version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 411
start: 4 17 119 9 34 0
data:
$ID,574
$MISSION,3
$DIVE,411
$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,250
$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,20
$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,51
$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,2
$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
$GPS1,170419,092410,-3423.7134,2558.6184,7,0.8,16,-28.1,0.8,340.4,10,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-70.9
$GPS2,170419,093334,-3423.7415,2558.4050,6,0.8,18,-28.1,1.3,228.5,10,9.9
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,HEADING
$TGT_LATLONG,-3413.594,2602.872
$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,48.1,20000,-13.9,-10.010,-17.09,3711
$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,-243.3,54,1803,621,549,0.0,0.0,0,118,0.00,0.00,-92.20,0.000,16386,0.000,0.000,53,1806,2862,2822,2902,0,0,0,0,0,0,14.92,28.83,14.94
$GC,123,-0.76,-243.3,53,1806,2824,2902,3.1,-6.1,17,159,14.57,2.42,-14.80,0.000,18692,0.301,0.073,2497,3204,3695,3714,3677,0,0,0,0,0,0,14.47,13.48,14.74
$GC,314,-0.76,-243.3,2497,3205,3714,3677,35.9,-10.6,53,322,0.03,2.35,0.00,0.000,3078,0.452,0.044,2507,1810,3695,3714,3677,0,0,0,0,0,0,14.55,14.71,14.73
$GC,386,-0.76,-243.3,2507,1810,3720,3677,44.7,-13.0,66,392,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1810,3695,3714,3677,0,0,0,0,0,0,15.04,15.04,15.04
$GC,455,-0.76,-243.3,2507,1810,3714,3677,53.8,-12.3,79,461,0.00,2.38,0.00,0.000,2308,0.000,0.053,2505,3203,3695,3714,3677,0,0,0,0,0,0,15.05,14.69,15.05
$GC,499,-0.76,-243.3,2505,3203,3714,3677,58.9,-10.6,87,506,0.00,2.35,0.00,0.000,3078,0.000,0.045,2505,1809,3695,3714,3677,0,0,0,0,0,0,14.92,14.82,14.92
$GC,571,-0.76,-243.3,2504,1808,3714,3677,68.7,-14.9,100,577,0.00,0.00,0.00,0.000,2054,0.000,0.000,2505,1808,3695,3714,3677,0,0,0,0,0,0,15.06,15.07,15.07
$GC,639,-0.76,-243.3,2505,1808,3714,3677,78.7,-14.4,113,645,0.00,0.00,0.00,0.000,2054,0.000,0.000,2506,1808,3695,3714,3677,0,0,0,0,0,0,15.07,15.07,15.07
$GC,708,-0.76,-243.3,2505,1808,3714,3677,88.3,-13.7,126,713,0.00,0.00,0.00,0.000,2054,0.000,0.000,2504,1808,3695,3714,3677,0,0,0,0,0,0,15.07,15.07,15.07
$GC,777,-0.76,-243.3,2505,1808,3714,3677,97.7,-13.8,139,783,0.00,0.00,0.00,0.000,2054,0.000,0.000,2505,1808,3695,3714,3677,0,0,0,0,0,0,15.07,15.07,15.07
$GC,847,-0.76,-243.3,2505,1808,3714,3677,106.5,-12.2,152,853,0.00,0.00,0.00,0.000,2054,0.000,0.000,2505,1808,3695,3714,3677,0,0,0,0,0,0,15.06,15.07,15.07
$GC,916,-0.76,-243.3,2504,1808,3715,3677,114.8,-11.8,165,925,0.00,0.00,0.00,0.000,2054,0.000,0.000,2505,1808,3695,3714,3677,0,0,0,0,0,0,15.08,15.09,15.08
