version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 449
start: 4 20 119 0 50 2
data:
$ID,574
$MISSION,3
$DIVE,449
$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,30
$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,48
$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
$GPS1,190419,235617,-3431.8511,2515.7285,7,1.0,17,-27.9,0.6,129.3,10,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.91
$_SM_ANGLEo,2.3
$GPS2,190419,235617,-3431.8511,2515.7285,7,1.0,17,-27.9,0.6,129.3,10,9.8
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3422.499,2522.271
$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,57.9,20000,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.77,-272.5,2805,1798,2332,2237,0.0,0.0,0,32,0.00,0.00,-6.50,0.000,16386,0.000,0.000,2805,1798,2573,2615,2532,0,0,0,0,0,0,15.04,28.83,15.05
$GC,35,-0.77,-272.5,2805,1798,2616,2531,8.9,0.0,1,70,1.33,2.40,-25.23,0.000,20740,0.103,0.080,2526,3204,3813,3833,3793,0,0,0,0,0,0,14.74,13.40,14.81
$GC,95,-0.77,-272.5,2525,3204,3834,3794,14.6,-9.6,11,102,0.00,2.35,0.00,0.000,5126,0.000,0.043,2524,1804,3813,3833,3793,0,0,0,0,0,0,14.83,14.73,14.85
$GC,167,-0.77,-272.5,2525,1803,3833,3794,24.7,-15.5,24,174,0.00,2.42,0.00,0.000,4612,0.000,0.067,2526,409,3813,3833,3793,0,0,0,0,0,0,15.07,14.80,15.08
$GC,192,-0.77,-272.5,2525,409,3833,3794,28.7,-15.0,28,198,0.00,2.33,0.00,0.000,5126,0.000,0.034,2526,1813,3813,3833,3793,0,0,0,0,0,0,14.90,14.83,14.92
$GC,263,-0.77,-272.5,2525,1815,3834,3794,37.9,-13.7,41,269,0.00,0.00,0.00,0.000,4102,0.000,0.000,2525,1818,3813,3833,3794,0,0,0,0,0,0,15.06,15.07,15.07
$GC,332,-0.77,-272.5,2525,1815,3834,3794,47.7,-13.8,54,337,0.00,0.00,0.00,0.000,4102,0.000,0.000,2529,1815,3814,3834,3794,0,0,0,0,0,0,15.08,15.08,15.08
$GC,400,-0.77,-272.5,2525,1815,3834,3793,56.0,-12.3,67,407,0.00,2.35,0.00,0.000,4356,0.000,0.055,2524,3209,3813,3833,3793,0,0,0,0,0,0,15.09,14.71,15.08
$GC,430,-0.77,-272.5,2525,3208,3834,3794,59.1,-10.6,72,437,0.00,2.35,0.00,0.000,5126,0.000,0.041,2525,1801,3813,3834,3793,0,0,0,0,0,0,14.83,14.74,14.84
$GC,501,-0.77,-272.5,2525,1800,3834,3793,66.6,-10.7,85,508,0.00,2.42,0.00,0.000,4612,0.000,0.065,2526,402,3814,3834,3794,0,0,0,0,0,0,15.08,14.76,15.09
$GC,527,-0.77,-272.5,2525,402,3834,3794,69.0,-9.8,89,533,0.00,2.33,0.00,0.000,5126,0.000,0.034,2526,1813,3814,3834,3794,0,0,0,0,0,0,14.90,14.82,14.91
$GC,597,-0.77,-272.5,2522,1815,3834,3793,75.9,-10.3,102,604,0.00,2.35,0.00,0.000,4356,0.000,0.054,2526,3210,3814,3834,3794,0,0,0,0,0,0,15.09,14.82,15.09
$GC,637,-0.77,-272.5,2524,3210,3834,3794,79.5,-8.2,109,645,0.00,2.35,0.00,0.000,5126,0.000,0.041,2525,1806,3814,3834,3794,0,0,0,0,0,0,14.95,14.85,14.97
$GC,711,-0.77,-272.5,2525,1806,3834,3794,86.3,-10.4,122,717,0.00,0.00,0.00,0.000,4102,0.000,0.000,2525,1806,3814,3834,3794,0,0,0,0,0,0,15.09,15.09,15.09
$GC,780,-0.77,-272.5,2525,1806,3833,3794,92.4,-8.2,135,786,0.00,0.00,0.00,0.000,4102,0.000,0.000,2525,1806,3814,3834,3794,0,0,0,0,0,0,15.09,15.10,15.09
