version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 376
start: 4 15 119 7 38 49
data:
$ID,574
$MISSION,3
$DIVE,376
$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,35
$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
$GPS1,150419,073031,-3422.5178,2557.0249,7,1.0,31,-28.1,0.7,326.9,8,6.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-63.7
$GPS2,150419,073824,-3422.4778,2557.0354,7,1.0,15,-28.1,0.4,80.9,8,9.6
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,-3414.842,2547.798
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-0.76,-194.6,54,1802,623,548,0.0,0.0,0,122,0.00,0.00,-96.88,0.000,16386,0.000,0.000,54,1804,2947,2912,2982,0,0,0,0,0,0,14.96,28.83,14.97
$GC,127,-0.76,-194.6,54,1804,2913,2981,3.1,-5.9,18,158,14.62,2.47,-9.90,0.000,18948,0.310,0.085,2505,398,3496,3511,3482,0,0,0,0,0,0,14.49,13.56,14.73
$GC,206,-0.76,-194.6,2504,398,3512,3482,23.2,-17.4,32,213,0.00,2.40,0.00,0.000,3078,0.000,0.039,2501,1819,3497,3512,3482,0,0,0,0,0,0,14.89,14.81,14.90
$GC,278,-0.76,-194.6,2501,1821,3512,3482,37.3,-22.0,45,284,0.00,2.35,0.00,0.000,2308,0.000,0.053,2501,3217,3497,3512,3482,0,0,0,0,0,0,15.02,14.80,15.02
$GC,360,-0.76,-194.6,2501,3217,3513,3481,52.0,-16.9,60,367,0.00,2.38,0.00,0.000,3078,0.000,0.043,2501,1804,3496,3512,3481,0,0,0,0,0,0,14.85,14.76,14.87
$GC,432,-0.76,-194.6,2501,1804,3512,3482,63.2,-16.1,73,439,0.00,2.40,0.00,0.000,2564,0.000,0.065,2502,406,3497,3513,3481,0,0,0,0,0,0,15.06,14.82,15.06
$GC,457,-0.76,-194.6,2501,407,3512,3481,67.2,-14.9,77,463,0.00,2.35,0.00,0.000,3078,0.000,0.037,2501,1821,3497,3513,3482,0,0,0,0,0,0,14.95,14.86,14.96
$GC,527,-0.76,-194.6,2501,1824,3513,3481,76.3,-13.0,90,534,0.00,2.35,0.00,0.000,2308,0.000,0.055,2498,3213,3497,3513,3482,0,0,0,0,0,0,15.07,14.83,15.07
$GC,613,-0.76,-194.6,2498,3213,3513,3481,86.8,-12.1,106,620,0.00,2.35,0.00,0.000,3078,0.000,0.044,2497,1809,3497,3513,3481,0,0,0,0,0,0,14.96,14.86,14.97
$GC,685,-0.76,-194.6,2498,1808,3513,3481,94.9,-12.6,119,693,0.00,0.00,0.00,0.000,2054,0.000,0.000,2498,1808,3496,3513,3480,0,0,0,0,0,0,15.09,15.09,15.09
$GC,759,-0.76,-194.6,2498,1808,3513,3482,102.8,-10.8,132,764,0.00,0.00,0.00,0.000,2054,0.000,0.000,2498,1808,3497,3513,3481,0,0,0,0,0,0,15.09,15.09,15.09
$GC,831,-0.76,-194.6,2498,1808,3514,3481,110.4,-11.2,145,838,0.00,2.40,0.00,0.000,2308,0.000,0.052,2491,3221,3497,3514,3481,0,0,0,0,0,0,15.10,14.86,15.11
$GC,865,-0.76,-194.6,2490,3220,3513,3481,114.8,-11.1,151,873,0.08,2.38,0.00,0.000,3078,0.244,0.044,2508,1808,3497,3514,3481,0,0,0,0,0,0,14.72,14.83,14.88
$GC,936,-0.76,-194.6,2507,1808,3514,3481,122.4,-11.4,164,942,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1808,3497,3514,3481,0,0,0,0,0,0,15.11,15.11,15.11
$GC,1005,-0.76,-194.6,2508,1808,3513,3481,130.6,-12.2,177,1011,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1808,3497,3514,3481,0,0,0,0,0,0,15.10,15.11,15.11
$STATE,1042,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1042,begin apogee
$GC,1047,-0.17,0.0,2508,1808,3514,3481,135.7,-12.9,184,1197,0.95,0.00,145.00,1.118,10246,0.153,0.000,2697,1807,2702,2733,2672,0,0,0,0,0,0,14.70,14.42,13.94
$STATE,1199,end apogee,CONTROL_FINISHED_OK
$STATE,1199,begin climb
$GC,1202,0.76,194.6,2697,1808,2730,2671,144.2,0.0,211,1364,1.38,2.55,149.65,1.105,10756,0.077,0.068,3000,396,1902,1938,1866,0,0,0,0,0,0,14.42,14.31,13.85
$GC,1453,0.76,194.6,3000,396,1930,1862,123.9,13.5,256,1459,0.00,2.38,0.00,0.000,1030,0.000,0.034,3001,1814,1896,1931,1861,0,0,0,0,0,0,14.62,14.57,14.64
