version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 453
start: 4 20 119 4 32 38
data:
$ID,574
$MISSION,3
$DIVE,453
$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,49
$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
$GPS1,200419,034801,-3430.4888,2516.9243,7,1.1,31,-27.9,0.6,281.3,9,5.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.02
$_SM_ANGLEo,1.2
$GPS2,200419,034801,-3430.4888,2516.9243,7,1.1,31,-27.9,0.6,281.3,9,5.7
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3421.136,2523.465
$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,-272.5,2813,1796,2241,2145,0.0,0.0,0,31,0.00,0.00,-6.05,0.000,16386,0.000,0.000,2813,1796,2411,2458,2365,0,0,0,0,0,0,15.08,28.83,15.08
$GC,34,-0.77,-272.5,2813,1796,2458,2367,5.6,0.0,1,74,1.33,0.00,-34.20,0.000,20998,0.086,0.000,2527,1796,3813,3832,3795,0,0,0,0,0,0,14.81,13.53,14.86
$GC,138,-0.77,-272.5,2526,1796,3832,3795,18.9,-14.8,20,144,0.00,2.40,0.00,0.000,4356,0.000,0.054,2525,3206,3814,3832,3796,0,0,0,0,0,0,15.09,14.84,15.09
$GC,192,-0.77,-272.5,2523,3206,3833,3797,25.8,-12.4,30,199,0.00,2.35,0.00,0.000,5126,0.000,0.044,2526,1808,3814,3833,3796,0,0,0,0,0,0,14.97,14.86,14.98
$GC,263,-0.77,-272.5,2525,1808,3833,3795,35.6,-15.4,43,269,0.00,0.00,0.00,0.000,4102,0.000,0.000,2525,1808,3814,3833,3795,0,0,0,0,0,0,15.11,15.07,15.08
$GC,332,-0.77,-272.5,2524,1808,3833,3795,46.3,-14.7,56,337,0.00,0.00,0.00,0.000,4102,0.000,0.000,2526,1808,3814,3833,3796,0,0,0,0,0,0,15.10,15.10,15.10
$GC,401,-0.77,-272.5,2525,1807,3833,3800,55.5,-13.4,69,407,0.00,2.40,0.00,0.000,4356,0.000,0.054,2526,3211,3814,3833,3796,0,0,0,0,0,0,15.10,14.80,15.10
$GC,431,-0.77,-272.5,2525,3211,3833,3795,58.5,-9.6,74,437,0.00,2.35,0.00,0.000,5126,0.000,0.041,2526,1808,3814,3834,3795,0,0,0,0,0,0,14.92,14.82,14.93
$GC,502,-0.77,-272.5,2525,1807,3833,3795,65.6,-11.0,87,508,0.00,2.42,0.00,0.000,4612,0.000,0.063,2526,404,3814,3833,3795,0,0,0,0,0,0,15.10,14.83,15.10
$GC,536,-0.77,-272.5,2525,403,3833,3795,69.2,-9.9,93,543,0.00,2.33,0.00,0.000,5126,0.000,0.033,2525,1814,3814,3833,3795,0,0,0,0,0,0,14.97,14.88,14.98
$GC,609,-0.77,-272.5,2525,1816,3833,3796,76.0,-9.5,106,615,0.00,2.35,0.00,0.000,4356,0.000,0.054,2525,3211,3814,3833,3795,0,0,0,0,0,0,15.10,14.84,15.10
$GC,668,-0.77,-272.5,2525,3211,3834,3793,82.4,-10.4,117,675,0.00,2.35,0.00,0.000,5126,0.000,0.037,2525,1800,3814,3833,3796,0,0,0,0,0,0,14.97,14.87,14.98
$GC,740,-0.77,-272.5,2525,1800,3834,3795,89.6,-10.1,130,746,0.00,0.00,0.00,0.000,4102,0.000,0.000,2526,1799,3815,3834,3796,0,0,0,0,0,0,15.10,15.10,15.11
