version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 372
start: 4 15 119 3 50 33
data:
$ID,574
$MISSION,3
$DIVE,372
$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,30
$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
$GPS1,150419,034001,-3423.2761,2557.2144,7,0.9,16,-28.1,0.6,114.3,10,9.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-67.8
$GPS2,150419,035006,-3423.2681,2557.3020,7,1.0,16,-28.1,0.4,6.7,10,10.0
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,-3415.632,2548.063
$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,-194.6,54,1806,621,547,0.0,0.0,0,128,0.00,0.00,-103.03,0.000,16386,0.000,0.000,54,1807,3158,3129,3188,0,0,0,0,0,0,14.95,28.83,14.97
$GC,132,-0.76,-194.6,53,1805,3131,3187,4.1,-10.3,19,163,14.52,2.45,-5.50,0.000,19204,0.302,0.088,2506,411,3497,3504,3491,0,0,0,0,0,0,14.53,13.57,14.78
$GC,222,-0.76,-194.6,2505,411,3507,3490,31.6,-17.7,35,228,0.00,2.33,0.00,0.000,3078,0.000,0.039,2501,1801,3497,3506,3489,0,0,0,0,0,0,14.90,14.81,14.91
$GC,293,-0.76,-194.6,2501,1803,3509,3486,44.2,-18.7,48,299,0.00,2.40,0.00,0.000,2308,0.000,0.055,2501,3219,3497,3509,3486,0,0,0,0,0,0,15.02,14.80,15.02
$GC,323,-0.76,-194.6,2501,3220,3510,3486,50.0,-18.1,53,330,0.00,2.38,0.00,0.000,3078,0.000,0.044,2501,1805,3498,3510,3486,0,0,0,0,0,0,14.92,14.82,14.94
$GC,393,-0.76,-194.6,2501,1805,3510,3486,60.4,-15.2,66,399,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1805,3498,3510,3486,0,0,0,0,0,0,15.05,15.05,15.06
$GC,462,-0.76,-194.6,2501,1805,3510,3485,71.8,-15.8,79,468,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1805,3497,3510,3485,0,0,0,0,0,0,15.07,15.07,15.06
$GC,530,-0.76,-194.6,2501,1804,3510,3485,80.8,-12.4,92,537,0.00,2.40,0.00,0.000,2308,0.000,0.053,2495,3218,3497,3509,3486,0,0,0,0,0,0,15.07,14.80,15.07
$GC,626,-0.76,-194.6,2495,3218,3511,3486,92.0,-11.3,110,633,0.05,2.38,0.00,0.000,3078,0.303,0.044,2507,1812,3498,3511,3485,0,0,0,0,0,0,14.71,14.82,14.89
$GC,698,-0.76,-194.6,2508,1812,3511,3485,100.1,-11.3,123,704,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1812,3498,3511,3485,0,0,0,0,0,0,15.09,15.09,15.09
$GC,766,-0.76,-194.6,2507,1812,3511,3485,107.8,-11.1,136,772,0.00,2.40,0.00,0.000,2308,0.000,0.052,2505,3224,3498,3511,3485,0,0,0,0,0,0,15.09,14.85,15.10
$GC,796,-0.76,-194.6,2505,3224,3511,3485,111.0,-9.2,141,802,0.00,2.38,0.00,0.000,3078,0.000,0.043,2505,1810,3498,3511,3485,0,0,0,0,0,0,14.97,14.85,14.98
$GC,867,-0.76,-194.6,2505,1810,3511,3485,119.1,-12.4,154,875,0.00,0.00,0.00,0.000,2054,0.000,0.000,2505,1809,3498,3511,3485,0,0,0,0,0,0,15.09,15.09,15.09
$GC,939,-0.76,-194.6,2504,1810,3511,3485,128.4,-12.4,167,945,0.00,0.00,0.00,0.000,2054,0.000,0.000,2505,1810,3498,3511,3485,0,0,0,0,0,0,15.10,15.11,15.11
$GC,1013,-0.76,-194.6,2505,1809,3511,3481,137.4,-11.9,180,1019,0.00,0.00,0.00,0.000,2054,0.000,0.000,2505,1809,3498,3511,3485,0,0,0,0,0,0,15.10,15.09,15.10
$GC,1082,-0.76,-194.6,2504,1810,3511,3485,146.1,-11.9,193,1088,0.00,0.00,0.00,0.000,2054,0.000,0.000,2505,1809,3498,3511,3485,0,0,0,0,0,0,15.11,15.11,15.11
$STATE,1148,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1150,begin apogee
$GC,1155,-0.17,0.0,2505,1809,3510,3485,154.3,-12.2,206,1310,0.98,0.00,146.05,1.140,10246,0.156,0.000,2697,1809,2700,2729,2671,0,0,0,0,0,0,14.64,14.42,13.92
$STATE,1311,end apogee,CONTROL_FINISHED_OK
$STATE,1311,begin climb
$GC,1314,0.76,194.6,2697,1809,2728,2670,163.3,0.0,234,1477,1.42,2.53,151.32,1.133,10756,0.050,0.069,3026,393,1903,1939,1867,0,0,0,0,0,0,14.45,14.32,13.83
