version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 384
start: 4 15 119 14 34 14
data:
$ID,574
$MISSION,3
$DIVE,384
$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,30
$R_STBD_OVSHOOT,49
$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
$GPS1,150419,142601,-3422.3784,2556.0317,7,1.0,40,-28.1,0.7,30.5,8,4.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-68.8
$GPS2,150419,143349,-3422.4246,2556.0049,7,1.0,16,-28.1,1.0,184.8,8,9.8
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,-3418.731,2608.291
$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,-194.6,54,1791,623,547,0.0,0.0,0,123,0.00,0.00,-97.72,0.000,16386,0.000,0.000,53,1791,3013,2984,3043,0,0,0,0,0,0,14.97,28.83,14.97
$GC,128,-0.76,-194.6,53,1791,2984,3044,3.5,-7.1,18,158,14.45,2.40,-8.40,0.000,18692,0.298,0.073,2494,3207,3494,3507,3481,0,0,0,0,0,0,14.55,13.99,14.80
$GC,276,-0.76,-194.6,2494,3207,3509,3481,34.9,-13.6,46,284,0.08,2.38,0.00,0.000,3078,0.251,0.046,2509,1800,3494,3509,3480,0,0,0,0,0,0,14.71,14.83,14.87
$GC,348,-0.76,-194.6,2510,1801,3518,3480,44.8,-14.1,59,355,0.00,2.40,0.00,0.000,2564,0.000,0.063,2511,405,3494,3509,3480,0,0,0,0,0,0,15.06,14.82,15.07
$GC,362,-0.76,-194.6,2510,405,3509,3480,47.0,-14.0,61,369,0.00,2.33,0.00,0.000,3078,0.000,0.035,2508,1813,3494,3509,3479,0,0,0,0,0,0,14.95,14.86,14.96
$GC,435,-0.76,-194.6,2508,1816,3509,3480,56.5,-13.0,74,441,0.00,2.35,0.00,0.000,2308,0.000,0.054,2509,3215,3494,3509,3480,0,0,0,0,0,0,15.08,14.77,15.08
$GC,490,-0.76,-194.6,2508,3212,3510,3479,63.0,-10.9,84,497,0.00,2.35,0.00,0.000,3078,0.000,0.044,2509,1811,3494,3510,3479,0,0,0,0,0,0,14.92,14.82,14.93
$GC,561,-0.76,-194.6,2508,1813,3510,3479,70.8,-11.7,97,568,0.00,2.40,0.00,0.000,2564,0.000,0.062,2508,408,3494,3510,3479,0,0,0,0,0,0,15.09,14.85,15.09
$GC,590,-0.76,-194.6,2508,408,3511,3479,74.4,-12.2,102,598,0.00,2.33,0.00,0.000,3078,0.000,0.035,2511,1818,3494,3510,3479,0,0,0,0,0,0,14.93,14.85,14.95
$GC,664,-0.76,-194.6,2508,1820,3510,3479,82.4,-12.3,115,670,0.00,2.35,0.00,0.000,2308,0.000,0.053,2509,3219,3493,3510,3477,0,0,0,0,0,0,15.09,14.86,15.10
$GC,725,-0.76,-194.6,2508,3220,3510,3479,89.4,-9.8,126,733,0.00,2.35,0.00,0.000,3078,0.000,0.041,2508,1812,3495,3511,3479,0,0,0,0,0,0,14.94,14.84,14.95
$GC,796,-0.76,-194.6,2508,1809,3511,3478,96.9,-11.2,139,803,0.00,2.40,0.00,0.000,2564,0.000,0.063,2509,406,3494,3511,3478,0,0,0,0,0,0,15.11,14.86,15.11
$GC,816,-0.76,-194.6,2508,406,3511,3478,99.4,-11.5,142,823,0.00,2.33,0.00,0.000,3078,0.000,0.034,2508,1819,3494,3510,3478,0,0,0,0,0,0,14.95,14.86,14.95
$GC,887,-0.76,-194.6,2508,1822,3511,3478,107.1,-11.8,155,894,0.00,2.33,0.00,0.000,2308,0.000,0.053,2508,3210,3494,3511,3478,0,0,0,0,0,0,15.10,14.87,15.11