$GC,988,-0.76,-243.3,2504,1808,3715,3677,123.4,-12.3,178,994,0.00,0.00,0.00,0.000,2054,0.000,0.000,2505,1808,3695,3714,3677,0,0,0,0,0,0,15.07,15.07,15.07
$GC,1059,-0.76,-243.3,2504,1808,3715,3677,132.4,-12.7,191,1066,0.00,2.38,0.00,0.000,2308,0.000,0.054,2501,3203,3695,3714,3677,0,0,0,0,0,0,15.08,14.71,15.09
$GC,1101,-0.76,-243.3,2500,3203,3714,3677,137.3,-9.7,198,1107,0.00,2.35,0.00,0.000,3078,0.000,0.043,2501,1806,3695,3715,3676,0,0,0,0,0,0,14.90,14.80,14.91
$GC,1175,-0.76,-243.3,2500,1806,3714,3677,146.6,-13.0,211,1181,0.00,2.42,0.00,0.000,2564,0.000,0.065,2501,399,3695,3714,3677,0,0,0,0,0,0,15.09,14.72,15.09
$GC,1204,-0.76,-243.3,2500,399,3714,3677,150.4,-13.6,216,1211,0.00,2.33,0.00,0.000,3078,0.000,0.035,2501,1804,3695,3714,3677,0,0,0,0,0,0,14.85,14.76,14.86
$GC,1276,-0.76,-243.3,2500,1807,3714,3677,158.9,-12.6,229,1282,0.00,2.38,0.00,0.000,2308,0.000,0.054,2501,3212,3695,3714,3677,0,0,0,0,0,0,15.09,14.78,15.09
$GC,1315,-0.76,-243.3,2500,3211,3714,3677,163.6,-10.7,236,1322,0.00,2.35,0.00,0.000,3078,0.000,0.044,2501,1813,3695,3714,3677,0,0,0,0,0,0,14.85,14.75,14.86
$STATE,1362,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1362,begin apogee
$GC,1368,-0.17,0.0,2500,1813,3714,3677,169.5,-12.8,245,1556,1.00,0.00,182.05,1.164,10246,0.147,0.000,2699,1813,2702,2738,2667,0,0,0,0,0,0,14.68,14.34,13.85
$STATE,1559,end apogee,CONTROL_FINISHED_OK
$STATE,1559,begin climb
$GC,1562,0.76,243.3,2699,1813,2735,2665,179.0,0.0,279,1765,1.38,2.53,189.10,1.138,10756,0.079,0.070,2999,400,1705,1745,1665,0,0,0,0,0,0,14.36,14.28,13.80
$GC,1864,0.76,243.3,2997,400,1737,1665,154.2,14.7,333,1870,0.00,2.38,0.00,0.000,3078,0.000,0.034,2998,1807,1700,1737,1663,0,0,0,0,0,0,14.64,14.57,14.66
$GC,1935,0.76,243.3,2998,1810,1737,1661,144.0,14.7,346,1942,0.00,2.35,0.00,0.000,2308,0.000,0.049,2998,3201,1699,1737,1661,0,0,0,0,0,0,14.86,14.66,14.86
$GC,1955,0.76,243.3,2998,3200,1736,1660,140.9,14.8,349,1962,0.00,2.42,0.00,0.000,3078,0.000,0.052,2999,1803,1698,1737,1660,0,0,0,0,0,0,14.78,14.67,14.79
$GC,2026,0.76,243.3,2998,1802,1737,1659,130.9,14.5,362,2032,0.00,0.00,0.00,0.000,2054,0.000,0.000,2999,1801,1698,1737,1659,0,0,0,0,0,0,14.92,14.92,14.92
$GC,2095,0.76,243.3,2999,1803,1737,1659,120.5,14.7,375,2101,0.00,0.00,0.00,0.000,2054,0.000,0.000,2999,1802,1698,1737,1660,0,0,0,0,0,0,14.97,14.97,14.97
$GC,2164,0.76,243.3,2998,1804,1737,1659,109.9,16.0,388,2170,0.00,2.38,0.00,0.000,2308,0.000,0.048,2999,3206,1697,1736,1658,0,0,0,0,0,0,15.00,14.73,15.00
$GC,2208,0.76,243.3,2999,3206,1735,1658,102.7,15.9,396,2215,0.00,2.42,0.00,0.000,3078,0.000,0.054,2999,1794,1696,1735,1658,0,0,0,0,0,0,14.85,14.73,14.86
$GC,2279,0.76,243.3,2999,1794,1735,1658,92.4,15.2,409,2286,0.00,2.45,0.00,0.000,2564,0.000,0.074,2999,394,1696,1735,1657,0,0,0,0,0,0,15.02,14.76,15.03
