version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 457
start: 4 20 119 8 0 24
data:
$ID,574
$MISSION,3
$DIVE,457
$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,31
$R_STBD_OVSHOOT,51
$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
$GPS1,200419,071617,-3429.7668,2518.6479,7,1.0,15,-27.9,0.6,241.8,8,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.63
$_SM_ANGLEo,0.1
$GPS2,200419,071617,-3429.7668,2518.6479,7,1.0,15,-27.9,0.6,241.8,8,9.8
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3420.415,2525.187
$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,-272.5,2814,1824,2266,2171,0.0,0.0,0,31,0.00,0.00,-6.15,0.000,16386,0.000,0.000,2814,1824,2436,2482,2390,0,0,0,0,0,0,15.10,28.83,15.11
$GC,34,-0.77,-272.5,2814,1824,2483,2391,5.3,0.0,1,75,1.35,2.38,-33.53,0.000,20740,0.080,0.076,2519,3203,3814,3831,3797,0,0,0,0,0,0,14.83,13.45,14.88
$GC,94,-0.77,-272.5,2518,3203,3831,3797,12.1,-13.8,11,101,0.00,2.33,0.00,0.000,5126,0.000,0.041,2518,1809,3812,3832,3792,0,0,0,0,0,0,14.88,14.77,14.90
$GC,164,-0.77,-272.5,2519,1809,3832,3797,22.6,-15.9,24,170,0.00,0.00,0.00,0.000,4102,0.000,0.000,2518,1809,3814,3831,3798,0,0,0,0,0,0,15.12,15.13,15.12
$GC,233,-0.77,-272.5,2519,1809,3831,3797,33.9,-16.1,37,238,0.00,0.00,0.00,0.000,4102,0.000,0.000,2519,1809,3814,3831,3797,0,0,0,0,0,0,15.11,15.11,15.11
$GC,301,-0.77,-272.5,2519,1809,3832,3797,44.0,-14.7,50,307,0.00,0.00,0.00,0.000,4102,0.000,0.000,2519,1809,3816,3832,3801,0,0,0,0,0,0,15.11,15.11,15.11
$GC,372,-0.77,-272.5,2519,1808,3832,3796,53.2,-13.5,63,378,0.00,2.38,0.00,0.000,4356,0.000,0.054,2519,3202,3814,3832,3797,0,0,0,0,0,0,15.11,14.85,15.11
$GC,412,-0.77,-272.5,2519,3202,3832,3797,57.5,-9.4,70,418,0.00,2.33,0.00,0.000,5126,0.000,0.041,2519,1807,3815,3832,3798,0,0,0,0,0,0,14.98,14.88,15.00
$GC,483,-0.77,-272.5,2519,1806,3832,3797,64.6,-10.4,83,491,0.00,2.40,0.00,0.000,4612,0.000,0.064,2519,405,3814,3832,3797,0,0,0,0,0,0,15.09,14.84,15.09
$GC,529,-0.77,-272.5,2518,405,3832,3797,69.5,-9.9,91,537,0.00,2.30,0.00,0.000,5126,0.000,0.034,2519,1806,3819,3841,3797,0,0,0,0,0,0,14.85,14.78,14.87
$GC,603,-0.77,-272.5,2518,1809,3832,3797,76.3,-8.5,104,610,0.00,2.35,0.00,0.000,4356,0.000,0.054,2518,3210,3814,3832,3797,0,0,0,0,0,0,15.11,14.85,15.11
$GC,665,-0.77,-272.5,2518,3210,3832,3797,81.0,-6.5,115,672,0.00,2.35,0.00,0.000,5126,0.000,0.037,2518,1802,3814,3832,3797,0,0,0,0,0,0,14.90,14.78,14.92
$GC,737,-0.77,-272.5,2518,1801,3832,3798,85.9,-7.9,128,743,0.00,0.00,0.00,0.000,4102,0.000,0.000,2519,1801,3814,3832,3797,0,0,0,0,0,0,15.10,15.11,15.11
