version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 451
start: 4 20 119 2 44 10
data:
$ID,574
$MISSION,3
$DIVE,451
$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,32
$R_STBD_OVSHOOT,47
$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
$GPS1,200419,015709,-3431.1450,2516.2517,7,1.0,14,-27.9,0.0,285.3,10,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.30
$_SM_ANGLEo,1.3
$GPS2,200419,015709,-3431.1450,2516.2517,7,1.0,14,-27.9,0.0,285.3,10,9.7
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3421.793,2522.793
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.77,-272.5,2817,1798,2227,2131,0.0,0.0,0,31,0.00,0.00,-6.10,0.000,16386,0.000,0.000,2816,1798,2365,2411,2319,0,0,0,0,0,0,15.09,28.83,15.10
$GC,34,-0.77,-272.5,2817,1798,2412,2319,3.8,0.0,1,86,1.35,2.42,-39.47,0.000,20740,0.088,0.076,2522,3203,3813,3831,3796,0,0,0,0,0,0,14.80,13.41,14.86
$GC,165,-0.77,-272.5,2522,3202,3832,3795,18.4,-12.3,25,172,0.00,2.35,0.00,0.000,5126,0.000,0.044,2522,1805,3814,3832,3797,0,0,0,0,0,0,14.91,14.78,14.92
$GC,237,-0.77,-272.5,2521,1805,3832,3796,29.1,-16.6,38,243,0.00,2.40,0.00,0.000,4356,0.000,0.054,2521,3210,3814,3832,3796,0,0,0,0,0,0,15.09,14.84,15.10
$GC,266,-0.77,-272.5,2522,3210,3832,3797,33.8,-13.6,43,273,0.00,2.35,0.00,0.000,5126,0.000,0.044,2522,1813,3814,3832,3797,0,0,0,0,0,0,14.97,14.85,14.98
$GC,336,-0.77,-272.5,2522,1813,3832,3796,43.8,-14.7,56,342,0.00,2.42,0.00,0.000,4612,0.000,0.065,2522,409,3814,3832,3797,0,0,0,0,0,0,15.09,14.78,15.11
$GC,355,-0.77,-272.5,2522,409,3832,3796,46.7,-15.0,59,362,0.00,2.33,0.00,0.000,5126,0.000,0.033,2522,1818,3814,3832,3797,0,0,0,0,0,0,14.92,14.83,14.93
$GC,428,-0.77,-272.5,2522,1818,3832,3796,54.7,-11.4,72,435,0.00,0.00,0.00,0.000,4102,0.000,0.000,2522,1820,3814,3832,3797,0,0,0,0,0,0,15.08,15.09,15.08
$GC,499,-0.77,-272.5,2522,1820,3833,3797,63.0,-10.7,85,505,0.00,2.42,0.00,0.000,4612,0.000,0.063,2522,410,3814,3832,3796,0,0,0,0,0,0,15.11,14.72,15.11
$GC,523,-0.77,-272.5,2521,409,3833,3797,65.7,-11.9,89,529,0.00,2.30,0.00,0.000,5126,0.000,0.033,2522,1813,3815,3833,3797,0,0,0,0,0,0,14.97,14.88,14.98
$GC,595,-0.77,-272.5,2521,1816,3833,3797,72.5,-10.1,102,601,0.00,2.35,0.00,0.000,4356,0.000,0.054,2522,3207,3815,3833,3797,0,0,0,0,0,0,15.09,14.73,15.09
$GC,635,-0.77,-272.5,2522,3207,3834,3796,76.4,-8.3,109,641,0.00,2.35,0.00,0.000,5126,0.000,0.041,2522,1800,3814,3833,3796,0,0,0,0,0,0,14.83,14.73,14.85
$GC,706,-0.77,-272.5,2521,1802,3833,3796,82.7,-8.9,122,713,0.00,2.42,0.00,0.000,4356,0.000,0.053,2522,3214,3815,3833,3797,0,0,0,0,0,0,15.10,14.83,15.10
$GC,741,-0.77,-272.5,2522,3214,3834,3797,85.6,-8.0,128,748,0.00,2.38,0.00,0.000,5126,0.000,0.042,2522,1807,3815,3834,3797,0,0,0,0,0,0,14.93,14.80,14.95
$GC,813,-0.77,-272.5,2522,1806,3833,3795,91.8,-8.6,141,819,0.00,0.00,0.00,0.000,4102,0.000,0.000,2522,1807,3815,3833,3797,0,0,0,0,0,0,15.08,15.09,15.09