$GC,1616,0.76,194.6,3026,394,1930,1862,139.9,15.1,289,1623,0.10,2.38,0.00,0.000,5126,0.252,0.034,3008,1816,1895,1930,1861,0,0,0,0,0,0,14.51,14.64,14.70
$GC,1686,0.76,194.6,3007,1819,1930,1859,129.5,14.3,302,1692,0.00,0.00,0.00,0.000,4102,0.000,0.000,3007,1819,1895,1930,1860,0,0,0,0,0,0,14.92,14.92,14.92
$GC,1755,0.76,194.6,3007,1819,1923,1858,119.8,14.1,315,1760,0.00,0.00,0.00,0.000,4102,0.000,0.000,3007,1819,1893,1929,1858,0,0,0,0,0,0,14.97,14.97,14.97
$GC,1823,0.76,194.6,3007,1819,1930,1858,110.1,14.5,328,1830,0.00,2.30,0.00,0.000,4356,0.000,0.048,3007,3197,1893,1929,1858,0,0,0,0,0,0,15.00,14.78,15.00
$GC,1873,0.76,194.6,3007,3197,1928,1858,102.8,14.8,337,1879,0.00,2.38,0.00,0.000,5126,0.000,0.050,3015,1798,1892,1928,1857,0,0,0,0,0,0,14.90,14.80,14.92
$GC,1944,0.76,194.6,3014,1798,1928,1857,92.0,15.5,350,1950,0.00,2.35,0.00,0.000,4356,0.000,0.047,3015,3196,1892,1927,1857,0,0,0,0,0,0,15.03,14.73,15.03
$GC,1968,0.76,194.6,3014,3197,1927,1858,88.6,12.6,354,1975,0.05,2.38,0.00,0.000,5126,0.365,0.050,3011,1796,1892,1927,1857,0,0,0,0,0,0,14.64,14.82,14.87
$GC,2039,0.76,194.6,3010,1796,1927,1857,80.3,11.7,367,2046,0.00,0.00,0.00,0.000,4102,0.000,0.000,3010,1796,1892,1927,1857,0,0,0,0,0,0,15.05,15.06,15.05
$GC,2108,0.76,194.6,3011,1796,1927,1856,72.0,11.8,380,2115,0.00,2.35,0.00,0.000,4356,0.000,0.048,3010,3198,1891,1926,1856,0,0,0,0,0,0,15.07,14.84,15.07
$GC,2190,0.76,194.6,3010,3198,1926,1857,63.4,10.7,395,2197,0.00,2.38,0.00,0.000,5126,0.000,0.049,3018,1798,1891,1926,1856,0,0,0,0,0,0,14.91,14.81,14.92
$GC,2261,0.76,194.6,3018,1798,1926,1856,54.8,12.0,408,2268,0.00,2.42,0.00,0.000,4612,0.000,0.069,3027,391,1891,1926,1856,0,0,0,0,0,0,15.07,14.83,15.09
$GC,2326,0.76,194.6,3026,391,1926,1855,47.0,11.4,420,2333,0.10,2.33,0.00,0.000,5126,0.253,0.033,3007,1805,1890,1925,1855,0,0,0,0,0,0,14.72,14.88,14.92
$GC,2398,0.81,232.6,3006,1806,1925,1854,40.6,8.7,433,2432,0.00,0.00,29.42,1.043,10246,0.000,0.000,3007,1806,1749,1789,1709,0,0,0,0,0,0,15.09,14.74,14.24
$GC,2495,0.84,260.6,3006,1806,1787,1706,32.2,9.0,451,2523,0.00,0.00,23.38,0.998,10246,0.000,0.000,3007,1806,1635,1677,1594,0,0,0,0,0,0,14.97,14.69,14.16
$GC,2587,0.94,341.7,3007,1806,1675,1590,24.4,7.2,468,2655,0.12,2.55,56.83,0.988,10756,0.129,0.072,3065,398,1303,1355,1251,0,0,0,0,0,0,14.66,14.47,14.09
$GC,2724,0.94,341.7,3064,398,1352,1248,6.2,14.9,493,2730,0.00,2.35,0.00,0.000,1030,0.000,0.034,3064,1803,1300,1352,1248,0,0,0,0,0,0,14.68,14.62,14.69
$STATE,2741,end climb,SURFACE_DEPTH_REACHED
$STATE,2741,begin surface coast
$FINISH,0.5,1.025442
$STATE,2757,end surface coast,CONTROL_FINISHED_OK
$STATE,2757,begin surface
$SM_CCo,2781,114.82,0.802,0,0,597,515.37
$SM_GC,0.84,13.85,0.00,114.82,0.039,0.000,0.802,115,1806,597,-8.18,-0.17,515.37,0,0,0,0,0,0,14.75,14.92,14.09
$IRIDIUM_FIX,-3409.50,2556.54,150419,024156
$TT8_MAMPS,0.020972,0.959469
$HUMID,44.95
$INTERNAL_PRESSURE,9.27327
$TCM_TEMP,18.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,135.2,29.0
$SC_FREEKB,3725696
$24V_AH,13.57,119.945
$10V_AH,13.64,0.000
$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,31.200,47.775,407.000,114.825,0.000,57.200,26.026,234.634,4.750,0.000,17.443,996.756,487.000,631.668,1184.798,214.605,0.000,1135.772,0.000,760.409,0.000,31.369,0.000
$DEVICE_MAMPS,364.905,87.975,1139.850,801.720,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2813.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.256,0.000,0.000,0.000
$MEM,340928
$DATA_FILE_SIZE,13447,499
$CAP_FILE_SIZE,94794,0
$CFSIZE,2097086464,2021752832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,150419,044001,-3423.114,2557.246,7,1.0,30,-28.1,1.3,72.4,10,6.5