version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 387
start: 4 15 119 17 32 37
data:
$ID,574
$MISSION,3
$DIVE,387
$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,46
$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
$GPS1,150419,172155,-3422.9912,2557.3250,7,0.9,17,-28.1,1.0,172.1,9,10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-72.9
$GPS2,150419,173210,-3423.0681,2557.2744,6,0.9,18,-28.1,0.0,251.5,8,9.4
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,-3419.375,2609.562
$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,-194.6,53,1821,622,550,0.0,0.0,0,122,0.00,0.00,-97.07,0.000,16386,0.000,0.000,53,1822,2997,2963,3031,0,0,0,0,0,0,14.96,28.83,14.97
$GC,127,-0.76,-194.6,53,1822,2964,3032,3.5,-7.3,18,157,14.48,2.35,-8.62,0.000,18692,0.301,0.072,2494,3213,3496,3510,3483,0,0,0,0,0,0,14.50,13.97,14.76
$GC,367,-0.76,-194.6,2494,3213,3512,3482,48.1,-13.1,64,374,0.08,2.38,0.00,0.000,3078,0.250,0.045,2511,1801,3497,3512,3482,0,0,0,0,0,0,14.71,14.83,14.87
$GC,438,-0.76,-194.6,2510,1801,3512,3482,58.0,-14.2,77,445,0.00,2.42,0.00,0.000,2564,0.000,0.067,2511,400,3496,3511,3481,0,0,0,0,0,0,15.07,14.82,15.07
$GC,458,-0.76,-194.6,2511,400,3512,3481,60.7,-13.4,80,465,0.00,2.35,0.00,0.000,3078,0.000,0.039,2511,1815,3495,3510,3481,0,0,0,0,0,0,14.95,14.86,14.97
$GC,529,-0.76,-194.6,2510,1818,3512,3481,69.7,-12.4,93,536,0.00,2.38,0.00,0.000,2308,0.000,0.057,2511,3217,3496,3512,3481,0,0,0,0,0,0,15.08,14.74,15.08
$GC,554,-0.76,-194.6,2511,3218,3512,3481,72.2,-9.6,97,560,0.00,2.35,0.00,0.000,3078,0.000,0.044,2511,1812,3496,3512,3481,0,0,0,0,0,0,14.85,14.76,14.86
$GC,626,-0.76,-194.6,2511,1811,3512,3481,78.5,-8.9,110,632,0.00,2.42,0.00,0.000,2564,0.000,0.064,2511,400,3496,3512,3481,0,0,0,0,0,0,15.09,14.83,15.09
$GC,660,-0.76,-194.6,2511,399,3512,3481,81.8,-10.1,116,666,0.00,2.35,0.00,0.000,3078,0.000,0.038,2511,1813,3496,3512,3481,0,0,0,0,0,0,14.92,14.83,14.93
$GC,731,-0.76,-194.6,2511,1815,3512,3481,89.3,-10.5,129,736,0.00,0.00,0.00,0.000,2054,0.000,0.000,2511,1816,3496,3512,3481,0,0,0,0,0,0,15.10,15.10,15.10
$GC,801,-0.76,-194.6,2511,1814,3512,3481,96.6,-10.6,142,808,0.00,2.38,0.00,0.000,2308,0.000,0.056,2511,3217,3497,3513,3481,0,0,0,0,0,0,15.10,14.85,15.10
$GC,835,-0.76,-194.6,2511,3214,3513,3481,99.9,-9.3,148,845,0.00,2.35,0.00,0.000,3078,0.000,0.043,2511,1810,3497,3513,3481,0,0,0,0,0,0,14.92,14.83,14.94
$GC,909,-0.76,-194.6,2511,1811,3513,3481,107.8,-10.9,161,916,0.00,2.38,0.00,0.000,516,0.000,0.063,2511,409,3496,3512,3481,0,0,0,0,0,0,15.09,14.77,15.10
$GC,939,-0.76,-194.6,2511,409,3513,3481,111.3,-12.5,166,945,0.00,2.33,0.00,0.000,3078,0.000,0.037,2511,1819,3497,3513,3481,0,0,0,0,0,0,14.88,14.81,14.89
