version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 378
start: 4 15 119 9 27 12
data:
$ID,574
$MISSION,3
$DIVE,378
$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,51
$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
$GPS1,150419,091626,-3422.2090,2556.5676,6,0.9,13,-28.1,0.5,5.1,8,9.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-64.3
$GPS2,150419,092644,-3422.2039,2556.4854,7,0.8,15,-28.1,0.6,213.7,9,9.3
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,-3414.568,2547.248
$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,-194.6,54,1794,624,546,0.0,0.0,0,128,0.00,0.00,-102.62,0.000,16386,0.000,0.000,54,1794,3198,3168,3229,0,0,0,0,0,0,14.97,28.83,14.97
$GC,133,-0.76,-194.6,54,1795,3169,3229,4.0,-9.8,19,158,14.55,2.42,-4.72,0.000,18948,0.307,0.080,2504,402,3498,3504,3492,0,0,0,0,0,0,14.54,13.59,14.79
$GC,201,-0.76,-194.6,2501,402,3506,3491,28.9,-21.9,31,208,0.05,2.35,0.00,0.000,3078,0.339,0.037,2508,1807,3498,3507,3489,0,0,0,0,0,0,14.64,14.81,14.84
$GC,272,-0.76,-194.6,2507,1809,3509,3487,41.1,-15.1,44,279,0.00,2.38,0.00,0.000,2308,0.000,0.054,2501,3216,3497,3509,3486,0,0,0,0,0,0,15.04,14.81,15.04
$GC,331,-0.76,-194.6,2500,3216,3510,3482,48.8,-11.8,55,338,0.00,2.38,0.00,0.000,3078,0.000,0.044,2501,1802,3498,3511,3486,0,0,0,0,0,0,14.94,14.83,14.95
$GC,403,-0.76,-194.6,2500,1802,3511,3485,58.3,-13.7,68,409,0.00,0.00,0.00,0.000,2054,0.000,0.000,2500,1802,3498,3511,3486,0,0,0,0,0,0,15.07,15.07,15.07
$GC,472,-0.76,-194.6,2500,1802,3511,3485,67.9,-13.2,81,478,0.00,2.42,0.00,0.000,2308,0.000,0.052,2498,3225,3498,3511,3485,0,0,0,0,0,0,15.07,14.85,15.08
$GC,551,-0.76,-194.6,2497,3226,3512,3485,77.9,-11.5,96,558,0.00,2.40,0.00,0.000,3078,0.000,0.044,2498,1804,3498,3512,3485,0,0,0,0,0,0,14.97,14.86,14.98
$GC,622,-0.76,-194.6,2498,1803,3512,3485,86.7,-13.4,109,629,0.00,2.40,0.00,0.000,2564,0.000,0.063,2498,399,3498,3512,3485,0,0,0,0,0,0,15.08,14.85,15.08
$GC,657,-0.76,-194.6,2498,404,3512,3485,91.5,-13.2,115,664,0.00,2.35,0.00,0.000,3078,0.000,0.035,2498,1825,3498,3512,3485,0,0,0,0,0,0,14.97,14.89,14.99
$GC,730,-0.76,-194.6,2497,1830,3512,3485,100.1,-13.1,128,738,0.03,2.33,0.00,0.000,2308,0.504,0.051,2501,3214,3498,3512,3485,0,0,0,0,0,0,14.75,14.83,14.92
$GC,802,-0.76,-194.6,2501,3214,3512,3485,108.9,-11.1,141,809,0.00,2.35,0.00,0.000,3078,0.000,0.044,2501,1808,3498,3512,3485,0,0,0,0,0,0,14.98,14.88,14.99
$GC,873,-0.76,-194.6,2501,1807,3512,3485,117.4,-11.9,154,878,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1807,3498,3512,3485,0,0,0,0,0,0,15.09,15.09,15.09
$STATE,923,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,923,begin apogee
$GC,929,-0.17,0.0,2501,1807,3512,3485,124.2,-12.3,164,1084,1.00,0.00,144.98,1.090,10246,0.148,0.000,2701,1806,2698,2728,2669,0,0,0,0,0,0,14.75,14.40,13.93
$STATE,1085,end apogee,CONTROL_FINISHED_OK
$STATE,1085,begin climb
$GC,1088,0.76,194.6,2700,1806,2727,2668,132.3,0.0,192,1250,1.42,2.53,149.45,1.082,10756,0.063,0.066,3020,403,1902,1938,1867,0,0,0,0,0,0,14.44,14.33,13.88
$GC,1298,0.76,194.6,3019,403,1934,1863,111.9,17.4,229,1306,0.05,2.35,0.00,0.000,5126,0.321,0.032,3010,1805,1897,1933,1862,0,0,0,0,0,0,14.37,14.50,14.54
