version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 374
start: 4 15 119 5 48 24
data:
$ID,574
$MISSION,3
$DIVE,374
$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,45
$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
$GPS1,150419,053931,-3422.8945,2557.2314,7,0.8,37,-28.1,0.5,269.6,9,5.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-61.9
$GPS2,150419,054757,-3422.8230,2557.2710,7,0.8,16,-28.1,0.0,60.6,10,9.5
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,-3415.187,2548.032
$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,-194.6,53,1819,624,546,0.0,0.0,0,120,0.00,0.00,-95.05,0.000,16386,0.000,0.000,53,1816,2907,2871,2944,0,0,0,0,0,0,14.95,28.83,14.96
$GC,125,-0.76,-194.6,53,1816,2872,2943,3.2,-5.4,17,161,14.57,2.47,-10.68,0.000,18948,0.307,0.082,2504,402,3495,3510,3481,0,0,0,0,0,0,14.54,13.57,14.81
$GC,190,-0.76,-194.6,2503,402,3512,3481,21.3,-19.8,28,197,0.05,2.35,0.00,0.000,3078,0.350,0.041,2508,1804,3496,3512,3481,0,0,0,0,0,0,14.58,14.76,14.78
$GC,262,-0.76,-194.6,2506,1807,3513,3480,36.6,-22.0,41,268,0.00,2.45,0.00,0.000,2564,0.000,0.065,2507,395,3497,3513,3481,0,0,0,0,0,0,15.02,14.78,15.02
$GC,301,-0.76,-194.6,2506,395,3512,3481,44.7,-19.6,48,308,0.00,2.38,0.00,0.000,3078,0.000,0.038,2505,1819,3497,3513,3481,0,0,0,0,0,0,14.92,14.83,14.92
$GC,372,-0.76,-194.6,2504,1822,3513,3481,57.1,-16.9,61,379,0.00,2.38,0.00,0.000,2308,0.000,0.056,2505,3220,3497,3513,3481,0,0,0,0,0,0,15.04,14.81,15.04
$GC,417,-0.76,-194.6,2505,3220,3513,3481,63.9,-14.5,69,424,0.00,2.38,0.00,0.000,3078,0.000,0.044,2505,1804,3496,3513,3480,0,0,0,0,0,0,14.94,14.83,14.95
$GC,488,-0.76,-194.6,2504,1803,3514,3481,73.9,-15.3,82,495,0.00,0.00,0.00,0.000,2054,0.000,0.000,2504,1804,3497,3514,3481,0,0,0,0,0,0,15.06,15.07,15.07
$GC,559,-0.76,-194.6,2505,1804,3514,3481,83.9,-13.6,95,566,0.00,2.40,0.00,0.000,2308,0.000,0.053,2498,3215,3497,3514,3481,0,0,0,0,0,0,15.08,14.75,15.08
$GC,619,-0.76,-194.6,2498,3215,3514,3481,91.1,-10.8,106,626,0.00,2.35,0.00,0.000,3078,0.000,0.044,2498,1813,3497,3513,3481,0,0,0,0,0,0,14.85,14.76,14.87
$GC,692,-0.76,-194.6,2498,1812,3514,3481,100.3,-12.5,119,698,0.00,0.00,0.00,0.000,2054,0.000,0.000,2498,1813,3497,3515,3480,0,0,0,0,0,0,15.07,15.08,15.08
$GC,762,-0.76,-194.6,2498,1813,3513,3481,109.2,-12.5,132,771,0.00,0.00,0.00,0.000,2054,0.000,0.000,2498,1813,3497,3514,3481,0,0,0,0,0,0,15.09,15.09,15.09
$GC,834,-0.76,-194.6,2498,1813,3514,3481,118.4,-12.7,145,841,0.00,2.40,0.00,0.000,2308,0.000,0.054,2498,3224,3497,3514,3481,0,0,0,0,0,0,15.09,14.78,15.10
$GC,876,-0.76,-194.6,2497,3224,3514,3480,123.0,-10.8,152,882,0.00,2.38,0.00,0.000,3078,0.000,0.044,2498,1812,3497,3514,3480,0,0,0,0,0,0,14.97,14.84,14.98
$GC,947,-0.76,-194.6,2498,1812,3514,3480,131.3,-12.0,165,952,0.00,0.00,0.00,0.000,2054,0.000,0.000,2498,1812,3496,3514,3479,0,0,0,0,0,0,15.08,15.09,15.09
$GC,1015,-0.76,-194.6,2498,1812,3514,3480,140.3,-13.3,178,1021,0.00,0.00,0.00,0.000,2054,0.000,0.000,2498,1812,3497,3514,3481,0,0,0,0,0,0,15.10,15.10,15.10
$STATE,1037,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1037,begin apogee
$GC,1042,-0.17,0.0,2498,1812,3514,3481,143.5,-13.7,182,1197,1.02,0.00,145.65,1.131,10246,0.158,0.000,2702,1811,2697,2727,2668,0,0,0,0,0,0,14.72,14.31,13.93
$STATE,1199,end apogee,CONTROL_FINISHED_OK
$STATE,1199,begin climb
$GC,1201,0.76,194.6,2699,1810,2727,2667,151.9,0.0,210,1365,1.35,2.45,150.05,1.117,10500,0.067,0.047,2993,3198,1902,1939,1866,0,0,0,0,0,0,14.44,14.33,13.85
$GC,1544,0.76,194.6,2994,3199,1932,1863,118.9,14.6,273,1551,0.00,2.40,0.00,0.000,3078,0.000,0.050,2996,1803,1896,1931,1862,0,0,0,0,0,0,14.79,14.69,14.81