$GC,1009,-0.76,-194.6,2511,1822,3512,3481,119.5,-12.6,179,1017,0.00,2.35,0.00,0.000,2308,0.000,0.055,2511,3213,3497,3513,3481,0,0,0,0,0,0,15.10,14.78,15.11
$GC,1071,-0.76,-194.6,2511,3213,3513,3481,126.3,-10.7,190,1078,0.00,2.35,0.00,0.000,3078,0.000,0.043,2511,1813,3496,3513,3480,0,0,0,0,0,0,14.98,14.88,14.99
$GC,1144,-0.76,-194.6,2511,1813,3512,3480,135.1,-12.0,203,1150,0.00,0.00,0.00,0.000,2054,0.000,0.000,2511,1813,3497,3513,3481,0,0,0,0,0,0,15.11,15.11,15.11
$GC,1213,-0.76,-194.6,2511,1813,3513,3480,144.0,-12.9,216,1218,0.00,0.00,0.00,0.000,2054,0.000,0.000,2511,1813,3496,3512,3480,0,0,0,0,0,0,15.11,15.11,15.11
$GC,1281,-0.76,-194.6,2511,1813,3513,3480,152.2,-12.9,229,1288,0.00,2.38,0.00,0.000,2308,0.000,0.051,2511,3215,3496,3513,3480,0,0,0,0,0,0,15.11,14.87,15.11
$STATE,1293,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1293,begin apogee
$GC,1302,-0.17,0.0,2511,1798,3512,3486,153.9,-12.6,231,1457,0.93,0.00,145.73,1.141,10246,0.142,0.000,2697,1798,2698,2728,2669,0,0,0,0,0,0,14.71,14.31,13.91
$STATE,1459,end apogee,CONTROL_FINISHED_OK
$STATE,1459,begin climb
$GC,1462,0.76,194.6,2697,1798,2728,2668,162.8,0.0,259,1619,1.38,0.00,151.32,1.125,10758,0.076,0.000,2991,1798,1904,1941,1868,0,0,0,0,0,0,14.44,14.35,13.88
$GC,1682,0.76,194.6,2990,1797,1936,1861,151.7,11.8,298,1688,0.00,0.00,0.00,0.000,2054,0.000,0.000,2991,1798,1900,1936,1864,0,0,0,0,0,0,14.73,14.74,14.74
$GC,1750,0.76,194.6,2991,1797,1935,1860,143.5,12.7,311,1756,0.00,0.00,0.00,0.000,2054,0.000,0.000,2991,1798,1897,1934,1860,0,0,0,0,0,0,14.85,14.85,14.85
$GC,1819,0.76,194.6,2991,1798,1934,1859,135.4,11.9,324,1826,0.00,2.40,0.00,0.000,2308,0.000,0.047,2991,3205,1895,1932,1859,0,0,0,0,0,0,14.92,14.71,14.92
$GC,1858,0.76,194.6,2990,3205,1931,1859,130.5,12.4,331,1865,0.00,2.40,0.00,0.000,3078,0.000,0.051,2991,1803,1895,1931,1859,0,0,0,0,0,0,14.81,14.70,14.83
$GC,1929,0.76,194.6,2991,1803,1931,1858,122.4,11.8,344,1935,0.00,0.00,0.00,0.000,2054,0.000,0.000,2990,1803,1894,1931,1857,0,0,0,0,0,0,14.99,15.00,15.00
$GC,1997,0.76,194.6,2992,1803,1930,1858,114.4,12.0,357,2004,0.00,2.38,0.00,0.000,2308,0.000,0.049,2992,3210,1895,1930,1861,0,0,0,0,0,0,15.02,14.73,15.02
$GC,2057,0.76,194.6,2991,3210,1929,1858,106.9,13.4,368,2063,0.00,2.42,0.00,0.000,3078,0.000,0.053,2992,1793,1893,1929,1858,0,0,0,0,0,0,14.83,14.73,14.84
$GC,2128,0.76,194.6,2992,1793,1929,1857,97.4,13.7,381,2134,0.00,0.00,0.00,0.000,2054,0.000,0.000,2992,1794,1893,1930,1857,0,0,0,0,0,0,15.05,15.05,15.05
$GC,2196,0.76,194.6,2992,1793,1929,1857,88.1,13.7,394,2203,0.00,2.42,0.00,0.000,2564,0.000,0.073,2992,395,1892,1929,1856,0,0,0,0,0,0,15.07,14.73,15.07
$GC,2246,0.76,194.6,2991,395,1927,1856,81.5,13.4,403,2253,0.00,2.33,0.00,0.000,3078,0.000,0.034,2993,1815,1891,1927,1855,0,0,0,0,0,0,14.96,14.88,14.96
