version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 461
start: 4 20 119 11 26 13
data:
$ID,574
$MISSION,3
$DIVE,461
$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,45
$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
$GPS1,200419,103944,-3428.8813,2521.2954,7,1.2,47,-27.9,0.5,145.8,7,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.75
$_SM_ANGLEo,2.9
$GPS2,200419,103944,-3428.8813,2521.2954,7,1.2,47,-27.9,0.5,145.8,7,4.6
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3419.529,2527.834
$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,-272.5,2810,1797,2304,2208,0.0,0.0,0,31,0.00,0.00,-5.90,0.000,16386,0.000,0.000,2810,1797,2464,2508,2420,0,0,0,0,0,0,15.04,28.83,15.05
$GC,34,-0.77,-272.5,2810,1797,2509,2420,5.2,0.0,1,74,1.35,0.00,-33.45,0.000,20742,0.088,0.000,2519,1797,3814,3832,3796,0,0,0,0,0,0,14.78,13.56,14.84
$GC,138,-0.77,-272.5,2519,1797,3832,3797,19.4,-16.6,20,144,0.00,2.42,0.00,0.000,4612,0.000,0.066,2519,397,3814,3832,3796,0,0,0,0,0,0,15.08,14.82,15.08
$GC,162,-0.77,-272.5,2519,397,3832,3796,23.0,-15.3,24,169,0.00,2.35,0.00,0.000,5126,0.000,0.036,2519,1814,3814,3832,3796,0,0,0,0,0,0,14.96,14.87,14.97
$GC,233,-0.77,-272.5,2518,1815,3832,3796,33.4,-15.6,37,240,0.00,2.38,0.00,0.000,4356,0.000,0.055,2519,3220,3815,3833,3797,0,0,0,0,0,0,15.07,14.84,15.07
$GC,283,-0.77,-272.5,2518,3220,3833,3797,40.8,-12.1,46,290,0.00,2.35,0.00,0.000,1030,0.000,0.042,2519,1806,3815,3833,3797,0,0,0,0,0,0,14.95,14.86,14.96
$GC,355,-0.77,-272.5,2518,1806,3833,3797,49.7,-13.6,59,362,0.00,2.40,0.00,0.000,4612,0.000,0.064,2519,409,3814,3833,3796,0,0,0,0,0,0,15.09,14.75,15.10
$GC,375,-0.77,-272.5,2518,409,3832,3796,52.6,-12.6,62,382,0.00,2.33,0.00,0.000,5126,0.000,0.034,2517,1815,3814,3832,3796,0,0,0,0,0,0,14.91,14.81,14.92
$GC,446,-0.77,-272.5,2519,1818,3832,3796,61.0,-12.3,75,453,0.00,2.38,0.00,0.000,4356,0.000,0.054,2519,3219,3815,3834,3797,0,0,0,0,0,0,15.10,14.85,15.11
$GC,492,-0.77,-272.5,2519,3219,3833,3797,65.2,-8.3,83,499,0.00,2.35,0.00,0.000,5126,0.000,0.037,2519,1802,3815,3833,3797,0,0,0,0,0,0,14.97,14.87,14.99
$GC,564,-0.77,-272.5,2519,1802,3832,3796,71.5,-8.8,96,570,0.00,0.00,0.00,0.000,4102,0.000,0.000,2519,1802,3815,3833,3797,0,0,0,0,0,0,15.10,15.10,15.10
$GC,633,-0.77,-272.5,2518,1802,3833,3797,77.8,-9.0,109,640,0.00,2.42,0.00,0.000,4356,0.000,0.055,2519,3220,3815,3834,3797,0,0,0,0,0,0,15.10,14.85,15.10
