version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 388
start: 4 15 119 18 35 20
data:
$ID,574
$MISSION,3
$DIVE,388
$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,29
$R_STBD_OVSHOOT,52
$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
$GPS1,150419,182601,-3423.1909,2557.7090,7,0.8,38,-28.1,0.6,242.9,11,5.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-68.4
$GPS2,150419,183453,-3423.2659,2557.6323,7,0.8,13,-28.1,1.1,235.7,11,9.7
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,-3419.572,2609.920
$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,-194.6,63,1796,622,549,0.0,0.0,0,122,0.00,0.00,-97.38,0.000,16386,0.000,0.000,56,1801,3043,3010,3077,0,0,0,0,0,0,14.95,28.83,14.96
$GC,127,-0.76,-194.6,56,1801,3011,3077,3.9,-9.7,18,156,14.50,2.45,-7.28,0.000,18948,0.308,0.078,2503,399,3496,3507,3485,0,0,0,0,0,0,14.51,13.61,14.77
$GC,336,-0.76,-194.6,2503,394,3509,3485,45.1,-14.1,57,342,0.00,2.35,0.00,0.000,3078,0.000,0.037,2501,1808,3496,3509,3484,0,0,0,0,0,0,14.92,14.83,14.94
$GC,407,-0.76,-194.6,2501,1811,3510,3485,54.9,-14.6,70,414,0.00,2.38,0.00,0.000,2308,0.000,0.056,2501,3214,3497,3510,3485,0,0,0,0,0,0,15.04,14.82,15.05
$GC,437,-0.76,-194.6,2501,3216,3511,3484,59.4,-12.8,75,444,0.00,2.38,0.00,0.000,3078,0.000,0.044,2501,1801,3496,3508,3484,0,0,0,0,0,0,14.94,14.83,14.95
$GC,509,-0.76,-194.6,2501,1801,3511,3484,68.8,-15.7,88,515,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1801,3498,3512,3484,0,0,0,0,0,0,15.07,15.07,15.07
$GC,577,-0.76,-194.6,2501,1801,3512,3484,77.5,-12.9,101,583,0.00,2.40,0.00,0.000,2564,0.000,0.064,2501,402,3498,3512,3484,0,0,0,0,0,0,15.08,14.83,15.07
$GC,616,-0.76,-194.6,2509,401,3511,3484,82.8,-13.6,108,623,0.00,2.35,0.00,0.000,3078,0.000,0.035,2501,1823,3498,3512,3484,0,0,0,0,0,0,14.96,14.88,14.97
$GC,688,-0.76,-194.6,2501,1825,3511,3484,91.8,-12.7,121,693,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1825,3498,3512,3484,0,0,0,0,0,0,15.09,15.09,15.09
$GC,760,-0.76,-194.6,2501,1825,3512,3484,100.5,-12.1,134,767,0.00,2.35,0.00,0.000,2308,0.000,0.054,2501,3215,3497,3510,3484,0,0,0,0,0,0,15.10,14.81,15.11
$GC,794,-0.76,-194.6,2500,3215,3513,3484,104.8,-10.7,140,802,0.00,2.38,0.00,0.000,3078,0.000,0.044,2500,1804,3497,3512,3483,0,0,0,0,0,0,14.86,14.76,14.88
$GC,866,-0.76,-194.6,2500,1804,3512,3483,112.6,-11.8,153,871,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1804,3497,3512,3483,0,0,0,0,0,0,15.09,15.10,15.10
$GC,936,-0.76,-194.6,2500,1804,3512,3483,121.3,-11.4,166,942,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1804,3497,3512,3483,0,0,0,0,0,0,15.10,15.11,15.10
