version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 383
start: 4 15 119 13 41 15
data:
$ID,574
$MISSION,3
$DIVE,383
$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,28
$R_STBD_OVSHOOT,50
$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
$GPS1,150419,133302,-3422.2126,2555.7056,7,1.2,47,-28.1,0.7,278.2,7,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-65.0
$GPS2,150419,134050,-3422.2434,2555.6355,6,1.2,46,-28.1,1.0,171.8,7,4.6
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,-3418.550,2607.921
$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,98.1,20000,-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,23,-0.76,-194.6,53,1797,624,545,0.0,0.0,0,123,0.00,0.00,-97.60,0.000,16386,0.000,0.000,54,1798,3016,2985,3047,0,0,0,0,0,0,15.00,28.83,15.00
$GC,128,-0.76,-194.6,54,1798,2986,3047,3.6,-7.7,18,158,14.43,2.38,-8.20,0.000,18692,0.298,0.072,2495,3208,3495,3508,3483,0,0,0,0,0,0,14.54,14.00,14.78
$GC,287,-0.76,-194.6,2495,3208,3510,3481,36.6,-13.1,48,294,0.05,2.38,0.00,0.000,3078,0.312,0.044,2507,1798,3496,3510,3482,0,0,0,0,0,0,14.69,14.84,14.88
$GC,359,-0.76,-194.6,2506,1798,3510,3481,46.6,-14.9,61,365,0.00,2.38,0.00,0.000,2564,0.000,0.064,2507,409,3495,3510,3481,0,0,0,0,0,0,15.07,14.83,15.07
$GC,398,-0.76,-194.6,2506,409,3511,3481,53.4,-15.2,68,405,0.00,2.30,0.00,0.000,3078,0.000,0.035,2507,1805,3495,3510,3481,0,0,0,0,0,0,14.96,14.88,14.97
$GC,470,-0.76,-194.6,2507,1808,3510,3481,63.3,-14.7,81,476,0.00,2.38,0.00,0.000,2308,0.000,0.055,2507,3216,3495,3510,3481,0,0,0,0,0,0,15.09,14.77,15.09
$GC,509,-0.76,-194.6,2506,3216,3511,3481,68.5,-11.5,88,516,0.00,2.35,0.00,0.000,3078,0.000,0.043,2507,1809,3496,3511,3481,0,0,0,0,0,0,14.97,14.87,14.98
$GC,580,-0.76,-194.6,2507,1805,3510,3481,77.0,-13.1,101,586,0.00,0.00,0.00,0.000,2054,0.000,0.000,2507,1809,3495,3511,3480,0,0,0,0,0,0,15.09,15.10,15.10
$GC,649,-0.76,-194.6,2507,1809,3511,3481,85.0,-11.9,114,657,0.00,0.00,0.00,0.000,2054,0.000,0.000,2506,1808,3495,3511,3480,0,0,0,0,0,0,15.10,15.11,15.11
$GC,723,-0.76,-194.6,2506,1809,3511,3481,92.3,-9.3,127,730,0.00,2.38,0.00,0.000,2308,0.000,0.052,2505,3215,3496,3511,3481,0,0,0,0,0,0,15.09,14.88,15.09
$GC,743,-0.76,-194.6,2504,3214,3512,3481,94.3,-9.6,130,751,0.00,2.35,0.00,0.000,3078,0.000,0.043,2505,1807,3496,3511,3481,0,0,0,0,0,0,14.98,14.88,15.00
$GC,816,-0.76,-194.6,2505,1806,3511,3481,101.7,-9.2,143,823,0.00,2.40,0.00,0.000,2564,0.000,0.062,2505,405,3494,3511,3478,0,0,0,0,0,0,15.11,14.82,15.11