$GC,850,-0.77,-272.5,2525,1806,3835,3794,98.8,-8.6,148,856,0.00,2.40,0.00,0.000,4356,0.000,0.054,2525,3216,3814,3835,3794,0,0,0,0,0,0,15.09,14.73,15.09
$GC,870,-0.77,-272.5,2525,3217,3835,3794,100.5,-8.3,151,876,0.00,2.35,0.00,0.000,5126,0.000,0.042,2525,1813,3812,3835,3790,0,0,0,0,0,0,14.84,14.74,14.85
$GC,941,-0.77,-272.5,2525,1814,3835,3794,106.7,-9.2,164,948,0.00,2.42,0.00,0.000,4612,0.000,0.064,2526,405,3814,3835,3794,0,0,0,0,0,0,15.09,14.73,15.09
$GC,967,-0.77,-272.5,2525,405,3835,3794,109.1,-8.4,168,973,0.00,2.33,0.00,0.000,5126,0.000,0.033,2525,1817,3814,3835,3793,0,0,0,0,0,0,14.90,14.81,14.91
$GC,1039,-0.77,-272.5,2525,1818,3835,3794,115.3,-8.8,181,1046,0.00,2.35,0.00,0.000,4356,0.000,0.054,2525,3211,3814,3835,3794,0,0,0,0,0,0,15.09,14.82,15.09
$GC,1084,-0.77,-272.5,2525,3211,3835,3794,119.9,-8.9,189,1096,0.00,2.33,0.00,0.000,5126,0.000,0.037,2525,1807,3815,3836,3794,0,0,0,0,0,0,14.95,14.85,14.97
$GC,1159,-0.77,-272.5,2525,1807,3835,3794,126.7,-9.8,202,1166,0.00,2.38,0.00,0.000,4612,0.000,0.062,2526,412,3814,3835,3794,0,0,0,0,0,0,15.09,14.82,15.09
$GC,1199,-0.77,-272.5,2525,412,3835,3794,130.6,-10.0,209,1206,0.00,2.30,0.00,0.000,5126,0.000,0.032,2525,1822,3814,3835,3794,0,0,0,0,0,0,14.96,14.88,14.97
$GC,1273,-0.77,-272.5,2525,1823,3828,3793,137.1,-9.4,222,1279,0.00,2.35,0.00,0.000,4356,0.000,0.054,2525,3210,3814,3835,3794,0,0,0,0,0,0,15.09,14.82,15.09
$GC,1298,-0.77,-272.5,2525,3210,3835,3794,139.3,-7.6,226,1304,0.00,2.33,0.00,0.000,5126,0.000,0.036,2526,1809,3814,3835,3793,0,0,0,0,0,0,14.95,14.85,14.97
$GC,1369,-0.77,-272.5,2525,1809,3835,3794,145.3,-8.8,239,1375,0.00,0.00,0.00,0.000,4102,0.000,0.000,2525,1815,3814,3835,3793,0,0,0,0,0,0,15.07,15.08,15.07
$STATE,1380,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1380,begin apogee
$GC,1386,-0.17,0.0,2525,1809,3835,3793,146.6,-8.3,241,1598,0.82,0.00,202.62,1.149,10246,0.103,0.000,2700,1806,2700,2736,2664,0,0,0,0,0,0,14.62,14.33,13.83
$STATE,1599,end apogee,CONTROL_FINISHED_OK
$STATE,1599,begin climb
$GC,1602,0.77,272.5,2700,1806,2734,2663,155.8,0.0,279,1826,1.40,2.53,210.85,1.125,10756,0.090,0.069,2998,402,1590,1633,1547,0,0,0,0,0,0,14.35,14.21,13.82
$GC,1849,0.77,272.5,2998,402,1630,1547,143.4,14.4,322,1856,0.00,2.35,0.00,0.000,3078,0.000,0.031,2998,1795,1588,1630,1546,0,0,0,0,0,0,14.53,14.47,14.54
$GC,1921,0.77,272.5,2998,1797,1629,1544,132.8,15.7,335,1927,0.00,2.40,0.00,0.000,2308,0.000,0.047,2998,3206,1586,1629,1543,0,0,0,0,0,0,14.77,14.58,14.77
$GC,1945,0.77,272.5,2998,3207,1635,1543,128.6,15.9,339,1952,0.00,2.42,0.00,0.000,1030,0.000,0.052,2999,1805,1585,1627,1543,0,0,0,0,0,0,14.70,14.60,14.71
$GC,2017,0.77,272.5,2999,1805,1627,1542,117.8,16.1,352,2022,0.00,0.00,0.00,0.000,2054,0.000,0.000,2999,1805,1585,1627,1543,0,0,0,0,0,0,14.88,14.89,14.89
$GC,2085,0.77,272.5,2999,1805,1627,1542,106.4,15.9,365,2092,0.00,2.47,0.00,0.000,2564,0.000,0.074,2999,395,1584,1627,1542,0,0,0,0,0,0,14.94,14.69,14.95
$GC,2120,0.77,272.5,2999,394,1627,1542,100.6,17.0,371,2126,0.00,2.33,0.00,0.000,3078,0.000,0.033,3000,1801,1584,1627,1542,0,0,0,0,0,0,14.85,14.77,14.86