$GC,2314,0.76,243.3,2998,394,1735,1658,86.2,16.6,415,2321,0.00,2.33,0.00,0.000,3078,0.000,0.034,2999,1802,1696,1735,1658,0,0,0,0,0,0,14.92,14.83,14.93
$GC,2385,0.76,243.3,2999,1805,1735,1657,76.2,14.1,428,2392,0.00,2.33,0.00,0.000,2308,0.000,0.049,2998,3198,1696,1735,1657,0,0,0,0,0,0,15.03,14.82,15.02
$GC,2425,0.76,243.3,2998,3198,1734,1656,70.2,14.0,435,2431,0.00,2.40,0.00,0.000,3078,0.000,0.053,2999,1792,1695,1734,1656,0,0,0,0,0,0,14.92,14.81,14.94
$GC,2496,0.76,243.3,2999,1792,1734,1656,61.3,12.6,448,2502,0.00,2.38,0.00,0.000,2308,0.000,0.049,2999,3202,1695,1734,1656,0,0,0,0,0,0,15.04,14.83,15.04
$GC,2540,0.76,243.3,2999,3203,1734,1656,55.5,12.6,456,2546,0.00,2.40,0.00,0.000,1030,0.000,0.053,3003,1797,1695,1734,1656,0,0,0,0,0,0,14.92,14.82,14.95
$GC,2610,0.76,243.3,3003,1798,1734,1656,47.0,12.2,469,2617,0.00,2.45,0.00,0.000,516,0.000,0.074,3006,385,1695,1734,1656,0,0,0,0,0,0,15.04,14.79,15.04
$GC,2682,0.78,256.2,3005,386,1733,1655,40.0,9.7,482,2700,0.00,2.35,10.35,0.911,9222,0.000,0.034,3006,1810,1653,1694,1612,0,0,0,0,0,0,14.85,14.78,14.21
$GC,2764,0.93,379.5,3005,1810,1693,1612,33.3,6.6,497,2871,0.10,2.42,97.65,1.037,10500,0.155,0.047,3054,3192,1150,1209,1092,0,0,0,0,0,0,14.82,14.43,14.03
$GC,2909,0.93,379.5,3054,3191,1207,1090,16.5,12.6,523,2915,0.00,2.42,0.00,0.000,1030,0.000,0.054,3057,1801,1148,1207,1089,0,0,0,0,0,0,14.61,14.52,14.63
$GC,2979,0.93,379.5,3057,1801,1208,1092,7.3,13.9,536,2986,0.00,2.47,0.00,0.000,516,0.000,0.075,3058,392,1147,1207,1088,0,0,0,0,0,0,14.85,14.62,14.86
$STATE,3006,end climb,SURFACE_DEPTH_REACHED
$STATE,3007,begin surface coast
$FINISH,1.8,1.025429
$STATE,3012,end surface coast,CONTROL_FINISHED_OK
$STATE,3012,begin surface
$SM_CCo,3039,91.18,0.800,0,0,598,515.37
$SM_GC,0.93,13.88,2.40,91.18,0.044,0.031,0.800,127,1804,598,-8.18,-1.41,515.37,0,0,0,0,0,0,14.72,14.74,14.09
$IRIDIUM_FIX,-3409.50,2558.88,170419,082114
$TT8_MAMPS,0.020972,0.954226
$HUMID,45.58
$INTERNAL_PRESSURE,9.27327
$TCM_TEMP,18.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,145.2,33.9
$SC_FREEKB,3705536
$24V_AH,13.48,129.679
$10V_AH,13.53,0.000
$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,30.950,66.975,479.150,91.175,0.000,25.382,37.064,251.264,5.250,0.000,19.921,1068.470,453.555,675.029,1257.529,249.742,0.000,1228.850,0.000,817.540,0.000,36.108,0.000
$DEVICE_MAMPS,452.115,74.970,1164.330,800.190,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3075.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.173,0.000,0.000,0.000
$MEM,340928
$DATA_FILE_SIZE,13448,542
$CAP_FILE_SIZE,102506,0
$CFSIZE,2097086464,2014740480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,170419,102731,-3423.641,2558.394,7,1.2,39,-28.1,0.9,359.6,8,6.1