$GC,1009,-0.76,-194.6,2500,1804,3512,3481,130.2,-12.6,179,1015,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1804,3497,3512,3483,0,0,0,0,0,0,15.11,15.11,15.11
$GC,1078,-0.76,-194.6,2500,1804,3513,3483,139.5,-13.0,192,1084,0.00,2.38,0.00,0.000,2308,0.000,0.051,2498,3212,3497,3512,3483,0,0,0,0,0,0,15.11,14.85,15.11
$GC,1142,-0.76,-194.6,2498,3212,3512,3482,146.9,-11.9,204,1148,0.00,2.35,0.00,0.000,3078,0.000,0.044,2498,1810,3497,3513,3482,0,0,0,0,0,0,14.98,14.88,15.00
$GC,1213,-0.76,-194.6,2498,1809,3509,3482,155.7,-13.4,217,1219,0.00,0.00,0.00,0.000,2054,0.000,0.000,2498,1809,3497,3512,3482,0,0,0,0,0,0,15.09,15.10,15.09
$STATE,1223,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1223,begin apogee
$GC,1229,-0.17,0.0,2498,1810,3513,3482,157.5,-13.1,219,1384,1.00,0.00,146.40,1.141,10246,0.154,0.000,2696,1809,2697,2728,2667,0,0,0,0,0,0,14.73,14.30,13.90
$STATE,1386,end apogee,CONTROL_FINISHED_OK
$STATE,1386,begin climb
$GC,1389,0.76,194.6,2696,1809,2727,2667,166.6,0.0,247,1552,1.42,2.55,150.10,1.127,10756,0.063,0.067,3019,399,1904,1941,1868,0,0,0,0,0,0,14.45,14.35,13.85
$GC,1561,0.83,246.7,3019,399,1937,1867,164.2,8.2,276,1612,0.00,2.38,41.70,1.087,9222,0.000,0.033,3020,1806,1693,1734,1652,0,0,0,0,0,0,14.50,14.45,13.90
$GC,1674,0.83,246.7,3018,1806,1731,1648,146.8,16.3,297,1681,0.00,2.38,0.00,0.000,2308,0.000,0.047,3019,3198,1689,1731,1648,0,0,0,0,0,0,14.76,14.51,14.76
$GC,1710,0.83,246.7,3019,3198,1728,1647,141.0,16.8,303,1717,0.00,2.40,0.00,0.000,1030,0.000,0.050,3021,1803,1687,1728,1647,0,0,0,0,0,0,14.66,14.59,14.68
$GC,1781,0.83,246.7,3022,1803,1728,1645,128.7,17.7,316,1788,0.00,2.38,0.00,0.000,260,0.000,0.047,3023,3195,1686,1726,1646,0,0,0,0,0,0,14.89,14.69,14.90
$GC,1811,0.83,246.7,3021,3195,1726,1645,123.1,19.1,321,1817,0.00,2.40,0.00,0.000,1030,0.000,0.053,3026,1802,1685,1726,1645,0,0,0,0,0,0,14.78,14.69,14.81
$GC,1883,0.83,246.7,3026,1802,1726,1644,111.0,17.5,334,1890,0.00,2.45,0.00,0.000,516,0.000,0.073,3026,393,1683,1726,1641,0,0,0,0,0,0,14.96,14.73,14.97
$GC,1908,0.83,246.7,3026,393,1726,1645,106.4,16.1,338,1914,0.00,2.33,0.00,0.000,1030,0.000,0.033,3026,1802,1685,1727,1644,0,0,0,0,0,0,14.86,14.80,14.88
$GC,1979,0.83,246.7,3026,1805,1726,1644,93.9,18.0,351,1985,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1805,1685,1726,1644,0,0,0,0,0,0,15.00,15.01,15.00
$GC,2048,0.83,246.7,3026,1805,1725,1644,81.8,16.4,364,2054,0.00,2.47,0.00,0.000,516,0.000,0.073,3027,388,1686,1728,1644,0,0,0,0,0,0,15.02,14.78,15.03
