version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 386
start: 4 15 119 16 31 55
data:
$ID,574
$MISSION,3
$DIVE,386
$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
$GPS1,150419,162231,-3422.7786,2556.9092,8,0.9,27,-28.1,1.2,300.5,10,6.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-67.6
$GPS2,150419,163128,-3422.8394,2556.9187,7,0.9,14,-28.1,0.6,200.6,10,9.8
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,-3419.146,2609.206
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.76,-194.6,54,1787,621,548,0.0,0.0,0,122,0.00,0.00,-97.38,0.000,16386,0.000,0.000,53,1787,2975,2942,3009,0,0,0,0,0,0,14.96,28.83,14.97
$GC,127,-0.76,-194.6,53,1787,2942,3009,3.4,-7.5,18,158,14.48,2.40,-9.12,0.000,18692,0.300,0.071,2495,3209,3494,3508,3481,0,0,0,0,0,0,14.50,13.93,14.75
$GC,342,-0.76,-194.6,2495,3210,3510,3481,44.0,-15.4,59,349,0.05,2.38,0.00,0.000,3078,0.304,0.046,2507,1801,3494,3509,3480,0,0,0,0,0,0,14.69,14.83,14.87
$GC,412,-0.76,-194.6,2507,1801,3510,3481,54.2,-12.7,72,418,0.00,0.00,0.00,0.000,2054,0.000,0.000,2507,1801,3495,3510,3480,0,0,0,0,0,0,15.07,15.07,15.07
$GC,481,-0.76,-194.6,2507,1801,3510,3481,62.7,-10.9,85,488,0.00,2.40,0.00,0.000,2308,0.000,0.055,2507,3208,3495,3510,3481,0,0,0,0,0,0,15.07,14.83,15.08
$GC,510,-0.76,-194.6,2506,3208,3511,3480,65.9,-9.6,90,517,0.00,2.38,0.00,0.000,3078,0.000,0.046,2508,1807,3495,3511,3480,0,0,0,0,0,0,14.92,14.81,14.95
$GC,582,-0.76,-194.6,2507,1807,3511,3480,74.4,-13.1,103,589,0.00,2.40,0.00,0.000,2564,0.000,0.063,2508,405,3495,3511,3480,0,0,0,0,0,0,15.08,14.84,15.08
$GC,602,-0.76,-194.6,2507,405,3510,3479,77.4,-13.3,106,608,0.00,2.33,0.00,0.000,3078,0.000,0.035,2508,1816,3495,3511,3480,0,0,0,0,0,0,14.97,14.88,14.97
$GC,674,-0.76,-194.6,2507,1819,3511,3480,85.6,-11.1,119,680,0.00,2.35,0.00,0.000,2308,0.000,0.054,2508,3213,3495,3511,3480,0,0,0,0,0,0,15.09,14.76,15.10
$GC,698,-0.76,-194.6,2507,3213,3511,3479,88.6,-11.6,123,704,0.00,2.35,0.00,0.000,3078,0.000,0.044,2508,1807,3495,3511,3480,0,0,0,0,0,0,14.97,14.87,14.97
$GC,770,-0.76,-194.6,2507,1806,3511,3480,95.7,-10.4,136,776,0.00,2.40,0.00,0.000,2564,0.000,0.063,2507,406,3495,3511,3479,0,0,0,0,0,0,15.10,14.81,15.10
$GC,799,-0.76,-194.6,2507,406,3511,3479,99.0,-11.7,141,806,0.00,2.33,0.00,0.000,3078,0.000,0.034,2507,1817,3495,3511,3479,0,0,0,0,0,0,14.89,14.80,14.90
$GC,870,-0.76,-194.6,2507,1820,3511,3479,106.8,-11.6,154,877,0.00,2.35,0.00,0.000,2308,0.000,0.053,2507,3214,3495,3511,3479,0,0,0,0,0,0,15.10,14.82,15.09
$GC,933,-0.76,-194.6,2507,3214,3511,3479,113.6,-10.0,165,940,0.00,2.35,0.00,0.000,3078,0.000,0.044,2515,1806,3495,3511,3479,0,0,0,0,0,0,14.98,14.88,15.00