$GC,1369,0.76,194.6,3010,1806,1933,1860,100.2,15.1,242,1375,0.00,0.00,0.00,0.000,4102,0.000,0.000,3017,1806,1896,1933,1859,0,0,0,0,0,0,14.85,14.86,14.88
$GC,1437,0.76,194.6,3010,1807,1933,1859,89.7,15.9,255,1444,0.00,2.35,0.00,0.000,4356,0.000,0.047,3010,3205,1896,1932,1860,0,0,0,0,0,0,14.92,14.71,14.92
$GC,1477,0.76,194.6,3009,3206,1930,1859,83.2,16.4,262,1483,0.00,2.40,0.00,0.000,5126,0.000,0.050,3016,1795,1894,1930,1859,0,0,0,0,0,0,14.84,14.74,14.85
$GC,1548,0.76,194.6,3017,1795,1929,1858,72.6,14.5,275,1554,0.00,2.42,0.00,0.000,4612,0.000,0.067,3026,385,1894,1930,1858,0,0,0,0,0,0,14.98,14.69,14.99
$GC,1587,0.76,194.6,3025,385,1928,1857,66.8,14.8,282,1595,0.08,2.33,0.00,0.000,5126,0.272,0.033,3011,1802,1893,1929,1858,0,0,0,0,0,0,14.67,14.83,14.85
$GC,1659,0.76,194.6,3010,1804,1928,1856,57.6,13.2,295,1666,0.00,2.33,0.00,0.000,4356,0.000,0.047,3011,3195,1892,1928,1857,0,0,0,0,0,0,15.03,14.76,15.04
$GC,1740,0.76,194.6,3010,3195,1927,1857,46.5,14.1,310,1747,0.00,2.38,0.00,0.000,5126,0.000,0.048,3017,1791,1892,1927,1857,0,0,0,0,0,0,14.93,14.82,14.95
$GC,1811,0.76,194.6,3017,1788,1928,1856,37.3,12.1,323,1818,0.03,2.35,0.00,0.000,4356,0.524,0.044,3010,3198,1891,1927,1856,0,0,0,0,0,0,14.68,14.84,14.82
$GC,1831,0.77,199.6,3010,3198,1927,1856,35.3,9.8,326,1838,0.00,2.35,0.00,0.000,5126,0.000,0.047,3017,1797,1890,1924,1856,0,0,0,0,0,0,14.94,14.85,14.96
$GC,1902,0.88,292.3,3017,1797,1927,1855,30.4,6.8,339,1979,0.00,0.00,71.57,1.004,10502,0.000,0.000,3017,1797,1505,1550,1461,0,0,0,0,0,0,15.07,14.59,14.13
$GC,2043,0.88,292.3,3017,1797,1544,1456,17.4,10.9,365,2049,0.00,2.45,0.00,0.000,2564,0.000,0.072,3020,399,1502,1548,1457,0,0,0,0,0,0,14.88,14.60,14.88
$GC,2081,0.88,292.3,3020,399,1546,1463,13.3,11.3,372,2088,0.00,2.33,0.00,0.000,3078,0.000,0.032,3020,1810,1500,1546,1455,0,0,0,0,0,0,14.81,14.74,14.83
$GC,2152,0.88,292.3,3018,1816,1546,1454,5.5,10.7,385,2159,0.00,2.30,0.00,0.000,2308,0.000,0.047,3020,3194,1499,1546,1453,0,0,0,0,0,0,14.95,14.76,14.95
$STATE,2174,end climb,SURFACE_DEPTH_REACHED
$STATE,2174,begin surface coast
$FINISH,0.3,1.025349
$STATE,2207,end surface coast,CONTROL_FINISHED_OK
$STATE,2207,begin surface
$SM_CCo,2233,142.35,0.783,0,0,599,515.37
$SM_GC,0.88,13.52,2.38,142.35,0.040,0.046,0.783,120,1810,599,-8.18,1.07,515.37,0,0,0,0,0,0,14.83,14.81,14.13
$IRIDIUM_FIX,-3409.50,2554.19,150419,091942
$TT8_MAMPS,0.021721,0.954975
$HUMID,44.13
$INTERNAL_PRESSURE,9.32209
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.1,33.8
$SC_FREEKB,3722624
$24V_AH,13.59,121.209
$10V_AH,13.52,0.000
$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,30.725,57.000,366.000,142.350,0.000,46.575,75.928,210.725,3.000,0.000,17.073,782.613,379.158,610.428,1037.550,199.724,0.000,1032.652,0.000,607.007,0.000,22.281,0.000
$DEVICE_MAMPS,524.025,80.325,1090.125,783.360,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2259.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.346,0.000,0.000,0.000
$MEM,340928
$DATA_FILE_SIZE,10113,395
$CAP_FILE_SIZE,80648,0
$CFSIZE,2097086464,2020769792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,150419,100801,-3422.141,2556.311,7,1.0,30,-28.1,0.0,194.6,8,6.5