$GC,809,-0.77,-272.5,2525,1799,3834,3796,96.6,-10.1,143,815,0.00,2.40,0.00,0.000,4356,0.000,0.054,2526,3213,3814,3834,3795,0,0,0,0,0,0,15.11,14.78,15.11
$GC,911,-0.77,-272.5,2526,3213,3834,3796,105.5,-7.7,162,918,0.00,2.35,0.00,0.000,5126,0.000,0.041,2525,1813,3815,3834,3796,0,0,0,0,0,0,14.91,14.81,14.92
$GC,983,-0.77,-272.5,2525,1813,3833,3795,111.7,-8.8,175,990,0.00,2.40,0.00,0.000,4612,0.000,0.063,2525,409,3814,3834,3795,0,0,0,0,0,0,15.09,14.83,15.09
$GC,1048,-0.77,-272.5,2525,410,3834,3795,118.1,-11.2,187,1055,0.00,2.30,0.00,0.000,5126,0.000,0.034,2525,1814,3814,3834,3795,0,0,0,0,0,0,14.97,14.89,14.98
$GC,1120,-0.77,-272.5,2525,1816,3834,3795,124.1,-8.4,200,1127,0.00,2.38,0.00,0.000,4356,0.000,0.057,2525,3213,3815,3834,3796,0,0,0,0,0,0,15.10,14.73,15.10
$STATE,1191,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1191,begin apogee
$GC,1199,-0.17,0.0,2526,1795,3831,3792,130.8,-10.0,213,1410,0.85,0.00,200.88,1.116,10246,0.123,0.000,2700,1795,2699,2735,2664,0,0,0,0,0,0,14.72,14.37,13.90
$STATE,1412,end apogee,CONTROL_FINISHED_OK
$STATE,1412,begin climb
$GC,1415,0.77,272.5,2700,1795,2733,2662,138.7,0.0,251,1640,1.40,2.53,209.70,1.092,10756,0.095,0.068,2995,399,1586,1629,1544,0,0,0,0,0,0,14.38,14.31,13.84
$GC,1653,0.77,272.5,2995,399,1629,1544,125.0,14.8,292,1659,0.00,2.38,0.00,0.000,3078,0.000,0.031,2995,1808,1585,1628,1543,0,0,0,0,0,0,14.54,14.47,14.54
$GC,1724,0.77,272.5,2994,1810,1627,1541,114.7,15.3,305,1730,0.00,0.00,0.00,0.000,2054,0.000,0.000,2995,1810,1584,1627,1541,0,0,0,0,0,0,14.78,14.78,14.78
$GC,1793,0.77,272.5,2995,1810,1626,1541,104.0,15.7,318,1799,0.00,0.00,0.00,0.000,2054,0.000,0.000,2995,1810,1583,1626,1541,0,0,0,0,0,0,14.88,14.88,14.88
$GC,1861,0.77,272.5,2995,1810,1625,1540,92.9,16.3,331,1867,0.00,0.00,0.00,0.000,2054,0.000,0.000,2995,1810,1582,1625,1540,0,0,0,0,0,0,14.95,14.95,14.95
$GC,1930,0.77,272.5,2995,1810,1624,1540,82.5,15.0,344,1936,0.00,0.00,0.00,0.000,2054,0.000,0.000,2995,1811,1582,1624,1540,0,0,0,0,0,0,14.98,14.99,14.99
$GC,1999,0.77,272.5,2994,1810,1624,1540,73.5,12.3,357,2006,0.00,2.33,0.00,0.000,2308,0.000,0.047,2995,3204,1581,1623,1539,0,0,0,0,0,0,15.00,14.78,15.01
$GC,2029,0.77,272.5,2995,3204,1622,1539,69.8,11.0,362,2036,0.00,2.40,0.00,0.000,3078,0.000,0.052,2995,1798,1579,1620,1539,0,0,0,0,0,0,14.90,14.78,14.91
$GC,2101,0.77,272.5,2995,1798,1622,1538,61.0,12.3,375,2107,0.00,2.45,0.00,0.000,2564,0.000,0.073,2995,388,1580,1622,1538,0,0,0,0,0,0,15.04,14.70,15.04
