20 22 8
data:
$ID,574
$MISSION,3
$DIVE,344
$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,140
$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
$GPS1,120419,201211,-3402.2578,2653.9895,7,1.0,16,-28.1,1.3,198.1,9,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-64.8
$GPS2,120419,202143,-3402.5496,2653.5068,7,1.0,18,-28.1,1.7,250.6,9,9.5
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3410.822,2701.898
$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,168.1,20000,-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,-92.5,92,1795,628,548,0.0,0.0,0,122,0.00,0.00,-97.47,0.000,16390,0.000,0.000,82,1794,3078,3047,3110,0,0,0,0,0,0,15.00,13.62,15.01
$GC,127,-0.88,-92.5,82,1795,3047,3111,3.8,-9.2,18,146,13.82,2.42,0.00,0.000,2308,0.284,0.045,2456,3222,3079,3051,3107,0,0,0,0,0,0,14.60,14.81,14.83
$GC,422,-0.88,-92.5,2457,3222,3062,3096,67.7,-17.7,75,430,0.08,2.38,0.00,0.000,3078,0.268,0.049,2471,1806,3080,3063,3097,0,0,0,0,0,0,14.75,14.88,14.92
$GC,493,-0.88,-92.5,2471,1804,3064,3095,78.2,-14.5,88,500,0.00,2.40,0.00,0.000,2564,0.000,0.066,2472,408,3079,3064,3094,0,0,0,0,0,0,15.11,14.87,15.11
$GC,538,-0.88,-92.5,2472,408,3065,3095,85.1,-15.2,96,545,0.00,2.30,0.00,0.000,3078,0.000,0.037,2464,1808,3079,3065,3094,0,0,0,0,0,0,15.00,14.91,15.01
$GC,611,-0.88,-92.5,2463,1812,3065,3094,95.6,-15.2,109,617,0.00,2.35,0.00,0.000,2308,0.000,0.053,2454,3215,3079,3065,3094,0,0,0,0,0,0,15.13,14.89,15.14
$GC,624,-0.88,-92.5,2453,3216,3065,3094,98.0,-14.6,111,632,0.08,2.35,0.00,0.000,3078,0.266,0.047,2468,1809,3079,3065,3094,0,0,0,0,0,0,14.70,14.82,14.87
$GC,696,-0.88,-92.5,2468,1808,3066,3094,108.2,-13.7,124,703,0.00,2.40,0.00,0.000,2564,0.000,0.065,2469,404,3079,3066,3093,0,0,0,0,0,0,15.13,14.88,15.14
$GC,726,-0.88,-92.5,2468,404,3066,3093,112.9,-15.4,129,732,0.00,2.33,0.00,0.000,3078,0.000,0.036,2460,1813,3079,3066,3093,0,0,0,0,0,0,15.01,14.91,15.02
$GC,798,-0.88,-92.5,2460,1817,3066,3093,122.9,-14.4,142,805,0.00,2.33,0.00,0.000,2308,0.000,0.054,2454,3217,3079,3066,3093,0,0,0,0,0,0,15.14,14.90,15.13
$GC,818,-0.88,-92.5,2453,3216,3066,3093,126.1,-14.5,145,825,0.08,2.35,0.00,0.000,3078,0.262,0.046,2469,1810,3079,3066,3093,0,0,0,0,0,0,14.77,14.91,14.95
$GC,888,-0.88,-92.5,2468,1810,3067,3093,135.7,-13.0,158,895,0.00,2.40,0.00,0.000,2564,0.000,0.065,2469,401,3080,3067,3093,0,0,0,0,0,0,15.14,14.88,15.14
$GC,908,-0.88,-92.5,2469,401,3067,3093,138.5,-13.9,161,914,0.00,2.33,0.00,0.000,3078,0.000,0.037,2460,1820,3080,3067,3093,0,0,0,0,0,0,15.02,14.93,15.03
$GC,979,-0.88,-92.5,2460,1823,3067,3093,148.3,-14.5,174,986,0.00,2.33,0.00,0.000,2308,0.000,0.053,2454,3214,3080,3067,3093,0,0,0,0,0,0,15.14,14.81,15.14