$GC,1523,0.76,194.6,3000,1817,1930,1859,114.8,13.7,269,1529,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1817,1894,1930,1859,0,0,0,0,0,0,14.88,14.89,14.89
$GC,1591,0.76,194.6,3000,1817,1930,1858,105.6,13.3,282,1598,0.00,2.33,0.00,0.000,260,0.000,0.049,3001,3205,1894,1930,1859,0,0,0,0,0,0,14.93,14.71,14.95
$GC,1636,0.76,194.6,3000,3205,1926,1858,99.5,14.2,290,1642,0.00,2.40,0.00,0.000,1030,0.000,0.050,3003,1799,1893,1927,1859,0,0,0,0,0,0,14.84,14.75,14.86
$GC,1707,0.76,194.6,3003,1797,1928,1857,90.8,11.8,303,1713,0.00,2.35,0.00,0.000,260,0.000,0.047,3003,3200,1892,1927,1857,0,0,0,0,0,0,14.99,14.71,15.00
$GC,1726,0.76,194.6,3003,3199,1928,1857,87.9,12.4,306,1733,0.00,2.40,0.00,0.000,5126,0.000,0.051,3010,1789,1893,1928,1858,0,0,0,0,0,0,14.89,14.79,14.90
$GC,1797,0.76,194.6,3009,1789,1928,1857,78.5,13.1,319,1804,0.00,2.40,0.00,0.000,4612,0.000,0.070,3024,394,1892,1928,1857,0,0,0,0,0,0,15.02,14.71,15.03
$GC,1841,0.76,194.6,3019,394,1927,1857,72.4,13.9,327,1848,0.03,2.33,0.00,0.000,5126,0.468,0.032,3010,1814,1892,1927,1857,0,0,0,0,0,0,14.66,14.86,14.88
$GC,1912,0.76,194.6,3010,1816,1926,1856,63.5,12.4,340,1919,0.00,2.33,0.00,0.000,4356,0.000,0.049,3010,3197,1891,1926,1856,0,0,0,0,0,0,15.05,14.77,15.06
$GC,2008,0.76,194.6,3009,3197,1925,1856,50.8,12.5,358,2015,0.00,2.38,0.00,0.000,5126,0.000,0.051,3010,1799,1891,1926,1856,0,0,0,0,0,0,14.91,14.81,14.92
$GC,2079,0.76,194.6,3009,1799,1925,1855,42.7,11.5,371,2085,0.00,0.00,0.00,0.000,4102,0.000,0.000,3010,1799,1890,1925,1855,0,0,0,0,0,0,15.08,15.08,15.08
$GC,2148,0.78,206.5,3009,1799,1926,1854,35.5,9.6,384,2166,0.00,2.45,8.50,0.778,8708,0.000,0.074,3010,398,1857,1895,1819,0,0,0,0,0,0,15.08,14.81,14.31
$GC,2179,0.87,285.0,3010,398,1895,1820,33.2,7.3,389,2251,0.00,2.30,62.97,1.023,11270,0.000,0.031,3010,1808,1538,1581,1495,0,0,0,0,0,0,14.94,14.87,14.08
$GC,2316,0.87,285.0,3010,1808,1578,1492,21.5,10.4,414,2321,0.00,0.00,0.00,0.000,2054,0.000,0.000,3010,1808,1535,1578,1492,0,0,0,0,0,0,14.87,14.88,14.87
$GC,2384,0.87,285.0,3010,1807,1577,1489,14.0,10.4,427,2391,0.00,2.50,0.00,0.000,2564,0.000,0.074,3010,397,1533,1577,1489,0,0,0,0,0,0,14.94,14.69,14.94
$GC,2428,0.89,300.6,3010,396,1575,1489,9.6,9.5,435,2447,0.08,2.33,9.70,0.806,11270,0.186,0.034,3049,1803,1471,1517,1426,0,0,0,0,0,0,14.70,14.75,14.19
$STATE,2484,end climb,SURFACE_DEPTH_REACHED
$STATE,2484,begin surface coast
$FINISH,0.3,1.025216
$STATE,2506,end surface coast,CONTROL_FINISHED_OK
$STATE,2506,begin surface
$SM_CCo,2530,140.25,0.796,0,0,599,515.37
$SM_GC,0.91,13.77,0.00,140.25,0.044,0.000,0.796,125,1803,599,-8.18,-0.25,515.37,0,0,0,0,0,0,14.78,15.00,14.10
$IRIDIUM_FIX,-3409.50,2556.54,150419,063734
$TT8_MAMPS,0.021721,0.945987
$HUMID,45.11
$INTERNAL_PRESSURE,9.2928
$TCM_TEMP,19.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,110.4,35.2
$SC_FREEKB,3723648
$24V_AH,13.56,120.799
$10V_AH,13.76,0.000
$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,30.900,57.225,375.825,140.250,0.000,23.130,16.191,215.119,3.500,0.000,16.341,900.357,380.544,630.651,1037.765,207.279,0.000,1097.064,0.000,684.231,0.000,23.782,0.000
$DEVICE_MAMPS,468.180,84.915,1117.665,796.365,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2557.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.480,0.000,0.000,0.000
$MEM,340928
$DATA_FILE_SIZE,10111,449
$CAP_FILE_SIZE,88162,0
$CFSIZE,2097086464,2021097472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,150419,082419,-3422.355,2556.852,7,1.0,18,-28.1,0.5,234.2,8,9.9