version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 377
start: 4 15 119 8 32 57
data:
$ID,574
$MISSION,3
$DIVE,377
$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,53
$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
$GPS1,150419,082419,-3422.3550,2556.8518,7,1.0,18,-28.1,0.5,234.2,8,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-64.5
$GPS2,150419,083231,-3422.3108,2556.7810,7,0.9,27,-28.1,1.1,356.7,9,5.6
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,-3414.675,2547.543
$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,-194.6,54,1809,623,547,0.0,0.0,0,122,0.00,0.00,-97.25,0.000,16386,0.000,0.000,54,1809,3007,2981,3033,0,0,0,0,0,0,14.97,28.83,14.97
$GC,127,-0.76,-194.6,54,1808,2981,3034,3.5,-7.4,18,157,14.60,2.45,-8.32,0.000,18948,0.308,0.087,2503,396,3495,3507,3484,0,0,0,0,0,0,14.50,13.98,14.76
$GC,211,-0.76,-194.6,2503,396,3508,3484,27.9,-18.8,33,218,0.00,2.38,0.00,0.000,3078,0.000,0.040,2501,1803,3496,3508,3484,0,0,0,0,0,0,14.90,14.81,14.91
$GC,283,-0.76,-194.6,2501,1806,3509,3483,40.4,-17.8,46,289,0.00,2.40,0.00,0.000,2308,0.000,0.057,2501,3218,3496,3509,3484,0,0,0,0,0,0,15.02,14.81,15.02
$GC,342,-0.76,-194.6,2501,3219,3510,3483,48.4,-12.3,57,349,0.00,2.38,0.00,0.000,3078,0.000,0.043,2501,1804,3496,3509,3483,0,0,0,0,0,0,14.93,14.83,14.95
$GC,414,-0.76,-194.6,2501,1806,3510,3482,57.8,-15.2,70,421,0.00,2.40,0.00,0.000,2564,0.000,0.064,2502,406,3495,3509,3482,0,0,0,0,0,0,15.06,14.75,15.07
$GC,445,-0.76,-194.6,2501,406,3509,3482,61.6,-12.5,75,452,0.00,2.35,0.00,0.000,3078,0.000,0.037,2501,1819,3496,3510,3482,0,0,0,0,0,0,14.91,14.82,14.92
$GC,515,-0.76,-194.6,2500,1822,3510,3482,69.8,-12.5,88,523,0.00,2.38,0.00,0.000,2308,0.000,0.056,2501,3217,3496,3510,3482,0,0,0,0,0,0,15.08,14.81,15.08
$GC,602,-0.76,-194.6,2501,3216,3511,3481,80.1,-10.6,104,608,0.00,2.35,0.00,0.000,3078,0.000,0.043,2501,1813,3496,3511,3482,0,0,0,0,0,0,14.96,14.86,14.97
$GC,674,-0.76,-194.6,2501,1812,3511,3482,88.6,-12.9,117,679,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1812,3496,3511,3481,0,0,0,0,0,0,15.09,15.09,15.07
$GC,744,-0.76,-194.6,2501,1812,3510,3481,98.1,-13.8,130,750,0.00,2.40,0.00,0.000,2308,0.000,0.053,2498,3224,3496,3511,3482,0,0,0,0,0,0,15.09,14.78,15.09
$GC,772,-0.76,-194.6,2498,3224,3512,3481,102.1,-12.8,135,779,0.00,2.38,0.00,0.000,3078,0.000,0.043,2497,1803,3496,3511,3481,0,0,0,0,0,0,14.97,14.88,14.99
$GC,844,-0.76,-194.6,2498,1803,3511,3481,110.5,-13.1,148,850,0.00,0.00,0.00,0.000,2054,0.000,0.000,2498,1803,3496,3511,3481,0,0,0,0,0,0,15.10,15.10,15.10
$GC,913,-0.76,-194.6,2498,1803,3510,3481,119.7,-13.2,161,919,0.00,0.00,0.00,0.000,2054,0.000,0.000,2498,1803,3496,3511,3481,0,0,0,0,0,0,15.11,15.11,15.11
$GC,981,-0.76,-194.6,2498,1803,3511,3481,128.1,-12.4,174,987,0.00,0.00,0.00,0.000,2054,0.000,0.000,2498,1803,3496,3511,3481,0,0,0,0,0,0,15.11,15.11,15.11
$STATE,992,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,992,begin apogee
$GC,997,-0.17,0.0,2498,1803,3511,3481,129.9,-13.5,176,1148,1.00,0.00,144.88,1.110,10246,0.151,0.000,2696,1802,2701,2733,2669,0,0,0,0,0,0,14.74,14.43,13.94
$STATE,1149,end apogee,CONTROL_FINISHED_OK
$STATE,1150,begin climb
$GC,1152,0.76,194.6,2696,1802,2728,2668,137.5,0.0,203,1314,1.45,2.53,149.43,1.097,10756,0.068,0.067,3019,399,1902,1938,1867,0,0,0,0,0,0,14.43,14.33,13.88
$GC,1397,0.76,194.6,3019,399,1932,1863,114.5,16.4,247,1404,0.05,2.35,0.00,0.000,5126,0.323,0.033,3010,1808,1896,1931,1862,0,0,0,0,0,0,14.40,14.62,14.59