$GC,806,-0.77,-272.5,2518,1801,3832,3797,91.5,-8.0,141,811,0.00,0.00,0.00,0.000,4102,0.000,0.000,2519,1801,3814,3832,3797,0,0,0,0,0,0,15.11,15.11,15.11
$GC,874,-0.77,-272.5,2518,1801,3833,3797,97.5,-8.6,154,880,0.00,0.00,0.00,0.000,4102,0.000,0.000,2519,1801,3815,3833,3797,0,0,0,0,0,0,15.11,15.12,15.12
$GC,947,-0.77,-272.5,2518,1801,3833,3797,103.7,-8.8,167,953,0.00,0.00,0.00,0.000,4102,0.000,0.000,2518,1801,3815,3833,3797,0,0,0,0,0,0,15.09,15.10,15.10
$GC,1017,-0.77,-272.5,2519,1801,3833,3797,109.9,-8.2,180,1022,0.00,0.00,0.00,0.000,4102,0.000,0.000,2519,1801,3815,3833,3797,0,0,0,0,0,0,15.11,15.11,15.11
$GC,1086,-0.77,-272.5,2518,1801,3833,3797,116.5,-9.9,193,1092,0.00,2.40,0.00,0.000,4356,0.000,0.053,2519,3209,3815,3833,3797,0,0,0,0,0,0,15.11,14.79,15.11
$GC,1121,-0.77,-272.5,2518,3209,3833,3798,119.9,-8.9,199,1127,0.00,2.35,0.00,0.000,5126,0.000,0.043,2518,1812,3815,3833,3797,0,0,0,0,0,0,14.92,14.81,14.93
$STATE,1158,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1158,begin apogee
$GC,1164,-0.17,0.0,2519,1812,3833,3797,123.5,-9.6,206,1375,0.88,0.00,201.27,1.108,10246,0.122,0.000,2698,1808,2699,2734,2664,0,0,0,0,0,0,14.72,14.40,13.90
$STATE,1377,end apogee,CONTROL_FINISHED_OK
$STATE,1377,begin climb
$GC,1380,0.77,272.5,2699,1808,2733,2664,129.8,0.0,244,1604,1.38,2.53,210.60,1.082,10756,0.069,0.070,3006,395,1587,1629,1545,0,0,0,0,0,0,14.42,14.33,13.86
$GC,1622,0.77,272.5,3005,393,1627,1545,115.4,14.8,286,1629,0.00,2.38,0.00,0.000,1030,0.000,0.031,3006,1810,1586,1627,1545,0,0,0,0,0,0,14.54,14.47,14.56
$GC,1694,0.77,272.5,3005,1813,1626,1542,104.9,15.1,299,1700,0.00,2.35,0.00,0.000,260,0.000,0.044,3006,3202,1583,1625,1542,0,0,0,0,0,0,14.79,14.61,14.79
$GC,1713,0.77,272.5,3006,3202,1623,1541,101.7,15.4,302,1720,0.00,2.40,0.00,0.000,1030,0.000,0.050,3006,1805,1582,1623,1541,0,0,0,0,0,0,14.72,14.63,14.73
$GC,1785,0.77,272.5,3006,1805,1623,1541,91.6,14.1,315,1791,0.00,2.45,0.00,0.000,516,0.000,0.071,3006,395,1581,1623,1540,0,0,0,0,0,0,14.91,14.59,14.92
$GC,1819,0.77,272.5,3006,395,1622,1541,87.1,14.0,321,1826,0.00,2.33,0.00,0.000,1030,0.000,0.032,3006,1803,1582,1623,1541,0,0,0,0,0,0,14.83,14.76,14.84
$GC,1892,0.77,272.5,3006,1806,1622,1540,77.9,12.5,334,1898,0.00,2.33,0.00,0.000,260,0.000,0.047,3006,3197,1581,1622,1540,0,0,0,0,0,0,14.99,14.76,15.00
$GC,1951,0.77,272.5,3006,3197,1621,1540,69.2,13.4,345,1958,0.00,2.40,0.00,0.000,1030,0.000,0.051,3007,1792,1580,1621,1540,0,0,0,0,0,0,14.83,14.74,14.85
