version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 447
start: 4 19 119 22 45 1
data:
$ID,574
$MISSION,3
$DIVE,447
$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,5
$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,280
$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,50
$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,2
$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,50
$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
$GPS1,190419,215007,-3432.1714,2515.0271,7,1.0,16,-27.9,0.9,277.4,8,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.71
$_SM_ANGLEo,1.8
$GPS2,190419,215007,-3432.1714,2515.0271,7,1.0,16,-27.9,0.9,277.4,8,9.4
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3425.230,2525.056
$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,77.9,20000,-13.1,-10.010,-16.32,4154
$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,-0.77,-272.5,2806,1797,2337,2240,0.0,0.0,0,31,0.00,0.00,-6.12,0.000,16386,0.000,0.000,2806,1796,2496,2541,2451,0,0,0,0,0,0,15.04,28.83,15.06
$GC,34,-0.77,-272.5,2806,1796,2541,2451,4.7,0.0,1,80,1.33,2.47,-34.05,0.000,20740,0.088,0.076,2521,3218,3812,3832,3792,0,0,0,0,0,0,14.77,13.41,14.82
$GC,105,-0.77,-272.5,2521,3218,3832,3794,11.9,-13.6,13,112,0.00,2.38,0.00,0.000,5126,0.000,0.042,2521,1807,3812,3832,3793,0,0,0,0,0,0,14.89,14.78,14.90
$GC,177,-0.77,-272.5,2521,1806,3832,3793,22.1,-16.6,26,182,0.00,0.00,0.00,0.000,4102,0.000,0.000,2521,1807,3812,3832,3793,0,0,0,0,0,0,15.07,15.07,15.07
$GC,246,-0.77,-272.5,2521,1806,3832,3793,33.9,-16.8,39,252,0.00,2.42,0.00,0.000,4612,0.000,0.066,2521,410,3812,3832,3793,0,0,0,0,0,0,15.08,14.76,15.08
$GC,270,-0.77,-272.5,2521,406,3832,3793,38.1,-17.2,43,277,0.00,2.33,0.00,0.000,5126,0.000,0.034,2521,1811,3812,3832,3793,0,0,0,0,0,0,14.85,14.76,14.86
$GC,341,-0.77,-272.5,2521,1814,3832,3793,48.8,-13.7,56,348,0.00,2.38,0.00,0.000,4356,0.000,0.055,2521,3208,3812,3832,3793,0,0,0,0,0,0,15.09,14.82,15.08
$GC,376,-0.77,-272.5,2520,3208,3841,3793,51.7,-7.0,62,383,0.00,2.35,0.00,0.000,5126,0.000,0.040,2523,1807,3812,3832,3793,0,0,0,0,0,0,14.95,14.85,14.96
$GC,448,-0.77,-272.5,2521,1806,3831,3793,57.3,-8.5,75,455,0.00,2.42,0.00,0.000,4612,0.000,0.064,2521,403,3812,3832,3793,0,0,0,0,0,0,15.07,14.81,15.07
$GC,478,-0.77,-272.5,2521,404,3832,3793,60.1,-8.8,80,484,0.00,2.33,0.00,0.000,5126,0.000,0.034,2521,1814,3812,3832,3793,0,0,0,0,0,0,14.95,14.87,14.97
$GC,551,-0.77,-272.5,2520,1816,3833,3793,66.4,-11.1,93,557,0.00,2.38,0.00,0.000,4356,0.000,0.054,2522,3213,3813,3833,3793,0,0,0,0,0,0,15.09,14.76,15.09
$GC,584,-0.77,-272.5,2521,3212,3832,3793,69.9,-10.0,99,592,0.00,2.35,0.00,0.000,5126,0.000,0.040,2521,1808,3813,3833,3793,0,0,0,0,0,0,14.82,14.73,14.83
$GC,658,-0.77,-272.5,2521,1808,3833,3793,77.8,-11.5,112,665,0.00,2.40,0.00,0.000,4612,0.000,0.065,2521,412,3813,3833,3794,0,0,0,0,0,0,15.09,14.81,15.09
$GC,708,-0.77,-272.5,2521,412,3833,3792,83.3,-9.5,121,715,0.00,2.33,0.00,0.000,5126,0.000,0.034,2521,1824,3813,3833,3793,0,0,0,0,0,0,14.96,14.87,14.97
$GC,782,-0.77,-272.5,2521,1827,3833,3793,90.2,-9.5,134,789,0.00,2.35,0.00,0.000,4356,0.000,0.054,2521,3211,3813,3833,3793,0,0,0,0,0,0,15.09,14.82,15.09