$GC,882,-0.77,-272.5,2522,1807,3833,3797,97.9,-8.9,154,888,0.00,0.00,0.00,0.000,4102,0.000,0.000,2522,1806,3815,3834,3796,0,0,0,0,0,0,15.09,15.09,15.09
$GC,953,-0.77,-272.5,2521,1807,3834,3797,104.2,-9.1,167,959,0.00,0.00,0.00,0.000,4102,0.000,0.000,2522,1806,3815,3834,3796,0,0,0,0,0,0,15.07,15.08,15.08
$GC,1025,-0.77,-272.5,2521,1807,3834,3797,111.2,-10.3,180,1031,0.00,0.00,0.00,0.000,4102,0.000,0.000,2522,1806,3815,3834,3796,0,0,0,0,0,0,15.09,15.10,15.10
$GC,1094,-0.77,-272.5,2521,1806,3834,3797,117.9,-9.8,193,1101,0.00,2.40,0.00,0.000,4356,0.000,0.053,2522,3214,3815,3834,3797,0,0,0,0,0,0,15.11,14.71,15.11
$GC,1130,-0.77,-272.5,2522,3214,3834,3795,121.1,-8.6,199,1136,0.00,2.35,0.00,0.000,5126,0.000,0.040,2522,1806,3815,3834,3796,0,0,0,0,0,0,14.83,14.73,14.85
$GC,1201,-0.77,-272.5,2522,1806,3834,3797,128.3,-9.5,212,1208,0.00,2.40,0.00,0.000,4612,0.000,0.064,2522,411,3815,3833,3797,0,0,0,0,0,0,15.10,14.81,15.10
$GC,1236,-0.77,-272.5,2522,411,3833,3796,131.8,-9.9,218,1243,0.00,2.33,0.00,0.000,5126,0.000,0.033,2522,1822,3815,3834,3797,0,0,0,0,0,0,14.96,14.88,14.97
$STATE,1269,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1269,begin apogee
$GC,1275,-0.17,0.0,2522,1825,3833,3797,134.9,-8.6,224,1486,0.88,0.00,201.95,1.131,10246,0.132,0.000,2698,1824,2699,2735,2663,0,0,0,0,0,0,14.69,14.38,13.86
$STATE,1488,end apogee,CONTROL_FINISHED_OK
$STATE,1488,begin climb
$GC,1490,0.77,272.5,2698,1824,2733,2662,146.2,0.0,262,1715,1.40,2.55,210.40,1.107,10756,0.079,0.070,2996,403,1587,1631,1544,0,0,0,0,0,0,14.38,14.31,13.82
$GC,1763,0.77,272.5,2996,403,1625,1544,128.9,14.2,310,1769,0.00,2.38,0.00,0.000,3078,0.000,0.034,2996,1808,1584,1625,1543,0,0,0,0,0,0,14.61,14.53,14.62
$GC,1834,0.77,272.5,2996,1809,1625,1540,119.2,14.7,323,1840,0.00,2.38,0.00,0.000,2308,0.000,0.047,2996,3207,1582,1624,1541,0,0,0,0,0,0,14.82,14.62,14.82
$GC,1853,0.77,272.5,2996,3207,1623,1545,115.9,15.3,326,1860,0.00,2.42,0.00,0.000,3078,0.000,0.051,2999,1803,1581,1623,1540,0,0,0,0,0,0,14.74,14.64,14.76
$GC,1925,0.77,272.5,2999,1803,1623,1540,105.3,15.1,339,1931,0.00,2.47,0.00,0.000,2564,0.000,0.073,3003,385,1581,1623,1539,0,0,0,0,0,0,14.90,14.68,14.90
$GC,1949,0.77,272.5,3002,385,1622,1540,101.3,14.7,343,1956,0.00,2.38,0.00,0.000,3078,0.000,0.034,3002,1806,1581,1622,1540,0,0,0,0,0,0,14.83,14.75,14.84
$GC,2021,0.77,272.5,3002,1809,1622,1539,90.5,15.2,356,2028,0.00,2.33,0.00,0.000,2308,0.000,0.046,3002,3199,1580,1622,1539,0,0,0,0,0,0,14.97,14.68,14.98
$GC,2050,0.77,272.5,3002,3199,1622,1539,85.8,14.2,361,2057,0.00,2.40,0.00,0.000,1030,0.000,0.050,3003,1790,1580,1621,1539,0,0,0,0,0,0,14.85,14.76,14.88
$GC,2121,0.77,272.5,3002,1789,1621,1539,76.5,13.0,374,2128,0.00,2.38,0.00,0.000,2308,0.000,0.047,3002,3197,1580,1621,1539,0,0,0,0,0,0,15.01,14.73,15.02
