version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 382
start: 4 15 119 12 50 33
data:
$ID,574
$MISSION,3
$DIVE,382
$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,70
$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,32
$R_STBD_OVSHOOT,56
$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
$GPS1,150419,124205,-3422.0630,2555.4182,6,1.0,47,-28.1,0.4,50.2,7,4.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-64.6
$GPS2,150419,125008,-3422.0730,2555.3169,7,1.0,47,-28.0,0.6,99.4,7,3.8
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,-3418.379,2607.602
$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,98.0,20000,-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,23,-0.76,-194.6,53,1819,623,547,0.0,0.0,0,123,0.00,0.00,-97.62,0.000,16386,0.000,0.000,53,1818,3000,2969,3032,0,0,0,0,0,0,15.00,28.83,15.00
$GC,128,-0.76,-194.6,53,1819,2969,3032,3.2,-6.8,18,159,14.52,2.33,-8.62,0.000,18692,0.305,0.072,2497,3200,3495,3509,3481,0,0,0,0,0,0,14.57,13.97,14.81
$GC,237,-0.76,-194.6,2497,3200,3511,3481,29.8,-15.4,38,244,0.00,2.35,0.00,0.000,3078,0.000,0.045,2497,1802,3496,3511,3481,0,0,0,0,0,0,14.92,14.83,14.94
$GC,307,-0.76,-194.6,2497,1802,3511,3481,41.0,-16.6,51,314,0.05,2.40,0.00,0.000,2564,0.324,0.062,2508,404,3496,3511,3482,0,0,0,0,0,0,14.66,14.82,14.80
$GC,332,-0.76,-194.6,2508,404,3511,3481,45.2,-16.0,55,339,0.00,2.30,0.00,0.000,3078,0.000,0.036,2508,1799,3496,3511,3481,0,0,0,0,0,0,14.95,14.86,14.96
$GC,404,-0.76,-194.6,2508,1802,3511,3481,55.6,-14.6,68,409,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1802,3496,3511,3481,0,0,0,0,0,0,15.10,15.08,15.09
$GC,472,-0.76,-194.6,2508,1802,3508,3482,64.6,-11.3,81,479,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1802,3496,3511,3481,0,0,0,0,0,0,15.09,15.09,15.09
$GC,542,-0.76,-194.6,2508,1802,3512,3480,73.4,-11.9,94,547,0.00,0.00,0.00,0.000,2054,0.000,0.000,2510,1802,3496,3512,3481,0,0,0,0,0,0,15.09,15.10,15.10
$GC,611,-0.76,-194.6,2508,1802,3512,3481,82.0,-11.7,107,617,0.00,2.38,0.00,0.000,2308,0.000,0.054,2508,3212,3496,3512,3481,0,0,0,0,0,0,15.10,14.83,15.09
$GC,645,-0.76,-194.6,2508,3213,3510,3480,86.1,-11.0,113,652,0.00,2.35,0.00,0.000,3078,0.000,0.041,2508,1803,3496,3512,3480,0,0,0,0,0,0,14.90,14.81,14.90
$GC,716,-0.76,-194.6,2508,1802,3512,3481,94.6,-12.3,126,726,0.00,2.40,0.00,0.000,2308,0.000,0.052,2508,3218,3496,3511,3481,0,0,0,0,0,0,15.11,14.87,15.11
$GC,744,-0.76,-194.6,2508,3218,3513,3480,98.0,-12.3,130,750,0.00,2.35,0.00,0.000,3078,0.000,0.043,2508,1808,3496,3512,3481,0,0,0,0,0,0,14.98,14.88,15.00
$GC,814,-0.76,-194.6,2508,1809,3512,3481,105.7,-11.3,143,820,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1809,3496,3512,3481,0,0,0,0,0,0,15.11,15.11,15.11
$GC,883,-0.76,-194.6,2508,1808,3512,3481,113.7,-12.2,156,888,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1808,3494,3508,3480,0,0,0,0,0,0,15.11,15.11,15.11
$STATE,949,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,949,begin apogee
$GC,956,-0.17,0.0,2508,1808,3512,3480,121.6,-12.0,169,1106,0.95,0.00,144.65,1.086,10246,0.143,0.000,2698,1808,2701,2731,2671,0,0,0,0,0,0,14.67,14.44,13.95
$STATE,1108,end apogee,CONTROL_FINISHED_OK
$STATE,1108,begin climb
$GC,1110,0.76,194.6,2698,1808,2728,2669,131.1,0.0,196,1267,1.42,0.00,149.77,1.076,11014,0.112,0.000,2986,1807,1907,1948,1867,0,0,0,0,0,0,14.42,14.35,13.88
