version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 367
start: 4 14 119 22 34 41
data:
$ID,574
$MISSION,3
$DIVE,367
$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,200
$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,315
$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,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
$GPS1,140419,222502,-3423.9153,2557.2805,7,1.0,15,-28.1,0.8,78.4,8,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-63.1
$GPS2,140419,223415,-3423.8699,2557.3557,6,1.0,14,-28.1,0.5,78.0,8,9.6
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,-3416.234,2548.115
$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,343.1,20000,-15.7,-10.010,-18.71,2973
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.76,-194.6,80,1799,622,548,0.0,0.0,0,123,0.00,0.00,-97.55,0.000,16386,0.000,0.000,71,1799,2974,2943,3006,0,0,0,0,0,0,14.93,28.83,14.94
$GC,128,-0.76,-194.6,68,1799,2944,3007,3.5,-7.7,18,159,14.45,2.45,-9.20,0.000,18948,0.303,0.084,2506,402,3496,3509,3484,0,0,0,0,0,0,14.48,13.54,14.73
$GC,218,-0.76,-194.6,2506,403,3510,3483,26.7,-17.4,34,224,0.00,2.35,0.00,0.000,3078,0.000,0.037,2501,1809,3496,3509,3484,0,0,0,0,0,0,14.87,14.78,14.89
$GC,289,-0.76,-194.6,2501,1812,3509,3484,37.9,-14.5,47,294,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1812,3497,3510,3484,0,0,0,0,0,0,15.00,15.00,15.00
$GC,357,-0.76,-194.6,2501,1812,3509,3484,47.9,-14.5,60,363,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1812,3495,3509,3482,0,0,0,0,0,0,15.04,15.04,15.04
$GC,426,-0.76,-194.6,2501,1812,3510,3484,58.4,-15.5,73,431,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1812,3497,3510,3484,0,0,0,0,0,0,15.04,15.05,15.05
$GC,494,-0.76,-194.6,2501,1813,3509,3484,69.1,-16.2,86,500,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1811,3497,3510,3484,0,0,0,0,0,0,15.05,15.06,15.06
$GC,562,-0.76,-194.6,2501,1812,3510,3484,79.7,-15.8,99,569,0.00,2.40,0.00,0.000,2308,0.000,0.057,2501,3222,3497,3510,3484,0,0,0,0,0,0,15.07,14.82,15.07
$GC,612,-0.76,-194.6,2500,3222,3511,3483,86.4,-12.5,108,619,0.00,2.40,0.00,0.000,3078,0.000,0.044,2501,1795,3497,3511,3483,0,0,0,0,0,0,14.94,14.83,14.95
$GC,682,-0.76,-194.6,2501,1799,3511,3483,96.3,-16.0,121,689,0.00,2.40,0.00,0.000,2564,0.000,0.066,2502,405,3497,3511,3483,0,0,0,0,0,0,15.07,14.82,15.07
$GC,706,-0.76,-194.6,2501,405,3511,3482,100.3,-16.0,125,713,0.00,2.35,0.00,0.000,3078,0.000,0.036,2501,1819,3497,3511,3483,0,0,0,0,0,0,14.91,14.82,14.92
$GC,778,-0.76,-194.6,2501,1822,3520,3483,110.9,-15.0,138,785,0.00,2.35,0.00,0.000,2308,0.000,0.054,2501,3215,3496,3510,3483,0,0,0,0,0,0,15.07,14.83,15.11