$GC,2077,0.83,246.7,3026,387,1725,1644,76.8,16.5,369,2084,0.00,2.33,0.00,0.000,5126,0.000,0.034,3027,1800,1684,1725,1644,0,0,0,0,0,0,14.92,14.84,14.94
$GC,2148,0.83,246.7,3026,1802,1724,1643,66.8,14.7,382,2155,0.00,2.35,0.00,0.000,260,0.000,0.050,3026,3204,1683,1723,1643,0,0,0,0,0,0,15.03,14.83,15.04
$GC,2224,0.83,246.7,3026,3204,1723,1643,56.8,13.0,396,2231,0.00,2.40,0.00,0.000,5126,0.000,0.051,3029,1791,1683,1723,1643,0,0,0,0,0,0,14.87,14.77,14.88
$GC,2295,0.83,246.7,3029,1790,1724,1641,48.8,11.0,409,2301,0.00,0.00,0.00,0.000,4102,0.000,0.000,3029,1791,1682,1723,1642,0,0,0,0,0,0,15.07,15.08,15.07
$GC,2363,0.83,246.7,3029,1791,1724,1642,39.7,13.1,422,2369,0.00,0.00,0.00,0.000,4102,0.000,0.000,3029,1791,1682,1723,1642,0,0,0,0,0,0,15.09,15.09,15.09
$GC,2432,0.83,246.7,3029,1791,1723,1642,30.7,12.3,435,2438,0.00,0.00,0.00,0.000,4102,0.000,0.000,3029,1790,1682,1723,1642,0,0,0,0,0,0,15.08,15.09,15.09
$GC,2501,0.85,267.7,3029,1791,1723,1641,23.7,9.3,448,2519,0.00,0.00,15.15,0.956,10246,0.000,0.000,3029,1791,1607,1650,1565,0,0,0,0,0,0,15.09,14.78,14.25
$GC,2583,0.85,267.7,3029,1791,1649,1562,15.2,11.2,463,2589,0.00,2.42,0.00,0.000,516,0.000,0.074,3031,396,1605,1648,1562,0,0,0,0,0,0,15.02,14.79,15.03
$GC,2612,0.85,267.7,3029,397,1647,1562,11.9,10.8,468,2619,0.00,2.33,0.00,0.000,1030,0.000,0.035,3031,1801,1604,1647,1562,0,0,0,0,0,0,14.92,14.85,14.93
$STATE,2681,end climb,SURFACE_DEPTH_REACHED
$STATE,2681,begin surface coast
$FINISH,0.8,1.024949
$STATE,2702,end surface coast,CONTROL_FINISHED_OK
$STATE,2703,begin surface
$SM_CCo,2726,162.27,0.802,0,0,597,515.37
$SM_GC,0.82,13.62,0.00,162.27,0.041,0.000,0.802,123,1803,597,-8.18,-0.25,515.37,0,0,0,0,0,0,14.86,15.09,14.11
$IRIDIUM_FIX,-3409.50,2556.54,150419,172725
$TT8_MAMPS,0.021721,0.940744
$HUMID,45.70
$INTERNAL_PRESSURE,9.2928
$TCM_TEMP,18.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,130.2,37.1
$SC_FREEKB,3717504
$24V_AH,13.61,123.280
$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,30.550,57.300,353.350,162.275,0.000,27.169,16.665,258.777,4.500,0.000,14.167,991.109,424.431,643.189,1143.905,232.616,0.000,1138.181,0.000,735.497,0.000,31.356,0.000
$DEVICE_MAMPS,308.295,78.030,1140.615,802.485,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2762.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.671,0.000,0.000,0.000
$MEM,340928
$DATA_FILE_SIZE,13429,485
$CAP_FILE_SIZE,95404,0
$CFSIZE,2097086464,2019131392
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,134.18,0x23609a,0,24
$GPS,150419,192428,-3423.289,2557.979,8,1.0,16,-28.1,0.7,255.0,9,9.8