$GC,933,-0.76,-194.6,2508,3210,3511,3478,112.4,-11.0,163,940,0.00,2.33,0.00,0.000,3078,0.000,0.044,2508,1812,3494,3511,3478,0,0,0,0,0,0,14.99,14.89,15.00
$GC,1004,-0.76,-194.6,2508,1812,3511,3478,119.1,-10.4,176,1010,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1812,3494,3511,3478,0,0,0,0,0,0,15.10,15.11,15.11
$GC,1073,-0.76,-194.6,2508,1812,3511,3477,127.2,-12.3,189,1079,0.00,2.38,0.00,0.000,2308,0.000,0.053,2508,3216,3494,3511,3478,0,0,0,0,0,0,15.11,14.88,15.11
$GC,1107,-0.76,-194.6,2508,3217,3511,3478,131.0,-10.9,195,1114,0.00,2.35,0.00,0.000,3078,0.000,0.043,2508,1811,3495,3512,3478,0,0,0,0,0,0,14.99,14.89,15.00
$STATE,1156,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1156,begin apogee
$GC,1161,-0.17,0.0,2509,1810,3511,3477,137.6,-14.1,204,1315,0.95,0.00,144.93,1.116,10246,0.147,0.000,2697,1810,2699,2729,2669,0,0,0,0,0,0,14.68,14.33,13.95
$STATE,1317,end apogee,CONTROL_FINISHED_OK
$STATE,1317,begin climb
$GC,1320,0.76,194.6,2697,1810,2728,2667,146.4,0.0,232,1483,1.45,2.53,150.27,1.098,11012,0.073,0.067,3003,403,1902,1938,1866,0,0,0,0,0,0,14.45,14.34,13.89
$GC,1506,0.76,194.6,3003,403,1935,1865,139.7,11.8,264,1513,0.00,2.35,0.00,0.000,1030,0.000,0.032,3003,1800,1899,1934,1864,0,0,0,0,0,0,14.54,14.49,14.56
$GC,1577,0.76,194.6,3002,1804,1934,1860,130.1,15.3,277,1584,0.00,2.38,0.00,0.000,260,0.000,0.045,3003,3208,1896,1932,1860,0,0,0,0,0,0,14.81,14.62,14.82
$GC,1597,0.76,194.6,3002,3208,1932,1860,126.7,15.4,280,1604,0.00,2.42,0.00,0.000,5126,0.000,0.048,3011,1795,1895,1931,1860,0,0,0,0,0,0,14.75,14.64,14.76
$GC,1669,0.76,194.6,3011,1794,1931,1858,115.5,16.0,293,1675,0.00,0.00,0.00,0.000,4102,0.000,0.000,3011,1794,1895,1931,1859,0,0,0,0,0,0,14.92,14.92,14.92
$GC,1738,0.76,194.6,3011,1794,1933,1858,104.8,14.7,306,1744,0.00,2.38,0.00,0.000,4356,0.000,0.046,3012,3207,1895,1931,1859,0,0,0,0,0,0,14.97,14.76,14.97
$GC,1762,0.76,194.6,3011,3209,1929,1859,101.3,15.0,310,1768,0.00,2.40,0.00,0.000,5126,0.000,0.049,3017,1800,1893,1929,1858,0,0,0,0,0,0,14.87,14.76,14.88
$GC,1833,0.76,194.6,3017,1800,1930,1858,92.0,13.0,323,1838,0.00,0.00,0.00,0.000,4102,0.000,0.000,3018,1800,1893,1929,1858,0,0,0,0,0,0,15.00,15.01,15.01
$GC,1902,0.76,194.6,3017,1800,1929,1857,83.2,11.9,336,1908,0.00,2.42,0.00,0.000,4612,0.000,0.068,3023,385,1892,1928,1857,0,0,0,0,0,0,15.04,14.80,15.04
$GC,1921,0.76,194.6,3022,385,1928,1857,80.7,12.3,339,1928,0.08,2.33,0.00,0.000,5126,0.282,0.033,3009,1803,1892,1928,1857,0,0,0,0,0,0,14.66,14.82,14.85
$GC,1992,0.76,194.6,3008,1806,1928,1857,71.3,13.8,352,1999,0.00,2.33,0.00,0.000,4356,0.000,0.047,3008,3205,1892,1928,1857,0,0,0,0,0,0,15.06,14.84,15.06
