version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 373
start: 4 15 119 4 48 49
data:
$ID,574
$MISSION,3
$DIVE,373
$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,32
$R_STBD_OVSHOOT,46
$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
$GPS1,150419,044001,-3423.1143,2557.2456,7,1.0,30,-28.1,1.3,72.4,10,6.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-65.3
$GPS2,150419,044822,-3423.0862,2557.3254,6,1.0,16,-28.1,1.6,105.8,9,9.9
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,-3415.450,2548.086
$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,-194.6,56,1811,622,548,0.0,0.0,0,122,0.00,0.00,-97.68,0.000,16386,0.000,0.000,53,1811,2983,2952,3015,0,0,0,0,0,0,14.96,28.83,14.96
$GC,127,-0.76,-194.6,54,1811,2953,3022,3.5,-7.8,18,157,14.57,0.00,-8.80,0.000,18950,0.308,0.000,2504,1811,3494,3506,3483,0,0,0,0,0,0,14.50,13.97,14.77
$GC,219,-0.76,-194.6,2503,1811,3508,3483,30.2,-22.7,35,226,0.00,2.42,0.00,0.000,2564,0.000,0.066,2504,406,3495,3508,3482,0,0,0,0,0,0,15.02,14.71,15.02
$GC,295,-0.76,-194.6,2503,406,3508,3482,43.8,-14.8,49,302,0.00,2.35,0.00,0.000,3078,0.000,0.038,2498,1806,3495,3508,3482,0,0,0,0,0,0,14.91,14.79,14.89
$GC,367,-0.76,-194.6,2498,1810,3508,3482,54.1,-14.2,62,375,0.00,2.38,0.00,0.000,2308,0.000,0.057,2498,3214,3495,3508,3482,0,0,0,0,0,0,15.04,14.81,15.04
$GC,408,-0.76,-194.6,2498,3215,3509,3481,59.3,-10.4,69,414,0.00,2.35,0.00,0.000,3078,0.000,0.044,2502,1812,3495,3509,3481,0,0,0,0,0,0,14.93,14.84,14.95
$GC,479,-0.76,-194.6,2498,1811,3509,3482,67.4,-12.3,82,486,0.00,2.42,0.00,0.000,2564,0.000,0.065,2498,404,3494,3508,3481,0,0,0,0,0,0,15.06,14.74,15.07
$GC,504,-0.76,-194.6,2497,402,3508,3481,70.8,-13.4,86,511,0.00,2.35,0.00,0.000,3078,0.000,0.037,2498,1816,3494,3508,3481,0,0,0,0,0,0,14.86,14.78,14.88
$GC,575,-0.76,-194.6,2497,1819,3508,3481,79.0,-12.0,99,582,0.00,2.38,0.00,0.000,2308,0.000,0.055,2498,3216,3494,3509,3480,0,0,0,0,0,0,15.08,14.84,15.09
$GC,671,-0.76,-194.6,2498,3216,3510,3480,89.2,-10.4,117,679,0.03,2.38,0.00,0.000,3078,0.461,0.044,2507,1802,3494,3509,3480,0,0,0,0,0,0,14.70,14.86,14.89
$GC,742,-0.76,-194.6,2508,1802,3510,3480,97.1,-11.0,130,748,0.00,0.00,0.00,0.000,2054,0.000,0.000,2512,1802,3495,3510,3481,0,0,0,0,0,0,15.09,15.09,15.09
$GC,812,-0.76,-194.6,2507,1802,3510,3480,104.5,-11.2,143,821,0.00,2.40,0.00,0.000,2308,0.000,0.053,2505,3217,3495,3509,3481,0,0,0,0,0,0,15.09,14.85,15.09
$GC,849,-0.76,-194.6,2505,3217,3510,3481,108.6,-10.4,149,855,0.00,2.35,0.00,0.000,3078,0.000,0.042,2505,1812,3495,3510,3480,0,0,0,0,0,0,14.87,14.78,14.88
$GC,920,-0.76,-194.6,2504,1811,3510,3481,116.5,-11.4,162,925,0.00,0.00,0.00,0.000,2054,0.000,0.000,2505,1812,3495,3510,3481,0,0,0,0,0,0,15.09,15.10,15.09
$GC,988,-0.76,-194.6,2505,1811,3510,3481,124.8,-12.1,175,997,0.00,0.00,0.00,0.000,2054,0.000,0.000,2505,1812,3495,3509,3481,0,0,0,0,0,0,15.10,15.11,15.10
$GC,1062,-0.76,-194.6,2505,1812,3510,3481,133.6,-12.7,188,1067,0.00,0.00,0.00,0.000,2054,0.000,0.000,2504,1812,3495,3510,3480,0,0,0,0,0,0,15.09,15.09,15.09
$GC,1129,-0.76,-194.6,2504,1812,3510,3480,142.4,-12.5,201,1135,0.00,0.00,0.00,0.000,2054,0.000,0.000,2505,1811,3495,3510,3480,0,0,0,0,0,0,15.10,15.11,15.11
$STATE,1191,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1191,begin apogee
$GC,1196,-0.17,0.0,2505,1812,3510,3481,151.0,-13.2,213,1352,1.00,0.00,145.73,1.148,10246,0.158,0.000,2700,1811,2698,2728,2669,0,0,0,0,0,0,14.69,14.42,13.91
$STATE,1354,end apogee,CONTROL_FINISHED_OK
$STATE,1354,begin climb
$GC,1356,0.76,194.6,2701,1811,2727,2668,159.7,0.0,241,1519,1.42,2.50,150.85,1.136,10756,0.067,0.067,3022,398,1904,1940,1868,0,0,0,0,0,0,14.44,14.32,13.83