$GC,835,-0.76,-194.6,2504,405,3511,3481,103.8,-10.4,146,842,0.00,2.33,0.00,0.000,3078,0.000,0.034,2505,1820,3496,3511,3481,0,0,0,0,0,0,14.90,14.83,14.92
$GC,906,-0.76,-194.6,2505,1823,3511,3481,112.2,-11.2,159,913,0.00,2.35,0.00,0.000,2308,0.000,0.054,2505,3215,3496,3512,3481,0,0,0,0,0,0,15.11,14.83,15.11
$GC,955,-0.76,-194.6,2504,3216,3511,3480,117.8,-10.8,168,962,0.00,2.35,0.00,0.000,3078,0.000,0.043,2505,1812,3496,3512,3480,0,0,0,0,0,0,14.94,14.82,14.95
$GC,1026,-0.76,-194.6,2505,1812,3512,3480,126.3,-12.5,181,1032,0.00,0.00,0.00,0.000,2054,0.000,0.000,2505,1812,3496,3512,3480,0,0,0,0,0,0,15.11,15.12,15.12
$STATE,1037,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1037,begin apogee
$GC,1043,-0.17,0.0,2505,1812,3512,3481,128.4,-13.3,183,1193,0.98,0.00,144.82,1.099,10246,0.145,0.000,2700,1812,2700,2730,2670,0,0,0,0,0,0,14.76,14.45,13.95
$STATE,1195,end apogee,CONTROL_FINISHED_OK
$STATE,1195,begin climb
$GC,1197,0.76,194.6,2699,1811,2728,2667,135.4,0.0,210,1355,1.40,2.45,149.12,1.090,11012,0.041,0.043,3029,3201,1904,1939,1869,0,0,0,0,0,0,14.48,14.36,13.91
$GC,1370,0.76,194.6,3029,3200,1932,1868,126.3,14.8,239,1377,0.12,2.42,0.00,0.000,5126,0.252,0.047,3011,1804,1901,1935,1867,0,0,0,0,0,0,14.35,14.45,14.50
$GC,1440,0.76,194.6,3010,1804,1933,1863,116.6,13.0,252,1446,0.00,0.00,0.00,0.000,4102,0.000,0.000,3010,1804,1898,1933,1863,0,0,0,0,0,0,14.80,14.81,14.81
$GC,1509,0.76,194.6,3010,1803,1932,1862,106.8,14.1,265,1516,0.00,2.38,0.00,0.000,4356,0.000,0.046,3010,3207,1896,1932,1861,0,0,0,0,0,0,14.89,14.69,14.90
$GC,1533,0.76,194.6,3010,3206,1930,1861,103.1,14.8,269,1540,0.00,2.42,0.00,0.000,5126,0.000,0.051,3010,1800,1895,1930,1861,0,0,0,0,0,0,14.78,14.68,14.79
$GC,1605,0.76,194.6,3010,1800,1930,1861,92.7,15.7,282,1610,0.00,0.00,0.00,0.000,4102,0.000,0.000,3010,1800,1895,1930,1860,0,0,0,0,0,0,14.97,14.97,14.97
$GC,1673,0.76,194.6,3010,1800,1930,1860,81.8,15.8,295,1679,0.00,0.00,0.00,0.000,4102,0.000,0.000,3007,1800,1894,1929,1860,0,0,0,0,0,0,15.00,15.01,15.01
$GC,1742,0.76,194.6,3009,1800,1929,1860,72.6,12.3,308,1748,0.00,0.00,0.00,0.000,4102,0.000,0.000,3010,1800,1894,1930,1859,0,0,0,0,0,0,15.03,15.03,15.03
$GC,1810,0.76,194.6,3009,1800,1929,1859,63.1,13.7,321,1817,0.00,2.35,0.00,0.000,4356,0.000,0.047,3010,3208,1894,1929,1859,0,0,0,0,0,0,15.04,14.83,15.04
$GC,1845,0.76,194.6,3010,3208,1928,1859,58.5,13.1,327,1851,0.00,2.40,0.00,0.000,5126,0.000,0.050,3010,1796,1894,1929,1859,0,0,0,0,0,0,14.94,14.83,14.95