$GC,1331,0.76,194.6,2985,1808,1936,1862,119.0,12.6,235,1337,0.00,2.38,0.00,0.000,2308,0.000,0.045,2986,3204,1899,1936,1862,0,0,0,0,0,0,14.76,14.52,14.77
$GC,1350,0.76,194.6,2985,3204,1934,1862,116.5,12.2,238,1357,0.00,2.42,0.00,0.000,3078,0.000,0.050,2992,1798,1898,1935,1861,0,0,0,0,0,0,14.63,14.55,14.64
$GC,1421,0.76,194.6,2988,1796,1934,1860,107.1,13.8,251,1427,0.00,0.00,0.00,0.000,2054,0.000,0.000,2989,1796,1897,1934,1860,0,0,0,0,0,0,14.90,14.90,14.90
$GC,1490,0.76,194.6,2988,1797,1933,1860,97.6,13.6,264,1495,0.00,0.00,0.00,0.000,2054,0.000,0.000,2989,1796,1897,1934,1860,0,0,0,0,0,0,14.95,14.96,14.96
$GC,1558,0.76,194.6,2988,1796,1933,1859,88.0,13.7,277,1565,0.00,2.38,0.00,0.000,2308,0.000,0.046,2988,3211,1896,1933,1859,0,0,0,0,0,0,15.00,14.78,15.00
$GC,1578,0.76,194.6,2988,3211,1931,1859,85.2,14.3,280,1584,0.00,2.42,0.00,0.000,3078,0.000,0.051,2992,1789,1895,1931,1859,0,0,0,0,0,0,14.89,14.78,14.90
$GC,1649,0.76,194.6,2992,1789,1931,1859,75.1,14.7,293,1654,0.00,0.00,0.00,0.000,2054,0.000,0.000,2992,1789,1894,1931,1858,0,0,0,0,0,0,15.02,15.02,15.02
$GC,1717,0.76,194.6,2991,1789,1931,1858,65.0,13.5,306,1723,0.00,0.00,0.00,0.000,2054,0.000,0.000,2992,1789,1894,1931,1858,0,0,0,0,0,0,15.05,15.05,15.05
$GC,1786,0.76,194.6,2992,1789,1931,1858,55.9,13.2,319,1792,0.00,2.40,0.00,0.000,2564,0.000,0.070,2992,394,1892,1930,1855,0,0,0,0,0,0,15.07,14.75,15.07
$GC,1810,0.76,194.6,2992,394,1929,1857,52.9,12.4,323,1816,0.00,2.33,0.00,0.000,3078,0.000,0.032,2991,1814,1893,1929,1857,0,0,0,0,0,0,14.96,14.88,14.97
$GC,1880,0.76,194.6,2991,1821,1929,1856,44.8,11.8,336,1886,0.00,0.00,0.00,0.000,2054,0.000,0.000,2992,1820,1892,1928,1856,0,0,0,0,0,0,15.07,15.07,15.07
$GC,1949,0.85,264.5,2992,1820,1929,1856,38.6,7.6,349,2012,0.08,2.50,53.85,1.023,10756,0.190,0.071,3033,396,1620,1662,1579,0,0,0,0,0,0,14.82,14.62,14.14
$GC,2113,0.85,264.5,3033,396,1656,1577,19.6,12.4,379,2120,0.00,2.33,0.00,0.000,1030,0.000,0.033,3033,1802,1616,1656,1576,0,0,0,0,0,0,14.83,14.77,14.85
$GC,2184,0.85,264.5,3033,1805,1660,1573,11.1,11.4,392,2190,0.00,2.33,0.00,0.000,260,0.000,0.046,3033,3197,1615,1657,1573,0,0,0,0,0,0,14.97,14.78,14.97
$GC,2223,0.85,264.5,3033,3197,1655,1572,6.5,10.8,399,2230,0.00,2.38,0.00,0.000,1030,0.000,0.052,3033,1802,1614,1656,1572,0,0,0,0,0,0,14.88,14.79,14.90
$STATE,2250,end climb,SURFACE_DEPTH_REACHED
$STATE,2250,begin surface coast
$FINISH,0.3,1.025282
$STATE,2272,end surface coast,CONTROL_FINISHED_OK
$STATE,2273,begin surface
$SM_CCo,2297,160.68,0.793,0,0,599,515.37
$SM_GC,0.83,13.62,0.00,160.68,0.038,0.000,0.793,122,1802,599,-8.18,-0.28,515.37,0,0,0,0,0,0,14.84,15.05,14.12
$IRIDIUM_FIX,-3406.89,2556.54,150419,115355
$TT8_MAMPS,0.021721,0.935501
$HUMID,44.84
$INTERNAL_PRESSURE,9.30256
$TCM_TEMP,19.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.4,35.5
$SC_FREEKB,3720576
$24V_AH,13.88,122.005
$10V_AH,13.60,0.000
$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,30.650,42.700,348.275,160.675,0.000,24.225,16.165,192.969,2.750,0.000,48.229,815.632,345.898,614.922,987.000,192.394,0.000,1047.368,0.000,618.421,0.000,20.778,0.000
$DEVICE_MAMPS,324.360,71.910,1085.535,792.540,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2321.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.264,0.000,0.000,0.000
$MEM,340928
$DATA_FILE_SIZE,10102,408
$CAP_FILE_SIZE,80408,0
$CFSIZE,2097086464,2020114432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,150419,133302,-3422.213,2555.706,7,1.2,47,-28.1,0.7,278.2,7,4.6