version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 455
start: 4 20 119 6 19 56
data:
$ID,574
$MISSION,3
$DIVE,455
$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,29
$R_STBD_OVSHOOT,36
$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
$GPS1,200419,053507,-3430.0852,2517.6799,7,0.9,21,-27.9,0.6,302.6,8,8.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.53
$_SM_ANGLEo,-1.8
$GPS2,200419,053507,-3430.0852,2517.6799,7,0.9,21,-27.9,0.6,302.6,8,8.4
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3420.733,2524.220
$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,-272.5,2811,1823,2258,2162,0.0,0.0,0,31,0.00,0.00,-5.72,0.000,16386,0.000,0.000,2811,1822,2445,2491,2400,0,0,0,0,0,0,15.05,28.83,15.06
$GC,34,-0.77,-272.5,2811,1826,2492,2400,7.6,0.0,1,75,1.38,2.40,-29.98,0.000,20740,0.076,0.073,2502,3221,3814,3832,3797,0,0,0,0,0,0,14.80,13.48,14.85
$GC,169,-0.77,-272.5,2501,3221,3832,3797,23.5,-11.4,26,176,0.00,2.38,0.00,0.000,3078,0.000,0.042,2501,1800,3814,3832,3797,0,0,0,0,0,0,14.96,14.85,14.97
$GC,240,-0.77,-272.5,2502,1800,3832,3797,33.9,-17.0,39,246,0.00,0.00,0.00,0.000,2054,0.000,0.000,2502,1799,3814,3832,3797,0,0,0,0,0,0,15.09,15.09,15.09
$GC,309,-0.77,-272.5,2501,1799,3832,3797,46.0,-16.3,52,315,0.00,2.42,0.00,0.000,2308,0.000,0.054,2502,3222,3814,3832,3797,0,0,0,0,0,0,15.09,14.85,15.09
$GC,350,-0.77,-272.5,2501,3222,3832,3797,51.5,-11.5,59,356,0.00,2.38,0.00,0.000,3078,0.000,0.043,2502,1804,3814,3832,3797,0,0,0,0,0,0,14.86,14.77,14.87
$GC,424,-0.77,-272.5,2501,1804,3832,3797,60.5,-12.7,72,431,0.00,2.40,0.00,0.000,2564,0.000,0.063,2502,403,3814,3832,3797,0,0,0,0,0,0,15.10,14.74,15.11
$GC,461,-0.77,-272.5,2501,403,3832,3797,65.5,-11.7,78,468,0.00,2.35,0.00,0.000,3078,0.000,0.034,2498,1829,3814,3832,3797,0,0,0,0,0,0,14.93,14.84,14.93
$GC,533,-0.77,-272.5,2502,1831,3832,3797,73.9,-12.9,91,542,0.00,2.33,0.00,0.000,2308,0.000,0.054,2502,3207,3814,3832,3797,0,0,0,0,0,0,15.09,14.85,15.09
$GC,587,-0.77,-272.5,2501,3208,3833,3797,80.0,-10.7,100,593,0.00,2.35,0.00,0.000,3078,0.000,0.041,2503,1805,3815,3833,3797,0,0,0,0,0,0,14.96,14.83,14.97
$GC,658,-0.77,-272.5,2502,1805,3831,3797,88.6,-13.0,113,664,0.00,0.00,0.00,0.000,2054,0.000,0.000,2502,1805,3815,3833,3797,0,0,0,0,0,0,15.09,15.09,15.09
$GC,727,-0.77,-272.5,2501,1804,3833,3797,97.0,-11.6,126,733,0.00,0.00,0.00,0.000,2054,0.000,0.000,2502,1804,3815,3833,3797,0,0,0,0,0,0,15.10,15.11,15.11
$GC,797,-0.77,-272.5,2502,1803,3833,3797,105.0,-11.1,139,808,0.00,0.00,0.00,0.000,2054,0.000,0.000,2502,1804,3815,3833,3797,0,0,0,0,0,0,15.10,15.11,15.11
$GC,873,-0.77,-272.5,2502,1805,3833,3797,113.1,-11.4,152,879,0.00,0.00,0.00,0.000,2054,0.000,0.000,2502,1805,3815,3834,3797,0,0,0,0,0,0,15.09,15.09,15.09
$GC,941,-0.77,-272.5,2501,1804,3833,3797,121.3,-11.9,165,947,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1805,3815,3833,3797,0,0,0,0,0,0,15.11,15.11,15.11
$STATE,998,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,998,begin apogee
$GC,1004,-0.17,0.0,2502,1804,3833,3797,127.7,-11.4,176,1215,0.98,0.00,200.68,1.103,10246,0.134,0.000,2698,1804,2699,2734,2664,0,0,0,0,0,0,14.72,14.38,13.89
$STATE,1216,end apogee,CONTROL_FINISHED_OK
$STATE,1217,begin climb
$GC,1219,0.77,272.5,2698,1804,2733,2663,137.2,0.0,214,1444,1.40,2.55,209.35,1.087,10756,0.091,0.070,2991,395,1587,1630,1545,0,0,0,0,0,0,14.38,14.32,13.87