$GC,2182,0.77,272.5,2995,388,1621,1539,51.3,11.3,390,2189,0.00,2.33,0.00,0.000,3078,0.000,0.032,2996,1803,1580,1622,1538,0,0,0,0,0,0,14.93,14.85,14.95
$GC,2255,0.77,275.1,2995,1806,1622,1537,43.8,9.9,403,2262,0.00,2.33,0.00,0.000,2308,0.000,0.047,2996,3193,1579,1622,1537,0,0,0,0,0,0,15.07,14.73,15.07
$GC,2290,0.77,275.1,2995,3190,1621,1537,40.3,10.5,409,2297,0.00,2.38,0.00,0.000,3078,0.000,0.049,2995,1796,1579,1621,1537,0,0,0,0,0,0,14.85,14.74,14.86
$GC,2362,0.79,291.8,2995,1797,1621,1537,33.7,9.6,422,2385,0.00,0.00,16.40,0.942,10246,0.000,0.000,2996,1796,1507,1553,1462,0,0,0,0,0,0,15.07,14.64,14.21
$GC,2448,0.79,291.8,2995,1796,1553,1462,24.7,10.5,438,2453,0.00,0.00,0.00,0.000,2054,0.000,0.000,2996,1796,1507,1553,1462,0,0,0,0,0,0,15.02,15.02,15.02
$GC,2517,0.80,298.0,3000,1796,1552,1461,17.7,9.9,451,2529,0.00,2.40,3.92,0.675,10500,0.000,0.048,2996,3193,1483,1530,1437,0,0,0,0,0,0,15.04,14.73,14.19
$GC,2557,0.80,298.0,2995,3193,1530,1437,13.6,10.4,458,2563,0.00,2.38,0.00,0.000,3078,0.000,0.051,2996,1802,1483,1530,1437,0,0,0,0,0,0,14.90,14.77,14.92
$GC,2629,0.85,338.5,2996,1801,1530,1436,6.8,9.0,471,2663,0.08,0.00,27.58,0.844,10246,0.184,0.000,3042,1800,1318,1370,1267,0,0,0,0,0,0,14.77,14.61,14.25
$STATE,2673,end climb,SURFACE_DEPTH_REACHED
$STATE,2673,begin surface coast
$FINISH,0.0,1.025192
$STATE,2711,end surface coast,CONTROL_FINISHED_OK
$STATE,2711,begin surface
$SM_CCo,2736,121.03,0.794,0,0,598,515.37
$SM_GC,0.87,13.68,0.00,121.03,0.033,0.000,0.794,106,1800,598,-8.21,-0.34,515.37,0,0,0,0,0,0,14.81,14.99,14.10
$IRIDIUM_FIX,-3417.32,2515.55,200419,014737
$TT8_MAMPS,0.020972,0.871087
$HUMID,45.07
$INTERNAL_PRESSURE,9.30256
$TCM_TEMP,19.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,105.0,35.2
$SC_FREEKB,3683776
$24V_AH,13.53,141.275
$10V_AH,13.48,0.000
$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,17.325,57.050,458.475,121.025,0.000,0.000,0.000,0.000,3.250,0.000,0.000,970.941,420.311,619.444,834.121,157.066,0.000,1114.611,0.000,734.009,0.000,22.254,0.000
$DEVICE_MAMPS,183.600,72.675,1116.135,794.070,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2764.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.239,0.000,0.000,0.000
$MEM,341064
$DATA_FILE_SIZE,13425,486
$CAP_FILE_SIZE,88121,0
$CFSIZE,2097086464,2007072768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200419,052131,-3430.155,2517.749,8,1.0,34,-27.9,0.3,22.9,8,6.7