$GC,1719,0.76,194.6,3022,398,1929,1863,124.6,15.9,308,1726,0.08,2.35,0.00,0.000,5126,0.281,0.034,3008,1810,1895,1929,1862,0,0,0,0,0,0,14.57,14.73,14.76
$GC,1789,0.76,194.6,3008,1813,1929,1860,114.7,13.6,321,1795,0.00,0.00,0.00,0.000,4102,0.000,0.000,3008,1813,1894,1929,1860,0,0,0,0,0,0,14.96,14.96,14.96
$GC,1858,0.76,194.6,3007,1813,1929,1859,105.0,14.4,334,1864,0.00,2.33,0.00,0.000,4356,0.000,0.049,3008,3201,1894,1929,1859,0,0,0,0,0,0,14.99,14.75,15.00
$GC,1912,0.76,194.6,3007,3201,1927,1859,96.9,14.8,344,1919,0.00,2.38,0.00,0.000,5126,0.000,0.051,3010,1805,1893,1927,1859,0,0,0,0,0,0,14.83,14.73,14.85
$GC,1983,0.76,194.6,3009,1805,1927,1858,87.5,12.3,357,1989,0.00,0.00,0.00,0.000,4102,0.000,0.000,3010,1805,1892,1927,1858,0,0,0,0,0,0,15.04,15.04,15.04
$GC,2052,0.76,194.6,3009,1805,1927,1858,79.1,12.1,370,2058,0.00,2.35,0.00,0.000,4356,0.000,0.047,3010,3204,1892,1927,1858,0,0,0,0,0,0,15.05,14.75,15.05
$GC,2122,0.77,203.8,3009,3203,1926,1858,71.7,9.7,383,2135,0.00,2.40,6.55,0.768,13318,0.000,0.050,3014,1791,1868,1905,1831,0,0,0,0,0,0,14.88,14.76,14.21
$GC,2198,0.82,243.0,3017,1791,1905,1831,64.6,8.7,397,2238,0.00,2.45,32.88,1.010,10756,0.000,0.071,3021,388,1708,1746,1670,0,0,0,0,0,0,15.05,14.59,14.16
$GC,2267,0.83,245.3,3020,388,1745,1666,58.3,9.9,409,2274,0.00,2.35,0.00,0.000,1030,0.000,0.033,3020,1805,1705,1744,1666,0,0,0,0,0,0,14.77,14.71,14.78
$GC,2339,0.88,289.4,3020,1808,1744,1663,51.7,8.5,422,2384,0.00,2.35,37.62,1.050,10500,0.000,0.047,3020,3198,1518,1562,1474,0,0,0,0,0,0,14.96,14.58,14.07
$GC,2413,0.88,289.4,3020,3198,1562,1474,43.9,11.8,435,2420,0.00,2.42,0.00,0.000,3078,0.000,0.054,3021,1799,1517,1562,1473,0,0,0,0,0,0,14.73,14.62,14.74
$GC,2484,0.88,290.4,3021,1799,1561,1471,36.2,10.0,448,2491,0.00,2.47,0.00,0.000,2564,0.000,0.071,3022,387,1516,1561,1472,0,0,0,0,0,0,14.90,14.69,14.90
$GC,2534,0.88,290.4,3021,387,1559,1471,30.5,10.7,457,2540,0.00,2.35,0.00,0.000,3078,0.000,0.032,3022,1806,1514,1559,1470,0,0,0,0,0,0,14.85,14.78,14.85
$GC,2605,0.88,290.4,3021,1809,1559,1468,23.0,11.1,470,2612,0.00,2.50,0.00,0.000,2564,0.000,0.073,3023,397,1513,1559,1468,0,0,0,0,0,0,14.97,14.73,14.97
$GC,2639,0.88,290.4,3026,398,1558,1468,18.9,11.7,476,2646,0.00,2.33,0.00,0.000,3078,0.000,0.034,3027,1807,1512,1557,1468,0,0,0,0,0,0,14.90,14.81,14.90
$GC,2710,0.88,290.4,3026,1810,1558,1467,9.9,12.4,489,2716,0.00,0.00,0.00,0.000,2054,0.000,0.000,3026,1810,1512,1558,1467,0,0,0,0,0,0,15.00,15.01,15.01
$STATE,2760,end climb,SURFACE_DEPTH_REACHED
$STATE,2760,begin surface coast
$FINISH,0.0,1.011339
$STATE,2788,end surface coast,CONTROL_FINISHED_OK
$STATE,2788,begin surface
$SM_CCo,2812,149.82,0.812,0,0,598,515.37
$SM_GC,0.82,13.60,0.00,149.82,0.038,0.000,0.812,107,1810,598,-8.22,-0.06,515.37,0,0,0,0,0,0,14.86,15.07,14.10
$IRIDIUM_FIX,-3409.50,2556.54,150419,034503
$TT8_MAMPS,0.021721,0.896553
$HUMID,44.84
$INTERNAL_PRESSURE,9.28303
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,125.4,35.2
$SC_FREEKB,3725184
$24V_AH,13.83,120.165
$10V_AH,13.60,0.000
$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,30.700,57.300,373.625,149.825,0.000,22.869,19.617,232.126,4.250,0.000,17.929,1023.263,440.251,644.632,1149.434,220.363,0.000,1152.074,0.000,766.686,0.000,28.303,0.000
$DEVICE_MAMPS,461.295,73.440,1148.265,811.665,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2842.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.236,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,13437,504
$CAP_FILE_SIZE,95633,0
$CFSIZE,2097086464,2021588992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,150419,053931,-3422.895,2557.231,7,0.8,37,-28.1,0.5,269.6,9,5.3