$GC,837,-0.77,-272.5,2521,3212,3834,3793,94.9,-8.3,144,846,0.00,2.35,0.00,0.000,5126,0.000,0.040,2521,1808,3813,3833,3793,0,0,0,0,0,0,14.95,14.85,14.96
$GC,911,-0.77,-272.5,2521,1808,3833,3793,101.9,-10.1,157,917,0.00,0.00,0.00,0.000,4102,0.000,0.000,2521,1808,3813,3834,3793,0,0,0,0,0,0,15.09,15.09,15.09
$GC,979,-0.77,-272.5,2521,1808,3834,3793,109.2,-10.7,170,985,0.00,0.00,0.00,0.000,4102,0.000,0.000,2521,1808,3813,3833,3793,0,0,0,0,0,0,15.09,15.09,15.09
$GC,1049,-0.77,-272.5,2520,1808,3834,3793,116.8,-12.0,183,1055,0.00,0.00,0.00,0.000,4102,0.000,0.000,2521,1808,3813,3833,3793,0,0,0,0,0,0,15.07,15.08,15.08
$GC,1120,-0.77,-272.5,2521,1808,3834,3793,125.5,-12.5,196,1126,0.00,0.00,0.00,0.000,4102,0.000,0.000,2520,1808,3813,3834,3793,0,0,0,0,0,0,15.09,15.10,15.10
$GC,1189,-0.77,-272.5,2521,1808,3833,3793,133.7,-11.7,209,1195,0.00,0.00,0.00,0.000,4102,0.000,0.000,2521,1808,3813,3834,3793,0,0,0,0,0,0,15.10,15.10,15.14
$GC,1262,-0.77,-272.5,2521,1808,3834,3793,141.5,-10.9,222,1268,0.00,0.00,0.00,0.000,4102,0.000,0.000,2521,1808,3813,3834,3793,0,0,0,0,0,0,15.09,15.09,15.09
$GC,1331,-0.77,-272.5,2521,1808,3833,3793,149.0,-10.3,235,1337,0.00,2.40,0.00,0.000,4356,0.000,0.054,2519,3209,3813,3834,3793,0,0,0,0,0,0,15.09,14.76,15.09
$GC,1356,-0.77,-272.5,2519,3208,3834,3794,151.3,-9.4,239,1362,0.00,2.35,0.00,0.000,5126,0.000,0.042,2519,1813,3813,3834,3793,0,0,0,0,0,0,14.89,14.78,14.90
$GC,1427,-0.77,-272.5,2520,1813,3834,3798,157.9,-9.9,252,1433,0.00,0.00,0.00,0.000,4102,0.000,0.000,2519,1813,3813,3834,3793,0,0,0,0,0,0,15.08,15.09,15.09
$STATE,1459,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1459,begin apogee
$GC,1465,-0.17,0.0,2519,1813,3834,3793,161.8,-10.8,258,1677,0.88,0.00,203.25,1.161,10246,0.125,0.000,2698,1811,2698,2735,2662,0,0,0,0,0,0,14.70,14.32,13.81
$STATE,1678,end apogee,CONTROL_FINISHED_OK
$STATE,1679,begin climb
$GC,1681,0.77,272.5,2698,1811,2734,2661,175.3,0.0,296,1904,1.40,0.00,211.90,1.144,10758,0.083,0.000,2992,1811,1588,1631,1546,0,0,0,0,0,0,14.35,14.30,13.76
$GC,1967,0.77,272.5,2991,1811,1629,1543,156.1,14.8,347,1973,0.00,0.00,0.00,0.000,2054,0.000,0.000,2992,1811,1586,1629,1543,0,0,0,0,0,0,14.71,14.72,14.72
$GC,2035,0.77,272.5,2991,1811,1628,1542,146.1,14.9,360,2041,0.00,0.00,0.00,0.000,2054,0.000,0.000,2992,1811,1585,1629,1542,0,0,0,0,0,0,14.83,14.83,14.83
$GC,2104,0.77,272.5,2992,1811,1628,1542,135.3,15.1,373,2111,0.00,2.38,0.00,0.000,2308,0.000,0.046,2992,3198,1584,1627,1541,0,0,0,0,0,0,14.90,14.69,14.90
$GC,2129,0.77,272.5,2991,3198,1626,1542,131.4,15.8,377,2136,0.00,2.40,0.00,0.000,3078,0.000,0.052,2991,1807,1583,1626,1541,0,0,0,0,0,0,14.81,14.69,14.81
$GC,2201,0.77,272.5,2992,1807,1626,1541,121.1,14.9,390,2207,0.00,2.47,0.00,0.000,2564,0.000,0.072,2995,393,1583,1626,1541,0,0,0,0,0,0,14.95,14.71,14.95
$GC,2245,0.77,272.5,2995,392,1625,1542,114.1,15.3,398,2251,0.00,2.33,0.00,0.000,3078,0.000,0.032,2995,1804,1583,1625,1541,0,0,0,0,0,0,14.87,14.79,14.88
$GC,2316,0.77,272.5,2995,1806,1625,1540,103.2,15.5,411,2322,0.00,0.00,0.00,0.000,2054,0.000,0.000,2995,1806,1582,1625,1540,0,0,0,0,0,0,15.00,15.00,15.00
$GC,2385,0.77,272.5,2995,1806,1625,1540,92.6,14.7,424,2392,0.00,2.35,0.00,0.000,2308,0.000,0.047,2995,3204,1582,1625,1540,0,0,0,0,0,0,15.02,14.79,15.02