$GC,1467,0.76,194.6,3010,1810,1931,1860,103.0,16.1,260,1474,0.00,2.33,0.00,0.000,4356,0.000,0.047,3010,3197,1895,1931,1859,0,0,0,0,0,0,14.88,14.61,14.89
$GC,1507,0.76,194.6,3009,3197,1929,1860,96.4,16.6,267,1513,0.00,2.38,0.00,0.000,5126,0.000,0.048,3017,1803,1894,1929,1860,0,0,0,0,0,0,14.76,14.71,14.76
$GC,1578,0.76,194.6,3017,1803,1929,1859,85.7,15.9,280,1584,0.00,2.35,0.00,0.000,4356,0.000,0.047,3017,3198,1893,1929,1858,0,0,0,0,0,0,14.97,14.69,14.97
$GC,1607,0.76,194.6,3017,3199,1928,1859,80.4,16.3,285,1614,0.00,2.38,0.00,0.000,5126,0.000,0.050,3017,1799,1893,1928,1859,0,0,0,0,0,0,14.78,14.69,14.80
$GC,1677,0.76,194.6,3016,1799,1928,1858,70.9,13.3,298,1684,0.00,2.42,0.00,0.000,4612,0.000,0.067,3023,393,1893,1928,1858,0,0,0,0,0,0,15.00,14.70,15.04
$GC,1697,0.76,194.6,3023,394,1927,1858,67.8,14.2,301,1704,0.08,2.33,0.00,0.000,5126,0.276,0.033,3009,1810,1892,1927,1858,0,0,0,0,0,0,14.60,14.76,14.77
$GC,1769,0.76,194.6,3009,1812,1927,1856,59.6,10.8,314,1775,0.00,2.33,0.00,0.000,4356,0.000,0.047,3008,3208,1892,1927,1857,0,0,0,0,0,0,15.04,14.79,15.04
$GC,1840,0.77,203.3,3008,3208,1926,1857,52.1,9.7,327,1853,0.00,2.40,6.15,0.739,13318,0.000,0.050,3010,1792,1871,1908,1834,0,0,0,0,0,0,14.94,14.83,14.23
$GC,1917,0.83,249.8,3009,1792,1907,1833,45.3,8.4,341,1963,0.00,2.38,38.60,1.025,10500,0.000,0.045,3010,3198,1678,1720,1637,0,0,0,0,0,0,15.05,14.54,14.18
$GC,1982,0.86,270.4,3010,3198,1719,1636,40.1,9.3,352,2006,0.00,2.40,17.65,0.946,11270,0.000,0.049,3016,1795,1595,1638,1553,0,0,0,0,0,0,14.73,14.62,14.14
$GC,2069,0.88,291.3,3016,1794,1635,1550,32.5,9.3,368,2093,0.00,2.45,17.65,0.947,10500,0.000,0.046,3016,3208,1512,1557,1467,0,0,0,0,0,0,14.90,14.59,14.12
$GC,2111,0.88,291.3,3016,3208,1556,1466,28.7,10.3,375,2117,0.00,2.42,0.00,0.000,3078,0.000,0.052,3017,1799,1511,1556,1466,0,0,0,0,0,0,14.76,14.66,14.77
$GC,2182,0.88,291.3,3015,1799,1555,1463,21.1,10.2,388,2189,0.00,2.47,0.00,0.000,2564,0.000,0.072,3017,389,1508,1554,1463,0,0,0,0,0,0,14.92,14.64,14.92
$GC,2236,0.88,291.3,3016,389,1552,1463,15.6,10.4,398,2243,0.00,2.33,0.00,0.000,3078,0.000,0.031,3017,1803,1507,1552,1463,0,0,0,0,0,0,14.86,14.80,14.87
$GC,2307,0.88,291.3,3016,1806,1552,1461,8.2,10.2,411,2313,0.00,2.33,0.00,0.000,2308,0.000,0.047,3016,3194,1506,1552,1461,0,0,0,0,0,0,15.00,14.72,15.00
$GC,2346,0.88,291.3,3016,3194,1551,1460,4.1,10.8,418,2353,0.00,2.38,0.00,0.000,3078,0.000,0.052,3016,1799,1505,1551,1460,0,0,0,0,0,0,14.90,14.80,14.92
$STATE,2358,end climb,SURFACE_DEPTH_REACHED
$STATE,2358,begin surface coast
$FINISH,0.3,1.014965
$STATE,2384,end surface coast,CONTROL_FINISHED_OK
$STATE,2385,begin surface
$SM_CCo,2408,144.93,0.791,0,0,600,515.37
$SM_GC,0.93,13.65,0.00,144.93,0.050,0.000,0.791,118,1796,600,-8.18,-0.40,515.37,0,0,0,0,0,0,14.86,15.05,14.12
$IRIDIUM_FIX,-3409.50,2556.54,150419,073343
$TT8_MAMPS,0.02247,0.950481
$HUMID,45.15
$INTERNAL_PRESSURE,9.30256
$TCM_TEMP,19.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,105.0,33.9
$SC_FREEKB,3723136
$24V_AH,13.88,121.006
$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,30.825,66.775,374.350,144.925,0.000,23.215,20.850,217.375,3.250,0.000,28.086,855.161,344.792,630.948,1018.605,209.412,0.000,1083.253,0.000,647.220,0.000,22.255,0.000
$DEVICE_MAMPS,322.830,87.210,1110.015,791.010,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2437.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.312,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,10147,425
$CAP_FILE_SIZE,87231,0
$CFSIZE,2097086464,2020933632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,150419,091626,-3422.209,2556.568,6,0.9,13,-28.1,0.5,5.1,8,9.9