$GC,2023,0.77,272.5,3007,1792,1622,1539,60.2,12.4,358,2030,0.00,2.42,0.00,0.000,516,0.000,0.070,3011,389,1581,1622,1540,0,0,0,0,0,0,15.01,14.78,15.02
$GC,2108,0.77,272.5,3012,388,1621,1540,50.2,10.1,374,2115,0.00,2.33,0.00,0.000,5126,0.000,0.031,3011,1808,1580,1621,1539,0,0,0,0,0,0,14.94,14.87,14.95
$GC,2180,0.77,272.5,3011,1810,1621,1539,42.7,10.0,387,2186,0.00,2.30,0.00,0.000,4356,0.000,0.046,3011,3194,1580,1621,1539,0,0,0,0,0,0,15.05,14.73,15.06
$GC,2244,0.77,272.5,3011,3193,1621,1538,35.3,11.6,399,2251,0.00,2.38,0.00,0.000,5126,0.000,0.050,3013,1792,1579,1620,1538,0,0,0,0,0,0,14.96,14.83,14.97
$GC,2316,0.77,272.5,3013,1792,1621,1538,28.1,10.3,412,2322,0.00,2.42,0.00,0.000,4612,0.000,0.070,3013,396,1579,1621,1538,0,0,0,0,0,0,15.08,14.77,15.08
$GC,2380,0.77,272.5,3011,396,1621,1538,21.1,10.3,424,2386,0.00,2.30,0.00,0.000,5126,0.000,0.032,3013,1801,1579,1621,1538,0,0,0,0,0,0,14.85,14.78,14.87
$GC,2451,0.77,273.1,3013,1804,1621,1539,14.3,10.0,437,2457,0.00,2.33,0.00,0.000,4356,0.000,0.046,3013,3200,1580,1621,1539,0,0,0,0,0,0,15.09,14.81,15.09
$GC,2486,0.77,273.1,3013,3199,1621,1537,10.4,10.3,443,2492,0.00,2.38,0.00,0.000,5126,0.000,0.048,3013,1798,1579,1621,1537,0,0,0,0,0,0,14.88,14.76,14.89
$GC,2557,0.84,326.1,3013,1798,1621,1537,3.4,8.7,456,2564,0.00,0.00,5.28,0.678,10754,0.000,0.000,3013,1798,1548,1591,1505,0,0,0,0,0,0,15.09,28.83,15.09
$STATE,2565,end climb,SURFACE_DEPTH_REACHED
$STATE,2565,begin surface coast
$FINISH,0.1,1.013049
$STATE,2596,end surface coast,CONTROL_FINISHED_OK
$STATE,2597,begin surface
$SM_CCo,2621,159.50,0.810,0,0,598,515.37
$SM_GC,0.91,13.60,0.00,159.50,0.049,0.000,0.810,125,1796,598,-8.18,-0.45,515.37,0,0,0,0,0,0,14.88,15.10,14.09
$IRIDIUM_FIX,-3417.32,2515.55,200419,052603
$TT8_MAMPS,0.021721,0.933254
$HUMID,44.95
$INTERNAL_PRESSURE,9.30256
$TCM_TEMP,19.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.1,32.9
$SC_FREEKB,3681728
$24V_AH,13.45,142.119
$10V_AH,13.46,0.000
$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,17.200,63.900,417.150,159.500,0.000,0.000,0.000,0.000,3.000,0.000,0.000,941.289,406.139,628.626,799.878,155.520,0.000,1102.589,0.000,698.106,0.000,20.716,0.000
$DEVICE_MAMPS,121.635,76.500,1108.485,810.135,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2652.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.405,0.000,0.000,0.000
$MEM,341064
$DATA_FILE_SIZE,10122,463
$CAP_FILE_SIZE,86981,0
$CFSIZE,2097086464,2006417408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200419,084801,-3429.335,2519.817,7,0.8,32,-27.9,0.9,260.4,9,5.1