$GC,999,-0.88,-92.5,2453,3214,3067,3093,151.1,-13.9,177,1006,0.08,2.33,0.00,0.000,3078,0.261,0.045,2469,1811,3079,3066,3093,0,0,0,0,0,0,14.70,14.83,14.87
$GC,1070,-0.88,-92.5,2468,1811,3067,3091,160.6,-13.7,190,1076,0.00,2.40,0.00,0.000,2564,0.000,0.067,2469,411,3080,3067,3093,0,0,0,0,0,0,15.14,14.81,15.16
$GC,1171,-0.88,-92.5,2469,410,3067,3092,175.0,-13.8,209,1178,0.00,2.30,0.00,0.000,3078,0.000,0.035,2461,1815,3080,3068,3092,0,0,0,0,0,0,15.02,14.95,15.04
$GC,1243,-0.88,-92.5,2460,1817,3067,3091,184.7,-12.5,222,1249,0.00,2.40,0.00,0.000,2564,0.000,0.062,2461,409,3079,3067,3092,0,0,0,0,0,0,15.14,14.90,15.15
$GC,1286,-0.88,-92.5,2460,409,3073,3092,190.2,-13.6,230,1294,0.08,2.30,0.00,0.000,3078,0.287,0.037,2468,1809,3079,3067,3092,0,0,0,0,0,0,14.76,14.93,14.95
$GC,1357,-0.88,-92.5,2468,1812,3067,3096,199.4,-12.9,243,1363,0.00,0.00,0.00,0.000,2054,0.000,0.000,2468,1812,3079,3067,3092,0,0,0,0,0,0,15.15,15.15,15.15
$STATE,1383,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1383,begin apogee
$GC,1389,-0.17,0.0,2468,1812,3067,3092,203.1,-12.2,248,1466,1.17,0.00,70.25,1.174,10246,0.168,0.000,2698,1812,2699,2710,2689,0,0,0,0,0,0,14.76,14.59,14.10
$STATE,1470,end apogee,CONTROL_FINISHED_OK
$STATE,1470,begin climb
$GC,1472,0.88,92.5,2698,1812,2710,2690,206.4,0.0,262,1558,1.55,2.38,75.00,1.177,10500,0.073,0.047,3034,3205,2321,2340,2303,0,0,0,0,0,0,14.62,14.33,13.96
$GC,1571,0.95,144.4,3033,3205,2337,2303,203.6,6.2,278,1622,0.00,2.42,42.40,1.146,11270,0.000,0.049,3040,1798,2109,2135,2084,0,0,0,0,0,0,14.62,14.54,13.97
$GC,1686,0.95,144.4,3040,1798,2132,2082,190.1,14.4,299,1692,0.00,2.45,0.00,0.000,2564,0.000,0.071,3041,396,2106,2132,2081,0,0,0,0,0,0,14.83,14.61,14.83
$GC,1947,0.95,144.4,3039,396,2125,2078,150.0,14.4,350,1953,0.00,2.33,0.00,0.000,3078,0.000,0.037,3040,1806,2100,2125,2076,0,0,0,0,0,0,14.94,14.85,14.95
$GC,2018,0.95,144.4,3040,1812,2124,2075,140.9,13.1,363,2023,0.00,0.00,0.00,0.000,2054,0.000,0.000,3040,1812,2100,2125,2075,0,0,0,0,0,0,15.07,15.07,15.07
$GC,2086,0.95,144.4,3039,1812,2125,2075,131.5,13.4,376,2093,0.00,2.42,0.00,0.000,2564,0.000,0.067,3047,397,2099,2123,2075,0,0,0,0,0,0,15.09,14.85,15.09
$GC,2180,0.95,144.4,3046,396,2124,2075,119.0,12.1,394,2187,0.00,2.30,0.00,0.000,3078,0.000,0.036,3047,1804,2099,2124,2074,0,0,0,0,0,0,15.00,14.91,15.00
$GC,2251,0.95,146.8,3047,1806,2123,2074,111.2,9.8,407,2258,0.00,2.33,0.00,0.000,2308,0.000,0.051,3047,3205,2096,2123,2069,0,0,0,0,0,0,15.10,14.89,15.11
$GC,2316,0.95,146.8,3047,3205,2123,2073,104.8,10.1,419,2322,0.00,2.38,0.00,0.000,3078,0.000,0.052,3051,1794,2097,2122,2073,0,0,0,0,0,0,15.00,14.90,15.01
