version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 371
start: 4 15 119 2 47 35
data:
$ID,574
$MISSION,3
$DIVE,371
$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,31
$R_STBD_OVSHOOT,41
$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
$GPS1,150419,023631,-3423.4138,2557.1943,12,1.0,33,-28.1,1.2,84.2,9,7.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-62.3
$GPS2,150419,024707,-3423.4004,2557.2942,6,1.0,14,-28.1,0.0,91.1,10,8.7
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,-3415.764,2548.055
$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,-194.6,53,1846,625,544,0.0,0.0,0,122,0.00,0.00,-97.62,0.000,16386,0.000,0.000,53,1843,2988,2955,3022,0,0,0,0,0,0,14.95,28.83,14.96
$GC,127,-0.76,-194.6,53,1843,2956,3022,3.5,-7.8,18,158,14.45,2.47,-8.93,0.000,18948,0.298,0.084,2504,406,3494,3508,3481,0,0,0,0,0,0,14.50,13.90,14.75
$GC,226,-0.76,-194.6,2503,406,3509,3482,31.2,-22.2,36,232,0.00,2.35,0.00,0.000,3078,0.000,0.040,2497,1810,3495,3509,3481,0,0,0,0,0,0,14.90,14.81,14.91
$GC,296,-0.76,-194.6,2497,1814,3508,3482,44.1,-18.6,49,304,0.05,2.38,0.00,0.000,2308,0.345,0.054,2508,3221,3495,3509,3481,0,0,0,0,0,0,14.62,14.79,14.76
$GC,326,-0.76,-194.6,2507,3221,3509,3481,49.2,-14.4,54,334,0.00,2.38,0.00,0.000,3078,0.000,0.044,2508,1811,3495,3510,3481,0,0,0,0,0,0,14.92,14.82,14.93
$GC,397,-0.76,-194.6,2508,1811,3509,3481,59.0,-13.9,67,404,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1811,3495,3509,3481,0,0,0,0,0,0,15.04,15.04,15.05
$GC,467,-0.76,-194.6,2508,1810,3509,3481,68.2,-13.0,80,473,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1810,3495,3509,3481,0,0,0,0,0,0,15.07,15.07,15.07
$GC,535,-0.76,-194.6,2508,1811,3509,3481,76.7,-12.6,93,541,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1811,3495,3509,3481,0,0,0,0,0,0,15.07,15.08,15.08
$GC,605,-0.76,-194.6,2507,1811,3510,3481,85.5,-12.8,106,611,0.00,2.40,0.00,0.000,2308,0.000,0.054,2508,3219,3495,3509,3481,0,0,0,0,0,0,15.08,14.80,15.08
$GC,664,-0.76,-194.6,2507,3219,3510,3481,92.0,-10.1,117,671,0.00,2.38,0.00,0.000,3078,0.000,0.044,2508,1804,3495,3510,3480,0,0,0,0,0,0,14.88,14.78,14.89
$GC,736,-0.76,-194.6,2508,1803,3510,3479,100.2,-12.6,130,741,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1804,3495,3510,3481,0,0,0,0,0,0,15.09,15.10,15.09
$GC,804,-0.76,-194.6,2508,1804,3510,3481,108.7,-11.4,143,811,0.00,2.42,0.00,0.000,2308,0.000,0.055,2508,3217,3495,3510,3480,0,0,0,0,0,0,15.10,14.78,15.10
$GC,834,-0.76,-194.6,2508,3217,3510,3480,112.0,-11.2,148,840,0.00,2.35,0.00,0.000,3078,0.000,0.043,2508,1811,3495,3510,3480,0,0,0,0,0,0,14.87,14.77,14.88