$GC,2156,0.77,272.5,3002,3197,1621,1538,71.3,14.4,380,2162,0.00,2.40,0.00,0.000,1030,0.000,0.052,3003,1793,1579,1621,1538,0,0,0,0,0,0,14.78,14.69,14.81
$GC,2227,0.77,272.5,3002,1792,1621,1538,62.3,13.1,393,2234,0.00,2.45,0.00,0.000,516,0.000,0.073,3003,386,1579,1621,1538,0,0,0,0,0,0,15.03,14.76,15.04
$GC,2309,0.77,272.5,3003,385,1621,1538,52.1,12.3,408,2316,0.00,2.33,0.00,0.000,3078,0.000,0.034,3003,1800,1579,1621,1538,0,0,0,0,0,0,14.93,14.85,14.95
$GC,2381,0.77,275.1,3002,1803,1621,1537,44.4,9.9,421,2387,0.00,2.35,0.00,0.000,2308,0.000,0.047,3003,3203,1579,1621,1537,0,0,0,0,0,0,15.05,14.72,15.06
$GC,2425,0.77,275.1,3003,3202,1621,1537,39.5,11.3,429,2432,0.00,2.40,0.00,0.000,3078,0.000,0.050,3003,1789,1579,1621,1537,0,0,0,0,0,0,14.90,14.83,14.90
$GC,2497,0.77,275.1,3003,1788,1621,1537,32.0,10.5,442,2503,0.00,2.45,0.00,0.000,2564,0.000,0.072,3005,391,1579,1621,1537,0,0,0,0,0,0,15.07,14.76,15.08
$GC,2521,0.77,275.1,3003,391,1620,1537,28.9,11.2,446,2528,0.00,2.33,0.00,0.000,1030,0.000,0.032,3004,1805,1579,1621,1537,0,0,0,0,0,0,14.85,14.78,14.86
$GC,2593,0.77,275.1,3003,1807,1621,1537,22.0,10.0,459,2600,0.00,2.33,0.00,0.000,260,0.000,0.047,3004,3194,1578,1620,1536,0,0,0,0,0,0,15.07,14.84,15.07
$GC,2633,0.77,275.1,3003,3194,1620,1537,17.6,10.5,466,2639,0.00,2.38,0.00,0.000,1030,0.000,0.049,3004,1796,1578,1620,1537,0,0,0,0,0,0,14.92,14.83,14.95
$GC,2706,0.82,315.7,3003,1796,1621,1537,10.9,9.0,479,2741,0.00,2.42,28.80,0.889,10500,0.000,0.047,3004,3200,1409,1459,1360,0,0,0,0,0,0,15.08,14.74,14.29
$GC,2790,0.96,424.0,3003,3200,1457,1359,3.7,7.3,494,2799,0.20,2.42,3.03,0.459,11266,0.099,0.052,3070,1792,1391,1440,1342,0,0,0,0,0,0,14.71,14.75,14.77
$STATE,2800,end climb,SURFACE_DEPTH_REACHED
$STATE,2800,begin surface coast
$FINISH,0.0,1.024994
$STATE,2821,end surface coast,CONTROL_FINISHED_OK
$STATE,2821,begin surface
$SM_CCo,2846,134.15,0.804,0,0,598,515.37
$SM_GC,0.86,13.90,0.00,134.15,0.046,0.000,0.804,121,1793,598,-8.18,-0.54,515.37,0,0,0,0,0,0,14.81,15.01,14.09
$IRIDIUM_FIX,-3417.32,2515.55,190419,234644
$TT8_MAMPS,0.020972,0.916027
$HUMID,45.07
$INTERNAL_PRESSURE,9.30256
$TCM_TEMP,18.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,110.2,34.6
$SC_FREEKB,3684800
$24V_AH,13.41,140.853
$10V_AH,13.42,0.000
$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,17.725,85.900,444.175,134.150,0.000,0.000,0.000,0.000,3.500,0.000,0.000,1014.772,427.879,652.197,857.573,176.869,0.000,1168.684,0.000,754.652,0.000,23.775,0.000
$DEVICE_MAMPS,132.345,75.735,1131.435,804.015,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2877.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.517,0.000,0.000,0.000
$MEM,341056
$DATA_FILE_SIZE,13435,499
$CAP_FILE_SIZE,96677,0
$CFSIZE,2097086464,2007400448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200419,033453,-3430.601,2517.005,7,1.1,17,-27.9,0.0,266.1,9,9.3