$GC,1615,0.76,194.6,2995,1802,1931,1861,109.3,14.3,286,1621,0.00,0.00,0.00,0.000,2054,0.000,0.000,2996,1802,1896,1931,1861,0,0,0,0,0,0,14.94,14.94,14.94
$GC,1684,0.76,194.6,2995,1801,1931,1860,99.1,14.8,299,1690,0.00,2.38,0.00,0.000,2308,0.000,0.047,2996,3209,1895,1930,1860,0,0,0,0,0,0,14.99,14.78,15.00
$GC,1718,0.76,194.6,2995,3209,1930,1860,94.5,13.3,305,1724,0.00,2.40,0.00,0.000,3078,0.000,0.050,2996,1799,1895,1930,1860,0,0,0,0,0,0,14.84,14.73,14.86
$GC,1788,0.76,194.6,2996,1799,1930,1860,85.7,13.2,318,1795,0.00,2.38,0.00,0.000,2308,0.000,0.047,2996,3213,1894,1929,1860,0,0,0,0,0,0,15.02,14.79,15.02
$GC,1813,0.76,194.6,2996,3212,1929,1860,82.1,14.0,322,1819,0.00,2.40,0.00,0.000,3078,0.000,0.050,2999,1799,1894,1929,1860,0,0,0,0,0,0,14.88,14.78,14.89
$GC,1884,0.76,194.6,2999,1799,1929,1859,73.7,11.8,335,1891,0.00,2.35,0.00,0.000,2308,0.000,0.048,2998,3208,1894,1929,1859,0,0,0,0,0,0,15.04,14.83,15.04
$GC,1938,0.76,194.6,2999,3209,1929,1859,67.1,12.0,345,1944,0.00,2.40,0.00,0.000,1030,0.000,0.051,3003,1797,1894,1929,1859,0,0,0,0,0,0,14.88,14.80,14.90
$GC,2009,0.76,194.6,3002,1796,1928,1859,58.9,11.1,358,2016,0.00,2.42,0.00,0.000,516,0.000,0.071,3002,394,1893,1928,1858,0,0,0,0,0,0,15.06,14.81,15.07
$GC,2063,0.76,194.6,3002,394,1926,1858,52.1,12.5,368,2069,0.00,2.33,0.00,0.000,1030,0.000,0.031,3003,1816,1892,1926,1858,0,0,0,0,0,0,14.90,14.84,14.92
$GC,2134,0.76,194.6,3002,1818,1926,1857,44.2,10.9,381,2139,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1818,1891,1926,1857,0,0,0,0,0,0,15.07,15.08,15.09
$GC,2202,0.83,252.0,3002,1818,1926,1857,37.6,8.0,394,2253,0.00,2.53,44.58,1.028,10756,0.000,0.063,3011,392,1671,1712,1630,0,0,0,0,0,0,15.09,14.62,14.19
$GC,2277,0.87,279.6,3011,390,1710,1630,31.7,9.1,407,2307,0.00,2.35,22.80,0.976,11270,0.000,0.034,3011,1806,1559,1602,1517,0,0,0,0,0,0,14.73,14.66,14.13
$GC,2370,0.90,305.9,3011,1806,1601,1514,22.3,9.1,424,2394,0.08,2.55,18.00,0.950,10756,0.190,0.070,3050,391,1451,1497,1405,0,0,0,0,0,0,14.63,14.60,14.12
$GC,2423,0.90,305.9,3050,390,1496,1405,15.8,14.4,433,2430,0.00,2.35,0.00,0.000,1030,0.000,0.033,3050,1803,1450,1496,1404,0,0,0,0,0,0,14.72,14.66,14.73
$GC,2494,0.90,305.9,3050,1806,1496,1401,5.2,14.5,446,2500,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1806,1448,1496,1400,0,0,0,0,0,0,14.90,14.92,14.92
$STATE,2510,end climb,SURFACE_DEPTH_REACHED
$STATE,2510,begin surface coast
$FINISH,0.3,1.025456
$STATE,2532,end surface coast,CONTROL_FINISHED_OK
$STATE,2532,begin surface
$SM_CCo,2556,137.52,0.800,0,0,596,515.37
$SM_GC,0.82,13.90,0.00,137.52,0.048,0.000,0.800,108,1806,596,-8.22,-0.17,515.37,0,0,0,0,0,0,14.78,14.98,14.09
$IRIDIUM_FIX,-3409.50,2600.03,150419,044320
$TT8_MAMPS,0.020972,0.927262
$HUMID,45.27
$INTERNAL_PRESSURE,9.2928
$TCM_TEMP,19.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.2,33.1
$SC_FREEKB,3724672
$24V_AH,13.57,120.378
$10V_AH,13.55,0.000
$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,30.975,57.600,381.075,137.525,0.000,24.619,17.183,226.241,4.000,0.000,17.987,911.011,382.375,634.746,1073.321,213.339,0.000,1107.730,0.000,683.360,0.000,26.801,0.000
$DEVICE_MAMPS,349.605,81.855,1131.435,800.190,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2586.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.218,0.000,0.000,0.000
$MEM,340928
$DATA_FILE_SIZE,10141,453
$CAP_FILE_SIZE,89977,0
$CFSIZE,2097086464,2021425152
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,3574.24,0x2131ca,7,24
$GPS,150419,063419,-3422.731,2557.147,7,1.0,19,-28.1,0.6,357.4,8,8.4