$GC,705,-0.77,-272.5,2518,3220,3834,3797,84.6,-10.6,122,714,0.00,2.35,0.00,0.000,5126,0.000,0.038,2518,1806,3814,3833,3796,0,0,0,0,0,0,14.88,14.77,14.89
$GC,780,-0.77,-272.5,2518,1806,3833,3796,90.9,-8.5,135,785,0.00,0.00,0.00,0.000,4102,0.000,0.000,2519,1806,3815,3834,3797,0,0,0,0,0,0,15.11,15.11,15.11
$GC,848,-0.77,-272.5,2519,1806,3834,3796,97.0,-8.7,148,855,0.00,2.38,0.00,0.000,4612,0.000,0.062,2519,410,3815,3834,3797,0,0,0,0,0,0,15.11,14.85,15.11
$GC,896,-0.77,-272.5,2519,409,3834,3796,101.1,-9.3,156,902,0.00,2.33,0.00,0.000,5126,0.000,0.034,2519,1826,3814,3833,3796,0,0,0,0,0,0,14.92,14.85,14.94
$GC,967,-0.77,-272.5,2518,1827,3834,3796,107.4,-9.3,169,974,0.00,2.33,0.00,0.000,4356,0.000,0.054,2519,3208,3815,3834,3797,0,0,0,0,0,0,15.11,14.85,15.11
$GC,997,-0.77,-272.5,2519,3209,3834,3797,109.9,-7.6,174,1004,0.00,2.35,0.00,0.000,5126,0.000,0.038,2519,1806,3815,3833,3797,0,0,0,0,0,0,14.97,14.88,14.99
$GC,1069,-0.77,-272.5,2518,1807,3835,3796,116.5,-9.7,187,1076,0.00,2.38,0.00,0.000,4612,0.000,0.062,2519,412,3815,3834,3797,0,0,0,0,0,0,15.11,14.74,15.11
$GC,1129,-0.77,-272.5,2518,412,3833,3796,124.0,-12.7,198,1135,0.00,2.30,0.00,0.000,5126,0.000,0.034,2519,1818,3814,3833,3796,0,0,0,0,0,0,14.98,14.89,15.00
$STATE,1141,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1141,begin apogee
$GC,1147,-0.17,0.0,2519,1820,3834,3797,125.4,-10.7,200,1359,0.90,0.00,201.15,1.112,10246,0.128,0.000,2701,1820,2700,2734,2666,0,0,0,0,0,0,14.69,14.36,13.87
$STATE,1360,end apogee,CONTROL_FINISHED_OK
$STATE,1361,begin climb
$GC,1363,0.77,272.5,2701,1820,2733,2665,134.5,0.0,238,1588,1.38,2.55,210.38,1.096,10756,0.080,0.064,2992,402,1587,1630,1545,0,0,0,0,0,0,14.42,14.33,13.87
$GC,1632,0.77,272.5,2991,402,1628,1550,127.1,15.2,285,1638,0.00,2.35,0.00,0.000,3078,0.000,0.035,2992,1794,1584,1625,1544,0,0,0,0,0,0,14.63,14.54,14.64
$GC,1703,0.77,272.5,2991,1798,1627,1542,117.3,14.0,298,1709,0.00,0.00,0.00,0.000,2054,0.000,0.000,2991,1797,1584,1627,1542,0,0,0,0,0,0,14.85,14.85,14.85
$GC,1772,0.77,272.5,2991,1798,1627,1542,107.9,13.4,311,1779,0.00,2.38,0.00,0.000,2308,0.000,0.048,2992,3204,1584,1626,1542,0,0,0,0,0,0,14.92,14.71,14.93
$GC,1807,0.77,272.5,2991,3204,1623,1541,103.0,13.5,317,1813,0.00,2.40,0.00,0.000,3078,0.000,0.050,2992,1800,1582,1624,1541,0,0,0,0,0,0,14.83,14.73,14.85
$GC,1879,0.77,272.5,2991,1802,1624,1541,93.9,13.5,330,1885,0.00,2.45,0.00,0.000,2564,0.000,0.073,2991,398,1582,1624,1541,0,0,0,0,0,0,14.99,14.66,15.00