$GC,1006,-0.76,-194.6,2507,1806,3511,3479,122.6,-11.9,178,1012,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1806,3495,3511,3479,0,0,0,0,0,0,15.11,15.11,15.11
$GC,1074,-0.76,-194.6,2507,1806,3511,3478,131.6,-13.9,191,1080,0.00,0.00,0.00,0.000,2054,0.000,0.000,2507,1806,3495,3511,3479,0,0,0,0,0,0,15.11,15.11,15.11
$GC,1143,-0.76,-194.6,2507,1806,3511,3479,141.3,-13.5,204,1149,0.00,2.38,0.00,0.000,2308,0.000,0.053,2508,3211,3495,3511,3479,0,0,0,0,0,0,15.11,14.87,15.11
$GC,1167,-0.76,-194.6,2511,3211,3511,3479,144.2,-12.4,208,1174,0.00,2.35,0.00,0.000,3078,0.000,0.044,2508,1809,3495,3511,3479,0,0,0,0,0,0,14.98,14.88,15.00
$STATE,1194,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1194,begin apogee
$GC,1200,-0.17,0.0,2508,1809,3515,3478,147.2,-10.1,213,1355,0.95,0.00,145.68,1.131,10246,0.148,0.000,2698,1809,2698,2728,2669,0,0,0,0,0,0,14.66,14.31,13.93
$STATE,1356,end apogee,CONTROL_FINISHED_OK
$STATE,1357,begin climb
$GC,1359,0.76,194.6,2697,1809,2728,2668,156.4,0.0,241,1522,1.40,2.55,150.32,1.116,11012,0.054,0.067,3020,396,1902,1938,1866,0,0,0,0,0,0,14.47,14.33,13.88
$GC,1545,0.76,194.6,3019,396,1934,1866,149.8,13.0,273,1553,0.05,2.38,0.00,0.000,5126,0.324,0.033,3010,1804,1899,1934,1864,0,0,0,0,0,0,14.33,14.47,14.50
$GC,1616,0.76,194.6,3010,1808,1934,1860,139.9,14.4,286,1623,0.00,2.38,0.00,0.000,4356,0.000,0.047,3010,3202,1897,1933,1861,0,0,0,0,0,0,14.82,14.61,14.82
$GC,1641,0.76,194.6,3009,3203,1931,1860,136.3,14.2,290,1647,0.00,2.40,0.00,0.000,5126,0.000,0.049,3017,1807,1895,1931,1860,0,0,0,0,0,0,14.71,14.61,14.71
$GC,1712,0.76,194.6,3018,1803,1931,1859,126.0,15.2,303,1718,0.00,0.00,0.00,0.000,4102,0.000,0.000,3018,1803,1895,1931,1859,0,0,0,0,0,0,14.91,14.91,14.95
$GC,1780,0.76,194.6,3018,1803,1930,1859,116.5,12.9,316,1787,0.00,2.35,0.00,0.000,4356,0.000,0.047,3018,3198,1894,1930,1858,0,0,0,0,0,0,14.97,14.72,14.97
$GC,1810,0.76,194.6,3017,3198,1929,1859,112.7,13.1,321,1817,0.10,2.40,0.00,0.000,5126,0.287,0.050,3007,1791,1893,1929,1858,0,0,0,0,0,0,14.59,14.71,14.78
$GC,1880,0.76,194.6,3008,1789,1929,1858,104.7,11.2,334,1886,0.00,0.00,0.00,0.000,4102,0.000,0.000,3008,1791,1893,1929,1858,0,0,0,0,0,0,15.01,15.02,15.01
$GC,1949,0.76,194.6,3008,1791,1929,1858,96.1,13.7,347,1956,0.00,2.38,0.00,0.000,4356,0.000,0.047,3007,3205,1893,1929,1857,0,0,0,0,0,0,15.04,14.73,15.04
$GC,1963,0.76,194.6,3007,3205,1924,1857,94.2,14.2,349,1969,0.00,2.40,0.00,0.000,5126,0.000,0.052,3015,1792,1893,1928,1858,0,0,0,0,0,0,14.92,14.81,14.93
$GC,2033,0.76,194.6,3014,1792,1928,1857,84.0,14.3,362,2040,0.00,2.40,0.00,0.000,4612,0.000,0.070,3020,394,1892,1928,1857,0,0,0,0,0,0,15.03,14.81,15.04
