version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 379
start: 4 15 119 10 15 53
data:
$ID,574
$MISSION,3
$DIVE,379
$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,36
$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
$GPS1,150419,100801,-3422.1414,2556.3113,7,1.0,30,-28.1,0.0,194.6,8,6.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-69.4
$GPS2,150419,101528,-3422.1443,2556.2595,7,1.0,16,-28.1,0.5,37.7,8,9.2
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,-3414.508,2547.022
$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,20,begin dive
$GC,22,-0.76,-194.6,54,1807,622,549,0.0,0.0,0,115,0.00,0.00,-89.60,0.000,16386,0.000,0.000,53,1807,2795,2765,2826,0,0,0,0,0,0,14.97,28.83,14.98
$GC,118,-0.76,-194.6,53,1807,2765,2826,3.0,-6.2,16,154,14.43,2.40,-13.82,0.000,18948,0.299,0.081,2504,408,3495,3513,3477,0,0,0,0,0,0,14.54,13.95,14.80
$GC,203,-0.76,-194.6,2504,408,3514,3477,21.9,-20.3,31,210,0.00,2.33,0.00,0.000,3078,0.000,0.036,2501,1805,3495,3514,3477,0,0,0,0,0,0,14.92,14.83,14.92
$GC,274,-0.76,-194.6,2501,1808,3514,3476,34.4,-19.4,44,279,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1808,3495,3514,3476,0,0,0,0,0,0,15.04,15.04,15.04
$GC,342,-0.76,-194.6,2500,1808,3514,3478,45.7,-12.0,57,349,0.00,2.38,0.00,0.000,2308,0.000,0.055,2501,3214,3495,3514,3477,0,0,0,0,0,0,15.06,14.83,15.07
$GC,397,-0.76,-194.6,2501,3214,3514,3477,51.1,-9.3,67,404,0.00,2.35,0.00,0.000,3078,0.000,0.043,2501,1813,3496,3515,3477,0,0,0,0,0,0,14.95,14.85,14.97
$GC,467,-0.76,-194.6,2501,1813,3515,3476,58.9,-12.0,80,474,0.00,2.38,0.00,0.000,2308,0.000,0.054,2501,3213,3496,3516,3477,0,0,0,0,0,0,15.07,14.85,15.07
$GC,528,-0.76,-194.6,2501,3214,3514,3476,66.2,-13.1,91,534,0.00,2.35,0.00,0.000,3078,0.000,0.044,2501,1811,3495,3515,3476,0,0,0,0,0,0,14.97,14.87,14.98
$GC,599,-0.76,-194.6,2501,1811,3515,3476,74.3,-12.3,104,606,0.00,2.40,0.00,0.000,2564,0.000,0.063,2501,408,3495,3515,3476,0,0,0,0,0,0,15.09,14.78,15.09
$GC,624,-0.76,-194.6,2501,408,3515,3476,77.7,-13.5,108,630,0.00,2.30,0.00,0.000,3078,0.000,0.034,2501,1815,3495,3515,3476,0,0,0,0,0,0,14.97,14.90,14.99
$GC,695,-0.76,-194.6,2501,1818,3524,3476,86.4,-12.6,121,701,0.00,2.35,0.00,0.000,2308,0.000,0.054,2501,3212,3496,3515,3477,0,0,0,0,0,0,15.09,14.79,15.10
$GC,759,-0.76,-194.6,2501,3211,3515,3476,93.8,-10.8,133,765,0.00,2.35,0.00,0.000,3078,0.000,0.043,2501,1802,3496,3515,3477,0,0,0,0,0,0,14.90,14.81,14.90
$GC,833,-0.76,-194.6,2501,1804,3515,3476,102.9,-13.5,146,839,0.00,2.38,0.00,0.000,2564,0.000,0.063,2501,407,3495,3515,3476,0,0,0,0,0,0,15.11,14.87,15.11
$GC,846,-0.76,-194.6,2501,407,3515,3476,104.3,-12.5,148,853,0.00,2.33,0.00,0.000,3078,0.000,0.034,2501,1821,3495,3515,3476,0,0,0,0,0,0,14.99,14.90,15.00
$GC,917,-0.76,-194.6,2501,1825,3515,3476,112.8,-12.7,161,924,0.00,2.33,0.00,0.000,2308,0.000,0.054,2501,3211,3494,3515,3473,0,0,0,0,0,0,15.09,14.88,15.09
$GC,942,-0.76,-194.6,2500,3212,3515,3476,115.8,-11.3,165,949,0.00,2.35,0.00,0.000,3078,0.000,0.043,2501,1801,3495,3515,3476,0,0,0,0,0,0,14.99,14.89,15.00
$STATE,999,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,999,begin apogee
$GC,1007,-0.17,0.0,2501,1801,3516,3476,122.4,-10.6,176,1157,1.00,0.00,145.00,1.091,10246,0.151,0.000,2699,1801,2705,2740,2670,0,0,0,0,0,0,14.71,14.45,13.96
$STATE,1159,end apogee,CONTROL_FINISHED_OK
$STATE,1159,begin climb
$GC,1161,0.76,194.6,2699,1800,2728,2667,131.4,0.0,203,1324,1.45,2.47,149.48,1.082,10500,0.085,0.047,3004,3204,1902,1938,1866,0,0,0,0,0,0,14.43,14.35,13.90