$GC,904,-0.76,-194.6,2508,1810,3510,3480,119.5,-11.2,161,911,0.00,0.00,0.00,0.000,2054,0.000,0.000,2507,1811,3495,3510,3480,0,0,0,0,0,0,15.10,15.11,15.10
$GC,975,-0.76,-194.6,2508,1811,3510,3480,127.5,-11.3,174,982,0.00,2.40,0.00,0.000,2308,0.000,0.053,2508,3223,3495,3510,3481,0,0,0,0,0,0,15.10,14.85,15.11
$GC,1010,-0.76,-194.6,2508,3222,3510,3480,131.2,-10.3,180,1016,0.00,2.38,0.00,0.000,3078,0.000,0.044,2508,1807,3495,3511,3480,0,0,0,0,0,0,14.93,14.83,14.94
$GC,1082,-0.76,-194.6,2508,1806,3510,3479,140.0,-13.4,193,1088,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1806,3495,3510,3480,0,0,0,0,0,0,15.10,15.11,15.11
$GC,1151,-0.76,-194.6,2507,1806,3510,3480,148.1,-12.3,206,1157,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1807,3495,3511,3480,0,0,0,0,0,0,15.10,15.11,15.11
$GC,1219,-0.76,-194.6,2507,1806,3509,3485,156.3,-11.5,219,1226,0.00,2.40,0.00,0.000,2564,0.000,0.065,2508,408,3495,3510,3480,0,0,0,0,0,0,15.11,14.77,15.11
$STATE,1236,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1237,begin apogee
$GC,1245,-0.17,0.0,2507,1806,3510,3480,158.8,-12.4,222,1400,0.95,0.00,145.12,1.149,10246,0.145,0.000,2698,1810,2699,2729,2670,0,0,0,0,0,0,14.73,14.40,13.90
$STATE,1401,end apogee,CONTROL_FINISHED_OK
$STATE,1401,begin climb
$GC,1404,0.76,194.6,2698,1810,2728,2669,167.4,0.0,250,1566,1.38,2.53,150.93,1.139,10756,0.067,0.069,2999,396,1905,1942,1869,0,0,0,0,0,0,14.44,14.32,13.85
$GC,1725,0.76,194.6,2999,396,1933,1866,143.2,13.6,309,1732,0.00,2.35,0.00,0.000,3078,0.000,0.035,2999,1803,1898,1933,1864,0,0,0,0,0,0,14.74,14.66,14.74
$GC,1796,0.76,194.6,2999,1806,1933,1861,133.7,14.1,322,1803,0.00,2.35,0.00,0.000,2308,0.000,0.050,2999,3201,1896,1932,1861,0,0,0,0,0,0,14.94,14.72,14.95
$GC,1830,0.76,194.6,2999,3201,1930,1861,128.5,15.1,328,1836,0.00,2.40,0.00,0.000,1030,0.000,0.050,3003,1795,1896,1931,1861,0,0,0,0,0,0,14.76,14.69,14.78
$GC,1901,0.76,194.6,3002,1794,1931,1860,118.9,14.2,341,1907,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1795,1896,1931,1861,0,0,0,0,0,0,14.99,15.00,15.00
$GC,1969,0.76,194.6,3002,1795,1931,1860,108.4,15.4,354,1976,0.00,2.38,0.00,0.000,260,0.000,0.049,3003,3207,1895,1931,1860,0,0,0,0,0,0,15.01,14.72,15.02
$GC,2028,0.76,194.6,3002,3206,1929,1860,99.4,14.5,365,2035,0.00,2.40,0.00,0.000,1030,0.000,0.051,3003,1799,1895,1930,1860,0,0,0,0,0,0,14.90,14.81,14.92
$GC,2100,0.76,194.6,3002,1799,1930,1860,90.4,13.1,378,2105,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1799,1896,1929,1863,0,0,0,0,0,0,15.04,15.05,15.05
$GC,2168,0.76,194.6,3002,1799,1930,1860,81.6,12.7,391,2175,0.00,2.38,0.00,0.000,260,0.000,0.049,3003,3209,1894,1929,1859,0,0,0,0,0,0,15.05,14.84,15.07