$GC,2191,0.77,272.5,2999,1803,1626,1541,88.8,16.4,384,2197,0.00,0.00,0.00,0.000,2054,0.000,0.000,3000,1803,1584,1627,1542,0,0,0,0,0,0,14.96,14.97,14.97
$GC,2260,0.77,272.5,2999,1803,1626,1542,78.3,13.9,397,2267,0.00,2.35,0.00,0.000,2308,0.000,0.048,3000,3202,1583,1626,1541,0,0,0,0,0,0,15.00,14.78,15.01
$GC,2304,0.77,272.5,2999,3202,1624,1541,72.3,13.5,405,2311,0.00,2.40,0.00,0.000,3078,0.000,0.050,3000,1796,1583,1625,1541,0,0,0,0,0,0,14.90,14.78,14.91
$GC,2377,0.77,272.5,3000,1796,1625,1541,63.1,13.5,418,2383,0.00,2.45,0.00,0.000,2564,0.000,0.072,3007,390,1582,1625,1540,0,0,0,0,0,0,15.04,14.69,15.04
$GC,2458,0.77,272.5,3007,389,1624,1541,51.6,15.2,433,2465,0.00,2.33,0.00,0.000,1030,0.000,0.034,3007,1797,1582,1624,1541,0,0,0,0,0,0,14.87,14.79,14.88
$GC,2530,0.77,272.5,3007,1801,1624,1541,42.0,11.4,446,2536,0.00,2.35,0.00,0.000,260,0.000,0.047,3007,3201,1582,1624,1541,0,0,0,0,0,0,15.04,14.82,15.05
$GC,2559,0.77,272.5,3007,3201,1623,1544,38.3,13.4,451,2566,0.00,2.40,0.00,0.000,1030,0.000,0.052,3008,1796,1582,1623,1541,0,0,0,0,0,0,14.92,14.81,14.93
$GC,2631,0.77,272.5,3007,1795,1624,1541,30.3,11.4,464,2637,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1795,1582,1624,1541,0,0,0,0,0,0,15.04,15.05,15.05
$GC,2700,0.77,274.1,3007,1795,1624,1541,22.8,10.0,477,2705,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1795,1582,1624,1541,0,0,0,0,0,0,15.06,15.07,15.07
$GC,2769,0.78,280.3,3007,1795,1623,1540,16.3,9.9,490,2781,0.00,2.35,4.65,0.743,8452,0.000,0.048,3007,3200,1555,1600,1511,0,0,0,0,0,0,15.07,14.81,14.21
$GC,2809,0.78,280.3,3007,3200,1600,1512,12.0,10.5,497,2816,0.00,2.40,0.00,0.000,1030,0.000,0.052,3008,1796,1555,1599,1512,0,0,0,0,0,0,14.92,14.82,14.94
$GC,2881,0.80,296.3,3007,1796,1600,1512,5.2,9.6,510,2899,0.00,2.38,11.05,0.815,10500,0.000,0.046,3007,3205,1488,1534,1442,0,0,0,0,0,0,15.04,14.69,14.28
$STATE,2904,end climb,SURFACE_DEPTH_REACHED
$STATE,2904,begin surface coast
$FINISH,0.5,1.025252
$STATE,2928,end surface coast,CONTROL_FINISHED_OK
$STATE,2928,begin surface
$SM_CCo,2955,153.65,0.811,0,0,598,515.37
$SM_GC,0.71,13.68,2.47,153.65,0.053,0.067,0.811,130,1810,598,-8.18,0.76,515.37,0,0,0,0,0,0,14.79,14.79,14.07
$IRIDIUM_FIX,-3419.93,2515.55,190419,214014
$TT8_MAMPS,0.02247,0.934003
$HUMID,45.47
$INTERNAL_PRESSURE,9.28303
$TCM_TEMP,18.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.3,36.0
$SC_FREEKB,3685824
$24V_AH,13.40,140.424
$10V_AH,13.45,0.000
$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,17.225,85.550,429.175,153.650,0.000,0.000,0.000,0.000,4.000,0.000,0.000,1071.299,451.617,664.917,894.208,181.809,0.000,1195.347,0.000,782.884,0.000,26.803,0.000
$DEVICE_MAMPS,103.275,80.325,1149.030,810.900,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2990.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.428,0.000,0.000,0.000
$MEM,341064
$DATA_FILE_SIZE,13438,518
$CAP_FILE_SIZE,101822,0
$CFSIZE,2097086464,2007695360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200419,014302,-3431.235,2516.348,9,0.9,27,-27.9,0.8,299.3,10,8.8