$GC,1408,0.76,194.6,3004,3204,1933,1863,107.4,13.2,247,1415,0.00,2.42,0.00,0.000,5126,0.000,0.050,3013,1798,1897,1933,1862,0,0,0,0,0,0,14.67,14.58,14.66
$GC,1479,0.76,194.6,3012,1798,1932,1861,97.7,14.0,260,1486,0.00,2.45,0.00,0.000,4612,0.000,0.068,3020,388,1895,1931,1860,0,0,0,0,0,0,14.90,14.67,14.90
$GC,1509,0.76,194.6,3019,388,1928,1860,93.2,16.1,265,1516,0.05,2.35,0.00,0.000,5126,0.327,0.031,3010,1812,1894,1929,1860,0,0,0,0,0,0,14.57,14.75,14.78
$GC,1580,0.76,194.6,3010,1814,1929,1859,83.9,13.2,278,1587,0.00,2.30,0.00,0.000,4356,0.000,0.045,3010,3195,1894,1929,1859,0,0,0,0,0,0,14.97,14.77,14.97
$GC,1625,0.76,194.6,3010,3196,1928,1859,77.2,15.0,286,1631,0.00,2.38,0.00,0.000,5126,0.000,0.050,3010,1799,1893,1928,1859,0,0,0,0,0,0,14.87,14.78,14.90
$GC,1695,0.76,194.6,3010,1799,1928,1859,67.4,13.7,299,1702,0.00,2.42,0.00,0.000,4612,0.000,0.069,3010,390,1893,1928,1858,0,0,0,0,0,0,15.00,14.78,15.01
$GC,1714,0.76,194.6,3010,390,1927,1858,64.7,13.0,302,1721,0.00,2.30,0.00,0.000,5126,0.000,0.031,3010,1798,1892,1927,1858,0,0,0,0,0,0,14.92,14.85,14.93
$GC,1785,0.76,194.6,3010,1801,1927,1858,55.8,13.2,315,1792,0.00,2.33,0.00,0.000,4356,0.000,0.047,3010,3199,1892,1926,1858,0,0,0,0,0,0,15.04,14.83,15.03
$GC,1870,0.76,194.6,3010,3199,1926,1857,44.6,11.6,331,1876,0.00,2.38,0.00,0.000,5126,0.000,0.048,3017,1791,1891,1926,1857,0,0,0,0,0,0,14.95,14.85,14.97
$GC,1941,0.76,194.6,3016,1790,1926,1855,35.7,11.9,344,1947,0.00,2.35,0.00,0.000,4356,0.000,0.046,3016,3199,1891,1926,1857,0,0,0,0,0,0,15.07,14.86,15.07
$GC,1980,0.82,236.7,3016,3199,1926,1856,32.0,8.6,351,2020,0.00,2.38,32.40,0.995,9222,0.000,0.047,3017,1786,1733,1773,1693,0,0,0,0,0,0,14.95,14.87,14.26
$GC,2084,0.84,255.3,3016,1786,1769,1689,23.2,9.4,370,2101,0.00,0.00,12.05,0.923,10502,0.000,0.000,3017,1791,1657,1699,1616,0,0,0,0,0,0,14.97,14.59,14.21
$GC,2165,0.84,255.3,3016,1786,1696,1612,14.8,10.7,385,2172,0.00,2.42,0.00,0.000,2564,0.000,0.071,3016,392,1653,1696,1611,0,0,0,0,0,0,14.97,14.74,14.97
$GC,2199,0.84,255.3,3016,392,1695,1612,11.1,10.7,391,2205,0.00,2.33,0.00,0.000,3078,0.000,0.032,3017,1807,1653,1695,1611,0,0,0,0,0,0,14.88,14.81,14.90
$GC,2270,0.84,255.3,3016,1809,1695,1609,3.8,10.1,404,2276,0.00,2.33,0.00,0.000,2308,0.000,0.049,3017,3193,1652,1695,1609,0,0,0,0,0,0,15.01,14.81,15.01
$STATE,2281,end climb,SURFACE_DEPTH_REACHED
$STATE,2282,begin surface coast
$FINISH,0.0,1.025215
$STATE,2307,end surface coast,CONTROL_FINISHED_OK
$STATE,2307,begin surface
$SM_CCo,2334,165.90,0.789,0,0,597,515.37
$SM_GC,0.84,13.57,2.40,165.90,0.046,0.056,0.789,120,1816,597,-8.17,0.99,515.37,0,0,0,0,0,0,14.86,14.83,14.12
$IRIDIUM_FIX,-3406.89,2556.54,150419,092143
$TT8_MAMPS,0.021721,0.961716
$HUMID,44.36
$INTERNAL_PRESSURE,9.32209
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.3,31.7
$SC_FREEKB,3722112
$24V_AH,13.90,121.407
$10V_AH,13.57,0.000
$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,30.500,70.950,338.925,165.900,0.000,22.288,16.534,195.383,3.250,0.000,17.247,837.359,338.809,624.424,958.804,202.263,0.000,1061.495,0.000,626.721,0.000,23.592,0.000
$DEVICE_MAMPS,326.655,81.090,1090.890,789.480,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2355.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.368,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,10117,411
$CAP_FILE_SIZE,85138,0
$CFSIZE,2097086464,2020605952
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,2920.47,0x2131c2,7,24
$GPS,150419,105855,-3422.109,2556.030,6,1.0,39,-28.1,1.3,319.4,8,4.9