$GC,2104,0.76,194.6,3020,394,1927,1857,72.8,17.3,375,2111,0.00,2.33,0.00,0.000,5126,0.000,0.032,3020,1805,1891,1926,1857,0,0,0,0,0,0,14.86,14.80,14.88
$GC,2176,0.76,194.6,3019,1807,1927,1856,62.4,14.1,388,2183,0.05,2.33,0.00,0.000,4356,0.347,0.047,3010,3200,1891,1926,1856,0,0,0,0,0,0,14.71,14.82,14.87
$GC,2231,0.76,194.6,3010,3200,1925,1856,54.1,14.2,398,2237,0.00,2.38,0.00,0.000,5126,0.000,0.050,3016,1798,1891,1926,1856,0,0,0,0,0,0,14.92,14.81,14.93
$GC,2301,0.76,194.6,3017,1798,1926,1855,45.4,11.5,411,2307,0.00,0.00,0.00,0.000,4102,0.000,0.000,3017,1798,1890,1926,1855,0,0,0,0,0,0,15.08,15.09,15.08
$GC,2370,0.76,194.6,3016,1799,1926,1855,37.1,11.7,424,2375,0.00,0.00,0.00,0.000,4102,0.000,0.000,3017,1799,1890,1926,1855,0,0,0,0,0,0,15.09,15.10,15.09
$GC,2438,0.76,194.6,3016,1798,1925,1855,29.7,10.1,437,2445,0.00,2.42,0.00,0.000,4612,0.000,0.070,3017,388,1890,1926,1854,0,0,0,0,0,0,15.09,14.84,15.10
$GC,2488,0.82,238.4,3016,389,1925,1854,25.3,8.5,446,2528,0.00,2.33,29.83,1.008,11270,0.000,0.034,3017,1808,1725,1765,1686,0,0,0,0,0,0,14.98,14.91,14.27
$GC,2591,0.84,254.3,3016,1808,1763,1683,15.8,9.5,465,2609,0.00,2.33,9.93,0.879,10500,0.000,0.048,3017,3199,1661,1703,1620,0,0,0,0,0,0,14.97,14.73,14.23
$GC,2627,0.84,254.3,3017,3200,1701,1618,12.1,10.8,471,2633,0.00,2.40,0.00,0.000,3078,0.000,0.052,3017,1799,1659,1701,1618,0,0,0,0,0,0,14.85,14.74,14.86
$GC,2698,0.84,254.3,3016,1799,1701,1616,5.1,10.6,484,2705,0.00,2.45,0.00,0.000,2564,0.000,0.073,3017,396,1658,1699,1617,0,0,0,0,0,0,14.98,14.75,14.98
$STATE,2715,end climb,SURFACE_DEPTH_REACHED
$STATE,2715,begin surface coast
$FINISH,0.1,1.025299
$STATE,2741,end surface coast,CONTROL_FINISHED_OK
$STATE,2741,begin surface
$SM_CCo,2769,170.70,0.807,0,0,598,515.37
$SM_GC,0.82,13.70,2.38,170.70,0.049,0.035,0.807,124,1805,598,-8.18,-1.58,515.37,0,0,0,0,0,0,14.83,14.84,14.09
$IRIDIUM_FIX,-3409.50,2550.70,150419,152604
$TT8_MAMPS,0.020972,0.920521
$HUMID,45.74
$INTERNAL_PRESSURE,9.2928
$TCM_TEMP,18.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.5,36.6
$SC_FREEKB,3718528
$24V_AH,13.88,122.840
$10V_AH,13.56,0.000
$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,30.775,76.075,335.750,170.700,0.000,24.906,35.602,241.493,4.000,0.000,15.171,1016.810,421.541,658.812,1162.555,231.707,0.000,1162.070,0.000,743.584,0.000,26.810,0.000
$DEVICE_MAMPS,346.545,72.675,1130.670,807.075,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2798.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.570,0.000,0.000,0.000
$MEM,340928
$DATA_FILE_SIZE,13439,492
$CAP_FILE_SIZE,99713,0
$CFSIZE,2097086464,2019426304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,150419,172155,-3422.991,2557.325,7,0.9,17,-28.1,1.0,172.1,9,10.0