version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 370
start: 4 15 119 1 45 23
data:
$ID,574
$MISSION,3
$DIVE,370
$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,50
$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
$GPS1,150419,013455,-3423.5527,2557.1238,7,1.2,25,-28.1,0.3,287.4,8,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-60.9
$GPS2,150419,014456,-3423.5239,2557.2173,7,1.2,41,-28.1,0.6,285.6,8,8.0
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,-3415.888,2547.978
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.76,-194.6,54,1814,627,544,0.0,0.0,0,122,0.00,0.00,-97.32,0.000,16386,0.000,0.000,53,1815,2983,2948,3018,0,0,0,0,0,0,14.96,28.83,14.97
$GC,127,-0.76,-194.6,53,1815,2948,3016,3.5,-7.4,18,158,14.52,2.35,-8.85,0.000,18692,0.302,0.067,2497,3213,3495,3507,3484,0,0,0,0,0,0,14.50,13.96,14.75
$GC,196,-0.76,-194.6,2495,3213,3508,3483,23.2,-16.0,30,203,0.05,2.40,0.00,0.000,3078,0.301,0.049,2508,1805,3495,3508,3483,0,0,0,0,0,0,14.64,14.75,14.83
$GC,267,-0.76,-194.6,2508,1805,3509,3482,32.9,-14.5,43,274,0.00,2.42,0.00,0.000,2564,0.000,0.066,2509,398,3495,3509,3482,0,0,0,0,0,0,15.02,14.78,15.02
$GC,298,-0.76,-194.6,2508,398,3509,3481,37.6,-14.3,48,305,0.00,2.35,0.00,0.000,3078,0.000,0.039,2509,1805,3495,3509,3482,0,0,0,0,0,0,14.92,14.83,14.93
$GC,368,-0.76,-194.6,2508,1809,3509,3482,47.7,-15.0,61,375,0.00,2.40,0.00,0.000,2308,0.000,0.057,2509,3224,3495,3508,3482,0,0,0,0,0,0,15.04,14.81,15.04
$GC,403,-0.76,-194.6,2508,3224,3509,3482,52.9,-13.7,67,409,0.00,2.40,0.00,0.000,3078,0.000,0.045,2508,1799,3493,3506,3481,0,0,0,0,0,0,14.93,14.83,14.95
$GC,474,-0.76,-194.6,2508,1800,3509,3481,62.5,-15.4,80,480,0.00,0.00,0.00,0.000,2054,0.000,0.000,2509,1797,3495,3510,3481,0,0,0,0,0,0,15.06,15.07,15.07
$GC,544,-0.76,-194.6,2508,1799,3509,3479,72.0,-11.0,93,549,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1799,3495,3509,3481,0,0,0,0,0,0,15.07,15.08,15.08
$GC,613,-0.76,-194.6,2508,1798,3509,3481,80.8,-14.3,106,620,0.00,2.42,0.00,0.000,2308,0.000,0.054,2509,3219,3495,3510,3481,0,0,0,0,0,0,15.07,14.85,15.07
$GC,643,-0.76,-194.6,2508,3219,3510,3481,85.5,-16.0,111,650,0.00,2.38,0.00,0.000,3078,0.000,0.044,2508,1802,3495,3510,3481,0,0,0,0,0,0,14.96,14.85,14.97
$GC,714,-0.76,-194.6,2508,1802,3510,3481,94.7,-15.1,124,721,0.00,0.00,0.00,0.000,2054,0.000,0.000,2509,1802,3495,3510,3481,0,0,0,0,0,0,15.09,15.09,15.09
$GC,786,-0.76,-194.6,2508,1802,3510,3481,106.0,-14.8,137,791,0.00,0.00,0.00,0.000,2054,0.000,0.000,2509,1802,3495,3510,3481,0,0,0,0,0,0,15.09,15.10,15.09