$GC,1477,0.77,272.5,2991,395,1628,1545,126.6,14.2,259,1484,0.00,2.38,0.00,0.000,3078,0.000,0.031,2991,1809,1586,1628,1545,0,0,0,0,0,0,14.60,14.53,14.61
$GC,1549,0.77,272.5,2991,1811,1627,1543,116.3,15.9,272,1555,0.00,0.00,0.00,0.000,2054,0.000,0.000,2991,1812,1585,1628,1542,0,0,0,0,0,0,14.83,14.83,14.83
$GC,1618,0.77,272.5,2991,1811,1627,1542,106.3,14.4,285,1624,0.00,0.00,0.00,0.000,2054,0.000,0.000,2991,1812,1584,1627,1541,0,0,0,0,0,0,14.91,14.91,14.91
$GC,1687,0.77,272.5,2991,1812,1621,1541,96.4,14.4,298,1693,0.00,0.00,0.00,0.000,2054,0.000,0.000,2991,1812,1584,1626,1542,0,0,0,0,0,0,14.97,14.97,14.97
$GC,1755,0.77,272.5,2991,1812,1625,1541,86.0,15.4,311,1762,0.00,2.50,0.00,0.000,2564,0.000,0.072,2992,395,1582,1623,1541,0,0,0,0,0,0,15.00,14.71,15.00
$GC,1785,0.77,272.5,2991,395,1624,1541,81.8,14.5,316,1792,0.00,2.33,0.00,0.000,3078,0.000,0.032,2992,1805,1582,1624,1540,0,0,0,0,0,0,14.84,14.74,14.85
$GC,1857,0.77,272.5,2999,1805,1624,1540,72.6,12.8,329,1863,0.00,2.35,0.00,0.000,2308,0.000,0.047,2992,3204,1583,1626,1541,0,0,0,0,0,0,15.02,14.81,15.03
$GC,1901,0.77,272.5,2991,3203,1622,1539,66.2,13.2,337,1908,0.00,2.40,0.00,0.000,3078,0.000,0.051,2992,1798,1581,1622,1540,0,0,0,0,0,0,14.88,14.77,14.89
$GC,1972,0.77,272.5,2991,1798,1622,1540,58.2,10.4,350,1978,0.00,2.45,0.00,0.000,2564,0.000,0.070,2992,391,1581,1622,1540,0,0,0,0,0,0,15.05,14.79,15.06
$GC,2044,0.86,341.3,2992,390,1622,1540,51.7,8.3,363,2111,0.10,2.33,56.67,1.043,11270,0.148,0.032,3037,1807,1305,1358,1253,0,0,0,0,0,0,14.84,14.87,14.11
$GC,2176,0.86,341.3,3036,1807,1357,1250,32.0,15.8,387,2183,0.00,2.35,0.00,0.000,4356,0.000,0.047,3037,3194,1303,1357,1250,0,0,0,0,0,0,14.90,14.65,14.90
$GC,2211,0.86,341.3,3035,3194,1356,1249,26.6,15.1,393,2218,0.00,2.40,0.00,0.000,5126,0.000,0.050,3038,1793,1302,1356,1248,0,0,0,0,0,0,14.78,14.68,14.78
$GC,2282,0.86,341.3,3037,1793,1356,1248,16.4,14.5,406,2289,0.00,2.45,0.00,0.000,4612,0.000,0.073,3039,394,1302,1356,1248,0,0,0,0,0,0,14.97,14.72,14.97
$GC,2307,0.86,341.3,3040,394,1356,1248,12.4,15.8,410,2314,0.00,2.33,0.00,0.000,5126,0.000,0.034,3040,1796,1302,1356,1248,0,0,0,0,0,0,14.88,14.79,14.89
$STATE,2376,end climb,SURFACE_DEPTH_REACHED
$STATE,2376,begin surface coast
$FINISH,0.6,1.025226
$STATE,2397,end surface coast,CONTROL_FINISHED_OK
$STATE,2397,begin surface
$SM_CCo,2421,118.22,0.800,0,0,599,515.37
$SM_GC,0.91,13.68,0.00,118.22,0.044,0.000,0.800,122,1799,599,-8.17,-0.37,515.37,0,0,0,0,0,0,14.85,15.05,14.13
$IRIDIUM_FIX,-3417.32,2515.55,200419,033925
$TT8_MAMPS,0.021721,0.911533
$HUMID,45.23
$INTERNAL_PRESSURE,9.30256
$TCM_TEMP,19.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,105.9,31.4
$SC_FREEKB,3682752
$24V_AH,13.48,141.707
$10V_AH,13.49,0.000
$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,17.525,50.200,466.700,118.225,0.000,0.000,0.000,0.000,3.500,0.000,0.000,832.311,361.315,610.472,746.344,138.513,0.000,1061.696,0.000,644.182,0.000,25.094,0.000
$DEVICE_MAMPS,147.645,73.440,1103.130,800.190,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2453.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.085,0.000,0.000,0.000
$MEM,341056
$DATA_FILE_SIZE,10081,427
$CAP_FILE_SIZE,77229,0
$CFSIZE,2097086464,2006745088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200419,070331,-3429.760,2518.663,8,1.0,33,-27.9,0.5,253.9,8,6.1