$GC,2318,0.76,194.6,2992,1814,1927,1855,72.4,13.1,416,2324,0.00,2.47,0.00,0.000,2564,0.000,0.068,3002,388,1891,1927,1855,0,0,0,0,0,0,15.08,14.78,15.08
$GC,2388,0.76,194.6,3001,388,1926,1856,63.3,11.7,429,2395,0.00,2.33,0.00,0.000,1030,0.000,0.034,3001,1801,1890,1926,1855,0,0,0,0,0,0,14.92,14.85,14.93
$GC,2459,0.76,194.6,3001,1802,1926,1855,54.8,12.2,442,2466,0.00,2.33,0.00,0.000,260,0.000,0.050,3001,3195,1888,1926,1851,0,0,0,0,0,0,15.09,14.85,15.09
$GC,2509,0.78,205.2,3001,3195,1925,1855,49.4,9.6,451,2522,0.00,2.38,7.57,0.785,11270,0.000,0.050,3003,1794,1860,1900,1821,0,0,0,0,0,0,14.97,14.85,14.22
$GC,2586,0.86,273.3,3003,1794,1899,1823,42.5,7.7,465,2649,0.05,2.47,55.15,1.017,10756,0.262,0.070,3033,385,1582,1624,1541,0,0,0,0,0,0,14.79,14.52,14.13
$GC,2673,0.86,273.3,3032,386,1621,1541,31.7,14.8,480,2680,0.00,2.38,0.00,0.000,1030,0.000,0.034,3033,1805,1580,1621,1540,0,0,0,0,0,0,14.71,14.66,14.73
$GC,2744,0.86,273.3,3032,1808,1621,1537,22.6,12.1,493,2751,0.00,2.50,0.00,0.000,516,0.000,0.071,3034,385,1579,1621,1538,0,0,0,0,0,0,14.91,14.68,14.92
$GC,2764,0.86,273.3,3033,385,1620,1538,20.3,11.3,496,2771,0.00,2.35,0.00,0.000,1030,0.000,0.034,3033,1805,1579,1621,1537,0,0,0,0,0,0,14.83,14.76,14.83
$GC,2835,0.86,273.3,3033,1807,1620,1535,13.1,11.1,509,2841,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,1807,1577,1620,1535,0,0,0,0,0,0,14.95,14.97,14.97
$GC,2904,0.86,273.3,3033,1806,1620,1534,4.2,14.1,522,2911,0.00,2.33,0.00,0.000,260,0.000,0.047,3033,3194,1576,1620,1533,0,0,0,0,0,0,15.00,14.78,15.01
$STATE,2916,end climb,SURFACE_DEPTH_REACHED
$STATE,2916,begin surface coast
$FINISH,0.0,1.025019
$STATE,2937,end surface coast,CONTROL_FINISHED_OK
$STATE,2937,begin surface
$SM_CCo,2963,158.93,0.810,0,0,598,515.37
$SM_GC,0.87,13.75,2.40,158.93,0.049,0.050,0.810,127,1808,598,-8.18,0.82,515.37,0,0,0,0,0,0,14.83,14.81,14.10
$IRIDIUM_FIX,-3409.50,2556.54,150419,172515
$TT8_MAMPS,0.021721,0.832139
$HUMID,45.15
$INTERNAL_PRESSURE,9.28303
$TCM_TEMP,18.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,130.4,32.4
$SC_FREEKB,3718016
$24V_AH,13.88,123.062
$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,30.650,76.200,359.775,158.925,0.000,50.443,59.507,213.038,4.500,0.000,20.023,1088.917,526.828,663.191,1239.198,232.774,0.000,1194.705,0.000,796.542,0.000,29.840,0.000
$DEVICE_MAMPS,300.645,73.440,1140.615,810.135,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2992.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.620,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,13428,528
$CAP_FILE_SIZE,104173,0
$CFSIZE,2097086464,2019262464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,150419,182601,-3423.191,2557.709,7,0.8,38,-28.1,0.6,242.9,11,5.8