$GC,857,-0.76,-194.6,2508,1802,3510,3481,116.7,-15.6,150,864,0.00,2.40,0.00,0.000,2308,0.000,0.053,2509,3217,3495,3510,3481,0,0,0,0,0,0,15.08,14.85,15.09
$GC,931,-0.76,-194.6,2509,3217,3510,3481,126.4,-11.2,164,937,0.00,2.35,0.00,0.000,3078,0.000,0.042,2508,1811,3495,3510,3481,0,0,0,0,0,0,14.97,14.86,14.98
$GC,1001,-0.76,-194.6,2508,1811,3510,3481,134.4,-12.0,177,1008,0.00,0.00,0.00,0.000,2054,0.000,0.000,2509,1811,3495,3510,3481,0,0,0,0,0,0,15.10,15.11,15.11
$GC,1074,-0.76,-194.6,2508,1811,3510,3481,143.3,-12.6,190,1080,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1811,3495,3510,3481,0,0,0,0,0,0,15.10,15.11,15.10
$GC,1142,-0.76,-194.6,2507,1810,3519,3481,151.4,-11.7,203,1148,0.00,0.00,0.00,0.000,2054,0.000,0.000,2509,1811,3495,3510,3481,0,0,0,0,0,0,15.10,15.11,15.10
$GC,1210,-0.76,-194.6,2508,1810,3510,3480,158.9,-10.5,216,1216,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1811,3495,3510,3481,0,0,0,0,0,0,15.11,15.11,15.11
$STATE,1237,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1237,begin apogee
$GC,1242,-0.17,0.0,2509,1811,3510,3481,162.5,-12.0,221,1398,0.95,0.00,145.82,1.153,10246,0.153,0.000,2696,1810,2699,2728,2670,0,0,0,0,0,0,14.72,14.30,13.90
$STATE,1399,end apogee,CONTROL_FINISHED_OK
$STATE,1399,begin climb
$GC,1402,0.76,194.6,2696,1810,2728,2670,169.2,0.0,249,1564,1.45,2.55,149.98,1.148,10756,0.068,0.067,3018,397,1902,1937,1868,0,0,0,0,0,0,14.43,14.30,13.83
$GC,1709,0.76,194.6,3017,396,1930,1863,141.5,15.1,305,1715,0.00,2.35,0.00,0.000,5126,0.000,0.034,3018,1809,1895,1929,1862,0,0,0,0,0,0,14.75,14.66,14.76
$GC,1780,0.76,194.6,3018,1812,1929,1860,131.1,15.0,318,1786,0.00,2.33,0.00,0.000,4356,0.000,0.048,3018,3200,1894,1929,1860,0,0,0,0,0,0,14.92,14.71,14.92
$GC,1818,0.76,194.6,3018,3199,1928,1860,124.7,16.2,325,1826,0.10,2.38,0.00,0.000,5126,0.274,0.049,3007,1802,1893,1927,1860,0,0,0,0,0,0,14.58,14.71,14.76
$GC,1889,0.76,194.6,3007,1801,1928,1859,114.3,13.8,338,1895,0.00,2.35,0.00,0.000,4356,0.000,0.047,3007,3200,1893,1928,1859,0,0,0,0,0,0,14.98,14.78,15.00
$GC,1918,0.76,194.6,3007,3201,1927,1860,110.3,14.9,343,1925,0.00,2.38,0.00,0.000,5126,0.000,0.048,3014,1797,1893,1927,1859,0,0,0,0,0,0,14.85,14.75,14.86
$GC,1991,0.76,194.6,3014,1797,1927,1857,101.4,13.7,356,1997,0.00,2.35,0.00,0.000,4356,0.000,0.047,3015,3200,1892,1927,1858,0,0,0,0,0,0,15.02,14.81,15.02
$GC,2045,0.76,194.6,3014,3200,1926,1858,92.9,14.9,366,2052,0.00,2.38,0.00,0.000,5126,0.000,0.050,3017,1801,1892,1926,1858,0,0,0,0,0,0,14.92,14.81,14.93
$GC,2116,0.76,194.6,3017,1801,1926,1858,82.9,14.0,379,2122,0.00,0.00,0.00,0.000,4102,0.000,0.000,3017,1800,1891,1925,1858,0,0,0,0,0,0,15.04,15.04,15.04