$GC,2415,0.77,272.5,2995,3204,1624,1540,88.5,13.4,429,2422,0.00,2.40,0.00,0.000,3078,0.000,0.052,2996,1798,1581,1623,1540,0,0,0,0,0,0,14.88,14.79,14.92
$GC,2486,0.77,272.5,2996,1798,1623,1540,79.6,12.6,442,2492,0.00,0.00,0.00,0.000,2054,0.000,0.000,2996,1798,1580,1624,1537,0,0,0,0,0,0,15.04,15.04,15.04
$GC,2555,0.77,272.5,2996,1798,1624,1540,70.4,15.6,455,2561,0.00,2.45,0.00,0.000,2564,0.000,0.074,2998,391,1582,1624,1540,0,0,0,0,0,0,15.04,14.78,15.05
$GC,2604,0.77,272.5,2998,389,1624,1540,63.0,14.3,464,2611,0.00,2.33,0.00,0.000,3078,0.000,0.032,2999,1799,1581,1623,1540,0,0,0,0,0,0,14.93,14.85,14.95
$GC,2676,0.77,272.5,2999,1802,1623,1540,54.2,12.0,477,2682,0.00,0.00,0.00,0.000,2054,0.000,0.000,2999,1802,1581,1623,1540,0,0,0,0,0,0,15.04,15.05,15.04
$GC,2745,0.77,272.5,2999,1802,1623,1540,46.7,10.2,490,2751,0.00,2.35,0.00,0.000,2308,0.000,0.046,2999,3203,1581,1623,1539,0,0,0,0,0,0,15.07,14.83,15.07
$GC,2784,0.79,286.9,2999,3204,1623,1539,43.0,9.7,497,2803,0.00,2.40,12.80,0.887,11270,0.000,0.051,3000,1795,1529,1574,1485,0,0,0,0,0,0,14.94,14.82,14.19
$GC,2867,0.81,302.7,2998,1795,1573,1484,35.8,9.6,512,2890,0.00,2.47,14.65,0.959,10756,0.000,0.073,2998,395,1464,1511,1417,0,0,0,0,0,0,15.03,14.66,14.19
$GC,2940,0.81,302.7,3002,395,1511,1417,28.3,10.7,525,2947,0.00,2.35,0.00,0.000,3078,0.000,0.032,2999,1812,1464,1511,1417,0,0,0,0,0,0,14.88,14.81,14.88
$GC,3011,0.81,302.7,2999,1814,1511,1416,20.7,10.5,538,3018,0.00,2.50,0.00,0.000,2564,0.000,0.072,2999,396,1463,1511,1416,0,0,0,0,0,0,15.00,14.65,15.00
$GC,3036,0.85,338.6,2999,396,1510,1416,18.3,9.1,542,3071,0.05,2.33,26.05,0.956,11270,0.256,0.033,3030,1810,1317,1368,1266,0,0,0,0,0,0,14.62,14.74,14.19
$GC,3136,0.85,338.6,3030,1810,1368,1265,6.0,12.3,560,3143,0.00,2.33,0.00,0.000,260,0.000,0.044,3031,3194,1316,1368,1265,0,0,0,0,0,0,14.94,14.64,14.95
$GC,3161,0.85,338.6,3030,3194,1368,1264,3.3,10.6,564,3168,0.00,2.40,0.00,0.000,1030,0.000,0.054,3033,1802,1316,1368,1264,0,0,0,0,0,0,14.82,14.73,14.84
$STATE,3172,end climb,SURFACE_DEPTH_REACHED
$STATE,3172,begin surface coast
$FINISH,0.4,1.025466
$STATE,3199,end surface coast,CONTROL_FINISHED_OK
$STATE,3199,begin surface
$SM_CCo,3226,123.95,0.812,0,0,597,515.37
$SM_GC,0.81,13.85,0.00,123.95,0.048,0.000,0.812,113,1799,597,-8.21,-0.37,515.37,0,0,0,0,0,0,14.78,15.00,14.08
$IRIDIUM_FIX,-3417.32,2515.55,190419,192933
$TT8_MAMPS,0.021721,0.88382
$HUMID,45.31
$INTERNAL_PRESSURE,9.28303
$TCM_TEMP,18.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,135.0,36.7
$SC_FREEKB,3686848
$24V_AH,13.41,139.962
$10V_AH,13.43,0.000
$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,17.500,76.200,468.650,123.950,0.000,0.000,0.000,0.000,4.750,0.000,0.000,1164.406,500.398,674.219,980.724,186.027,0.000,1249.083,0.000,863.309,0.000,33.188,0.000
$DEVICE_MAMPS,255.510,76.500,1160.505,811.665,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3263.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.502,0.000,0.000,0.000
$MEM,341056
$DATA_FILE_SIZE,13432,571
$CAP_FILE_SIZE,107334,0
$CFSIZE,2097086464,2008023040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190419,234201,-3431.806,2515.799,8,0.9,28,-27.9,0.7,244.8,10,9.1