$GC,2233,0.76,194.6,3003,3209,1929,1860,74.0,11.3,403,2239,0.00,2.40,0.00,0.000,5126,0.000,0.050,3011,1792,1893,1929,1858,0,0,0,0,0,0,14.95,14.84,14.97
$GC,2304,0.76,194.6,3011,1791,1930,1859,66.4,10.1,416,2310,0.00,0.00,0.00,0.000,4102,0.000,0.000,3011,1791,1894,1929,1859,0,0,0,0,0,0,15.07,15.07,15.07
$GC,2372,0.76,194.6,3011,1792,1928,1859,57.8,13.3,429,2379,0.00,2.40,0.00,0.000,4612,0.000,0.070,3017,395,1893,1928,1859,0,0,0,0,0,0,15.08,14.83,15.09
$GC,2402,0.76,194.6,3016,395,1928,1858,53.4,14.4,434,2409,0.00,2.33,0.00,0.000,5126,0.000,0.033,3017,1812,1893,1928,1859,0,0,0,0,0,0,14.97,14.89,14.99
$GC,2473,0.76,194.6,3016,1813,1928,1858,44.7,11.8,447,2479,0.00,0.00,0.00,0.000,4102,0.000,0.000,3017,1814,1897,1928,1866,0,0,0,0,0,0,15.07,15.08,15.08
$GC,2541,0.76,194.6,3016,1814,1928,1858,36.3,11.9,460,2548,0.00,2.30,0.00,0.000,4356,0.000,0.048,3016,3196,1893,1928,1858,0,0,0,0,0,0,15.09,14.87,15.09
$GC,2581,0.76,194.6,3016,3197,1928,1857,31.5,11.9,467,2588,0.00,2.40,0.00,0.000,5126,0.000,0.050,3017,1790,1892,1927,1858,0,0,0,0,0,0,14.96,14.83,14.99
$GC,2652,0.79,214.1,3016,1789,1927,1857,24.4,9.3,480,2670,0.00,0.00,13.55,0.974,12294,0.000,0.000,3017,1789,1825,1864,1787,0,0,0,0,0,0,15.09,14.83,14.27
$GC,2734,0.88,287.6,3016,1789,1862,1785,17.7,7.5,495,2790,0.00,2.45,49.12,0.957,10756,0.000,0.070,3017,391,1523,1567,1480,0,0,0,0,0,0,15.04,14.55,14.19
$GC,2869,0.88,287.6,3016,391,1563,1476,3.8,11.6,520,2875,0.00,2.33,0.00,0.000,3078,0.000,0.033,3016,1799,1519,1563,1475,0,0,0,0,0,0,14.81,14.74,14.81
$STATE,2880,end climb,SURFACE_DEPTH_REACHED
$STATE,2880,begin surface coast
$FINISH,0.3,1.025519
$STATE,2912,end surface coast,CONTROL_FINISHED_OK
$STATE,2912,begin surface
$SM_CCo,2937,149.73,0.809,0,0,597,515.37
$SM_GC,0.81,13.57,0.00,149.73,0.040,0.000,0.809,113,1801,597,-8.18,-0.31,515.37,0,0,0,0,0,0,14.80,14.97,14.09
$IRIDIUM_FIX,-3409.50,2554.19,150419,023944
$TT8_MAMPS,0.021721,0.912282
$HUMID,44.80
$INTERNAL_PRESSURE,9.28303
$TCM_TEMP,18.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,135.0,33.5
$SC_FREEKB,3726208
$24V_AH,13.85,119.723
$10V_AH,13.56,0.000
$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,30.400,62.025,358.725,149.725,0.000,45.148,90.408,218.141,4.750,0.000,15.727,1079.795,531.374,646.278,1265.707,215.757,0.000,1170.959,0.000,799.377,0.000,31.365,0.000
$DEVICE_MAMPS,345.015,84.150,1149.030,808.605,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2966.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.509,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,13446,528
$CAP_FILE_SIZE,101131,0
$CFSIZE,2097086464,2021883904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,150419,034001,-3423.276,2557.214,7,0.9,16,-28.1,0.6,114.3,10,9.6