$GC,852,-0.76,-194.6,2502,3217,3511,3482,121.5,-13.3,151,858,0.00,2.35,0.00,0.000,3078,0.000,0.043,2501,1816,3497,3511,3483,0,0,0,0,0,0,14.92,14.81,14.95
$GC,922,-0.76,-194.6,2501,1815,3511,3483,131.3,-14.5,164,928,0.00,0.00,0.00,0.000,2054,0.000,0.000,2502,1815,3497,3512,3483,0,0,0,0,0,0,15.09,15.09,15.09
$GC,992,-0.76,-194.6,2501,1815,3511,3483,141.5,-14.6,177,998,0.00,2.38,0.00,0.000,2308,0.000,0.051,2495,3214,3496,3511,3482,0,0,0,0,0,0,15.09,14.85,15.09
$GC,1015,-0.76,-194.6,2493,3214,3512,3482,144.9,-13.5,181,1026,0.05,2.38,0.00,0.000,3078,0.301,0.045,2507,1802,3497,3512,3482,0,0,0,0,0,0,14.63,14.77,14.81
$GC,1089,-0.76,-194.6,2507,1802,3512,3483,155.0,-13.6,194,1094,0.00,0.00,0.00,0.000,2054,0.000,0.000,2507,1802,3497,3512,3482,0,0,0,0,0,0,15.09,15.09,15.09
$GC,1157,-0.76,-194.6,2506,1802,3512,3482,164.2,-13.7,207,1163,0.00,0.00,0.00,0.000,2054,0.000,0.000,2507,1802,3497,3512,3482,0,0,0,0,0,0,15.09,15.10,15.10
$STATE,1208,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1208,begin apogee
$GC,1214,-0.17,0.0,2507,1802,3512,3482,170.8,-11.7,217,1369,0.95,0.00,146.82,1.169,10246,0.149,0.000,2697,1801,2698,2727,2669,0,0,0,0,0,0,14.71,14.28,13.88
$STATE,1371,end apogee,CONTROL_FINISHED_OK
$STATE,1371,begin climb
$GC,1374,0.76,194.6,2697,1802,2727,2668,180.4,0.0,245,1536,1.42,2.45,151.12,1.162,11012,0.067,0.050,3007,3205,1903,1938,1868,0,0,0,0,0,0,14.41,14.31,13.82
$GC,1716,0.76,194.6,3007,3205,1931,1864,146.7,16.0,308,1723,0.00,2.42,0.00,0.000,5126,0.000,0.051,3016,1799,1897,1931,1863,0,0,0,0,0,0,14.77,14.67,14.78
$GC,1787,0.76,194.6,3016,1799,1930,1862,135.4,16.4,321,1793,0.00,0.00,0.00,0.000,4102,0.000,0.000,3016,1799,1896,1930,1862,0,0,0,0,0,0,14.92,14.90,14.92
$GC,1855,0.76,194.6,3016,1799,1930,1861,123.1,18.0,334,1862,0.00,2.38,0.00,0.000,4356,0.000,0.047,3016,3204,1895,1929,1861,0,0,0,0,0,0,14.97,14.75,14.97
$GC,1885,0.76,194.6,3016,3204,1929,1861,118.0,16.9,339,1891,0.00,2.40,0.00,0.000,5126,0.000,0.052,3017,1800,1895,1929,1861,0,0,0,0,0,0,14.83,14.73,14.85
$GC,1956,0.76,194.6,3016,1800,1929,1860,107.8,14.9,352,1962,0.00,0.00,0.00,0.000,4102,0.000,0.000,3016,1800,1895,1929,1861,0,0,0,0,0,0,15.01,15.02,15.02
$GC,2024,0.76,194.6,3016,1800,1929,1860,97.0,14.7,365,2031,0.00,2.35,0.00,0.000,4356,0.000,0.048,3016,3204,1894,1928,1860,0,0,0,0,0,0,15.03,14.74,15.03
$GC,2049,0.76,194.6,3016,3204,1928,1860,93.6,13.9,369,2056,0.03,2.40,0.00,0.000,5126,0.530,0.050,3011,1798,1894,1928,1860,0,0,0,0,0,0,14.56,14.73,14.78
$GC,2120,0.76,194.6,3011,1798,1928,1860,83.4,15.1,382,2127,0.00,2.45,0.00,0.000,4612,0.000,0.072,3011,387,1893,1927,1859,0,0,0,0,0,0,15.04,14.76,15.04