$GC,2185,0.76,194.6,3017,1801,1925,1857,73.2,14.5,392,2190,0.00,0.00,0.00,0.000,4102,0.000,0.000,3018,1801,1892,1926,1858,0,0,0,0,0,0,15.07,15.06,15.06
$GC,2253,0.76,194.6,3017,1801,1926,1857,62.5,15.3,405,2260,0.00,2.35,0.00,0.000,4356,0.000,0.050,3017,3202,1894,1931,1857,0,0,0,0,0,0,15.07,14.81,15.07
$GC,2334,0.76,194.6,3017,3203,1925,1857,51.2,13.8,420,2341,0.05,2.40,0.00,0.000,5126,0.366,0.051,3011,1792,1891,1925,1857,0,0,0,0,0,0,14.67,14.85,14.90
$GC,2406,0.76,194.6,3010,1791,1925,1857,43.4,10.8,433,2412,0.00,2.40,0.00,0.000,4612,0.000,0.070,3018,391,1890,1925,1856,0,0,0,0,0,0,15.08,14.83,15.08
$GC,2435,0.76,194.6,3018,392,1925,1856,40.1,11.4,438,2442,0.00,2.33,0.00,0.000,5126,0.000,0.032,3018,1810,1890,1925,1856,0,0,0,0,0,0,14.97,14.90,14.99
$GC,2506,0.76,194.6,3017,1812,1925,1860,32.8,10.1,451,2512,0.00,0.00,0.00,0.000,4102,0.000,0.000,3018,1812,1890,1925,1855,0,0,0,0,0,0,15.09,15.08,15.08
$GC,2575,0.78,211.3,3018,1812,1925,1855,25.9,9.4,464,2593,0.00,2.30,11.55,0.948,12548,0.000,0.047,3018,3198,1835,1873,1798,0,0,0,0,0,0,15.09,14.73,14.29
$GC,2601,0.87,278.8,3018,3198,1871,1798,24.0,7.7,468,2657,0.00,2.38,46.30,0.998,11270,0.000,0.050,3019,1795,1560,1602,1518,0,0,0,0,0,0,14.93,14.83,14.14
$GC,2721,0.87,278.8,3019,1795,1598,1514,11.7,11.9,490,2727,0.00,2.45,0.00,0.000,2564,0.000,0.074,3020,397,1557,1600,1514,0,0,0,0,0,0,14.90,14.66,14.90
$STATE,2789,end climb,SURFACE_DEPTH_REACHED
$STATE,2789,begin surface coast
$FINISH,0.3,1.025502
$STATE,2810,end surface coast,CONTROL_FINISHED_OK
$STATE,2810,begin surface
$SM_CCo,2836,155.05,0.808,0,0,598,515.37
$SM_GC,0.82,13.60,2.38,155.05,0.041,0.030,0.808,124,1806,598,-8.18,-1.44,515.37,0,0,0,0,0,0,14.79,14.81,14.09
$IRIDIUM_FIX,-3409.50,2556.54,150419,003147
$TT8_MAMPS,0.021721,0.914529
$HUMID,44.17
$INTERNAL_PRESSURE,9.2928
$TCM_TEMP,19.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,140.4,32.1
$SC_FREEKB,3726720
$24V_AH,13.83,119.503
$10V_AH,13.51,0.000
$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,30.725,61.900,353.650,155.050,0.000,39.414,51.633,250.663,5.000,0.000,42.123,1040.233,442.536,646.721,1249.346,226.746,0.000,1157.029,0.000,765.103,0.000,32.892,0.000
$DEVICE_MAMPS,365.670,74.205,1152.855,807.840,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2870.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.417,0.000,0.000,0.000
$MEM,340928
$DATA_FILE_SIZE,13452,507
$CAP_FILE_SIZE,99052,0
$CFSIZE,2097086464,2022047744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,150419,023631,-3423.414,2557.194,12,1.0,33,-28.1,1.2,84.2,9,7.7