$GC,2386,0.95,148.8,3050,1793,2122,2073,97.6,9.9,432,2393,0.00,2.40,0.00,0.000,2564,0.000,0.072,3052,394,2097,2122,2073,0,0,0,0,0,0,15.11,14.88,15.11
$GC,2542,0.95,149.6,3051,394,2121,2072,80.8,10.0,462,2549,0.00,2.30,0.00,0.000,3078,0.000,0.036,3052,1807,2096,2121,2072,0,0,0,0,0,0,15.02,14.93,15.03
$GC,2613,0.96,155.8,3051,1809,2122,2071,73.8,9.6,475,2626,0.00,2.35,8.20,0.891,10500,0.000,0.050,3052,3201,2064,2092,2037,0,0,0,0,0,0,15.14,14.91,14.33
$GC,2729,0.96,155.8,3051,3201,2090,2036,62.0,10.6,497,2736,0.00,2.38,0.00,0.000,3078,0.000,0.051,3054,1794,2063,2091,2036,0,0,0,0,0,0,15.00,14.89,15.01
$GC,2801,0.97,163.5,3053,1794,2091,2036,55.3,9.5,510,2814,0.00,2.45,7.75,0.841,10756,0.000,0.071,3054,395,2033,2061,2005,0,0,0,0,0,0,15.11,14.85,14.31
$GC,2827,0.99,178.9,3053,393,2061,2005,52.8,8.9,514,2850,0.00,2.30,13.82,1.033,11270,0.000,0.036,3055,1806,1970,2000,1940,0,0,0,0,0,0,14.98,14.90,14.28
$GC,2914,0.99,178.9,3053,1806,1998,1938,43.7,10.4,530,2920,0.00,2.33,0.00,0.000,2308,0.000,0.051,3052,3193,1968,1998,1938,0,0,0,0,0,0,15.05,14.81,15.05
$GC,2943,0.99,178.9,3053,3193,1997,1938,40.4,11.4,535,2950,0.00,2.38,0.00,0.000,3078,0.000,0.052,3054,1796,1967,1997,1938,0,0,0,0,0,0,14.88,14.78,14.89
$GC,3014,0.99,180.7,3053,1795,1997,1937,33.3,9.9,548,3021,0.00,2.42,0.00,0.000,2564,0.000,0.072,3054,395,1966,1996,1937,0,0,0,0,0,0,15.09,14.83,15.09
$STATE,3332,end climb,SURFACE_DEPTH_REACHED
$STATE,3332,begin surface coast
$FINISH,1.8,1.024880
$STATE,3344,end surface coast,CONTROL_FINISHED_OK
$STATE,3344,begin surface
$SM_CCo,3371,204.43,0.783,0,0,599,515.37
$SM_GC,0.76,14.12,2.35,204.43,0.083,0.034,0.783,127,1809,599,-8.17,-1.61,515.37,0,0,0,0,0,0,14.92,14.95,14.16
$IRIDIUM_FIX,-3346.09,2655.99,120419,185308
$TT8_MAMPS,0.021721,0.93625
$HUMID,44.29
$INTERNAL_PRESSURE,9.37092
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,180.4,32.6
$SC_FREEKB,3740640
$24V_AH,13.62,112.316
$10V_AH,13.77,0.000
$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,31.050,85.025,217.425,204.425,0.000,27.290,15.973,281.985,7.250,0.000,20.716,1344.012,596.254,591.685,1389.355,232.798,0.000,1140.668,0.000,940.234,0.000,46.575,0.000
$DEVICE_MAMPS,286.875,71.910,1176.570,783.360,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3415.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,34.914,0.000,0.000,0.000
$MEM,340928
$DATA_FILE_SIZE,16744,613
$CAP_FILE_SIZE,115459,0
$CFSIZE,2097086464,2027192320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,120419,212246,-3404.093,2651.784,7,0.9,22,-28.1,1.4,239.6,9,9.7