$GC,2175,0.76,194.6,3011,387,1925,1866,75.4,14.4,392,2181,0.00,2.35,0.00,0.000,5126,0.000,0.034,3010,1812,1892,1925,1859,0,0,0,0,0,0,14.87,14.78,14.90
$GC,2245,0.76,194.6,3010,1814,1926,1859,67.4,10.7,405,2252,0.00,2.33,0.00,0.000,4356,0.000,0.049,3010,3207,1891,1925,1858,0,0,0,0,0,0,15.07,14.81,15.07
$GC,2330,0.76,194.6,3010,3207,1925,1858,56.9,13.6,421,2336,0.00,2.40,0.00,0.000,5126,0.000,0.052,3010,1798,1891,1925,1858,0,0,0,0,0,0,14.90,14.80,14.92
$GC,2400,0.76,194.6,3011,1798,1925,1858,48.3,12.7,434,2407,0.00,2.42,0.00,0.000,4612,0.000,0.071,3010,395,1891,1925,1858,0,0,0,0,0,0,15.07,14.82,15.08
$GC,2425,0.76,194.6,3010,394,1925,1857,44.8,13.4,438,2432,0.00,2.33,0.00,0.000,5126,0.000,0.033,3010,1810,1891,1925,1857,0,0,0,0,0,0,14.92,14.83,14.92
$GC,2496,0.76,194.6,3010,1812,1929,1858,36.3,11.2,451,2502,0.00,0.00,0.00,0.000,4102,0.000,0.000,3010,1812,1891,1925,1857,0,0,0,0,0,0,15.08,15.09,15.09
$GC,2565,0.82,237.0,3010,1812,1924,1857,29.6,8.5,464,2599,0.00,0.00,31.75,1.021,10246,0.000,0.000,3010,1812,1735,1776,1695,0,0,0,0,0,0,15.09,14.71,14.22
$GC,2662,0.86,277.3,3010,1812,1769,1690,21.0,8.6,482,2697,0.00,2.50,27.60,0.967,10756,0.000,0.071,3017,396,1566,1608,1524,0,0,0,0,0,0,14.96,14.54,14.16
$GC,2769,0.86,277.3,3017,396,1604,1522,10.1,12.3,502,2776,0.00,2.33,0.00,0.000,3078,0.000,0.032,3017,1795,1563,1604,1522,0,0,0,0,0,0,14.74,14.68,14.76
$STATE,2827,end climb,SURFACE_DEPTH_REACHED
$STATE,2827,begin surface coast
$FINISH,0.2,1.025480
$STATE,2848,end surface coast,CONTROL_FINISHED_OK
$STATE,2848,begin surface
$SM_CCo,2872,157.38,0.806,0,0,599,515.37
$SM_GC,0.77,13.62,0.00,157.38,0.044,0.000,0.806,122,1798,599,-8.18,-0.40,515.37,0,0,0,0,0,0,14.79,14.99,14.07
$IRIDIUM_FIX,-3409.50,2554.19,140419,211837
$TT8_MAMPS,0.021721,0.944489
$HUMID,44.48
$INTERNAL_PRESSURE,9.28303
$TCM_TEMP,18.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,145.7,35.1
$SC_FREEKB,3728256
$24V_AH,13.54,118.837
$10V_AH,13.54,0.000
$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,30.525,57.300,357.300,157.375,0.000,27.716,16.127,267.939,5.250,0.000,15.908,1059.851,452.276,640.680,1217.931,222.027,0.000,1156.248,0.000,788.165,0.000,35.834,0.000
$DEVICE_MAMPS,530.145,84.150,1168.920,805.545,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2911.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.263,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,13454,517
$CAP_FILE_SIZE,99154,0
$CFSIZE,2097086464,2022539264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,140419,232631,-3423.796,2557.220,7,0.9,37,-28.1,0.0,23.8,10,6.2