$GC,1916,0.76,194.6,3010,1797,1928,1858,50.9,10.0,340,1922,0.00,2.42,0.00,0.000,4612,0.000,0.070,3010,386,1893,1928,1858,0,0,0,0,0,0,15.05,14.82,15.06
$GC,1930,0.78,211.3,3005,386,1926,1858,49.3,9.4,342,1949,0.00,2.33,12.95,0.830,9222,0.000,0.032,3010,1808,1836,1874,1799,0,0,0,0,0,0,14.95,14.90,14.25
$GC,2012,0.78,211.3,3010,1808,1871,1796,41.0,10.6,357,2017,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1807,1833,1870,1796,0,0,0,0,0,0,15.03,15.04,15.04
$GC,2080,0.78,211.3,3010,1813,1871,1795,33.5,10.6,370,2087,0.00,2.33,0.00,0.000,260,0.000,0.049,3010,3197,1832,1870,1794,0,0,0,0,0,0,15.04,14.84,15.06
$GC,2100,0.78,211.3,3010,3197,1870,1795,31.5,10.1,373,2106,0.00,2.38,0.00,0.000,1030,0.000,0.050,3011,1798,1832,1870,1795,0,0,0,0,0,0,14.93,14.84,14.95
$GC,2171,0.84,253.5,3010,1798,1870,1794,25.3,8.6,386,2211,0.00,2.47,30.23,0.975,10756,0.000,0.071,3013,388,1663,1705,1622,0,0,0,0,0,0,15.06,14.70,14.26
$GC,2269,0.84,253.5,3012,388,1700,1622,15.3,10.9,404,2276,0.00,2.33,0.00,0.000,3078,0.000,0.033,3013,1796,1659,1698,1620,0,0,0,0,0,0,14.83,14.76,14.84
$GC,2340,0.85,267.1,3012,1799,1700,1618,8.3,9.5,417,2353,0.00,2.40,7.40,0.761,10500,0.000,0.047,3013,3206,1609,1651,1568,0,0,0,0,0,0,15.01,14.72,14.26
$GC,2381,0.85,267.1,3012,3207,1650,1566,3.6,11.4,424,2387,0.00,2.40,0.00,0.000,3078,0.000,0.050,3012,1796,1608,1650,1566,0,0,0,0,0,0,14.88,14.78,14.90
$STATE,2392,end climb,SURFACE_DEPTH_REACHED
$STATE,2392,begin surface coast
$FINISH,0.1,1.025436
$STATE,2419,end surface coast,CONTROL_FINISHED_OK
$STATE,2419,begin surface
$SM_CCo,2443,159.82,0.792,0,0,597,515.37
$SM_GC,0.81,13.70,0.00,159.82,0.049,0.000,0.792,107,1793,597,-8.21,-0.54,515.37,0,0,0,0,0,0,14.85,15.04,14.11
$IRIDIUM_FIX,-3409.50,2553.05,150419,124512
$TT8_MAMPS,0.020972,0.932505
$HUMID,44.48
$INTERNAL_PRESSURE,9.31233
$TCM_TEMP,19.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.1,36.9
$SC_FREEKB,3720064
$24V_AH,13.91,122.204
$10V_AH,13.61,0.000
$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,30.675,61.775,344.525,159.825,0.000,22.271,16.703,181.202,3.000,0.000,47.201,877.279,361.104,631.843,1012.624,202.802,0.000,1087.736,0.000,651.577,0.000,20.730,0.000
$DEVICE_MAMPS,312.120,71.910,1099.305,791.775,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2467.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.302,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,10116,431
$CAP_FILE_SIZE,87967,0
$CFSIZE,2097086464,2019950592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,150419,142601,-3422.378,2556.032,7,1.0,40,-28.1,0.7,30.5,8,4.4