$GC,2016,0.76,194.6,3007,3205,1927,1857,67.8,14.0,356,2023,0.00,2.40,0.00,0.000,5126,0.000,0.050,3016,1796,1891,1927,1856,0,0,0,0,0,0,14.91,14.81,14.92
$GC,2087,0.76,194.6,3016,1796,1927,1856,58.9,12.2,369,2094,0.00,2.35,0.00,0.000,4356,0.000,0.046,3016,3200,1891,1927,1856,0,0,0,0,0,0,15.07,14.85,15.08
$GC,2131,0.76,194.6,3016,3201,1926,1856,53.5,11.1,377,2138,0.05,2.38,0.00,0.000,5126,0.353,0.050,3010,1799,1891,1927,1856,0,0,0,0,0,0,14.66,14.81,14.87
$GC,2203,0.77,201.1,3009,1799,1926,1856,45.9,9.8,390,2210,0.00,0.00,4.20,0.594,12294,0.000,0.000,3010,1799,1877,1917,1838,0,0,0,0,0,0,15.09,14.81,14.31
$GC,2274,0.80,222.4,3009,1799,1916,1842,39.5,9.3,403,2298,0.00,2.47,18.80,1.017,10756,0.000,0.070,3018,392,1792,1831,1754,0,0,0,0,0,0,15.07,14.78,14.27
$GC,2392,0.80,222.4,3018,392,1826,1753,25.6,12.4,425,2399,0.00,2.33,0.00,0.000,5126,0.000,0.032,3018,1815,1789,1826,1752,0,0,0,0,0,0,14.92,14.84,14.93
$GC,2463,0.81,234.3,3018,1817,1826,1750,18.2,9.6,438,2476,0.00,2.33,7.28,0.854,8452,0.000,0.047,3018,3187,1746,1782,1710,0,0,0,0,0,0,15.03,14.77,14.27
$GC,2513,0.81,234.3,3018,3187,1781,1701,13.4,10.6,447,2520,0.00,2.35,0.00,0.000,1030,0.000,0.051,3020,1802,1741,1781,1701,0,0,0,0,0,0,14.90,14.81,14.92
$GC,2584,0.81,234.3,3019,1801,1781,1699,6.6,10.4,460,2590,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,1801,1740,1781,1699,0,0,0,0,0,0,15.03,15.04,15.04
$STATE,2620,end climb,SURFACE_DEPTH_REACHED
$STATE,2620,begin surface coast
$FINISH,0.1,1.025454
$STATE,2653,end surface coast,CONTROL_FINISHED_OK
$STATE,2653,begin surface
$SM_CCo,2677,180.65,0.793,0,0,597,515.37
$SM_GC,0.85,13.68,0.00,180.65,0.051,0.000,0.793,124,1798,597,-8.18,-0.40,515.37,0,0,0,0,0,0,14.87,15.09,14.12
$IRIDIUM_FIX,-3406.89,2553.05,150419,133605
$TT8_MAMPS,0.020972,0.937748
$HUMID,45.35
$INTERNAL_PRESSURE,9.30256
$TCM_TEMP,19.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,110.5,36.4
$SC_FREEKB,3719552
$24V_AH,13.89,122.410
$10V_AH,13.63,0.000
$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,30.725,75.850,325.475,180.650,0.000,23.995,17.704,208.632,3.500,0.000,17.144,985.339,411.512,648.549,1068.641,223.569,0.000,1135.643,0.000,718.282,0.000,23.759,0.000
$DEVICE_MAMPS,353.430,72.675,1116.135,793.305,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2704.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.421,0.000,0.000,0.000
$MEM,340928
$DATA_FILE_SIZE,13401,473
$CAP_FILE_SIZE,96444,0
$CFSIZE,2097086464,2019786752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,150419,152246,-3422.587,2556.431,7,1.0,14,-28.1,0.6,123.8,8,9.3