$GC,1908,0.77,272.5,2988,397,1623,1541,89.8,12.8,335,1915,0.00,2.33,0.00,0.000,3078,0.000,0.033,2992,1806,1582,1623,1541,0,0,0,0,0,0,14.80,14.73,14.81
$GC,1980,0.77,272.5,2991,1809,1623,1541,81.6,11.1,348,1986,0.00,2.35,0.00,0.000,2308,0.000,0.047,2992,3207,1582,1623,1541,0,0,0,0,0,0,15.02,14.76,15.03
$GC,2014,0.77,272.5,2991,3207,1622,1540,77.4,11.1,354,2021,0.00,2.40,0.00,0.000,3078,0.000,0.052,2992,1802,1581,1622,1540,0,0,0,0,0,0,14.87,14.76,14.88
$GC,2086,0.77,272.5,2992,1802,1622,1541,70.3,10.5,367,2093,0.00,2.45,0.00,0.000,2564,0.000,0.073,2992,391,1581,1622,1540,0,0,0,0,0,0,15.04,14.78,15.05
$GC,2106,0.78,277.1,2992,390,1623,1540,68.2,9.9,370,2119,0.00,2.33,4.03,0.763,11270,0.000,0.034,2992,1800,1570,1612,1529,0,0,0,0,0,0,14.94,14.85,14.15
$GC,2182,0.78,277.1,2992,1800,1610,1528,59.5,12.2,384,2188,0.00,2.45,0.00,0.000,2564,0.000,0.070,2998,392,1570,1612,1528,0,0,0,0,0,0,15.05,14.80,15.05
$GC,2212,0.78,277.1,2998,392,1612,1528,55.6,12.7,389,2218,0.00,2.33,0.00,0.000,3078,0.000,0.032,2998,1819,1570,1612,1528,0,0,0,0,0,0,14.95,14.85,14.95
$GC,2283,0.78,277.1,2997,1821,1612,1528,46.9,12.9,402,2290,0.00,2.28,0.00,0.000,2308,0.000,0.046,2998,3186,1570,1612,1528,0,0,0,0,0,0,15.07,14.75,15.07
$GC,2313,0.78,277.1,2997,3186,1612,1528,43.1,12.0,407,2320,0.00,2.35,0.00,0.000,3078,0.000,0.052,2998,1798,1570,1612,1528,0,0,0,0,0,0,14.95,14.83,14.96
$GC,2386,0.79,287.3,2998,1798,1612,1527,35.9,9.8,420,2403,0.00,0.00,10.68,0.865,10246,0.000,0.000,2996,1798,1526,1572,1481,0,0,0,0,0,0,15.08,14.76,14.19
$GC,2467,0.79,287.3,2998,1798,1566,1482,27.2,10.4,435,2473,0.00,0.00,0.00,0.000,2054,0.000,0.000,2999,1798,1527,1572,1482,0,0,0,0,0,0,15.04,15.05,15.04
$GC,2536,0.80,292.7,2998,1798,1572,1482,20.0,9.9,448,2543,0.00,0.00,3.70,0.669,10246,0.000,0.000,2999,1798,1505,1550,1460,0,0,0,0,0,0,15.06,14.82,14.17
$GC,2608,0.85,337.5,2998,1798,1550,1460,13.4,8.9,461,2648,0.05,2.45,31.58,0.900,10756,0.255,0.071,3033,389,1320,1373,1268,0,0,0,0,0,0,14.77,14.67,14.26
$GC,2658,0.85,340.6,3033,389,1373,1268,8.0,9.9,469,2665,0.00,2.33,0.00,0.000,1030,0.000,0.032,3033,1804,1320,1373,1267,0,0,0,0,0,0,14.74,14.67,14.76
$STATE,2700,end climb,SURFACE_DEPTH_REACHED
$STATE,2700,begin surface coast
$FINISH,0.2,1.025739
$STATE,2733,end surface coast,CONTROL_FINISHED_OK
$STATE,2733,begin surface
$SM_CCo,2758,121.57,0.811,0,0,599,515.37
$SM_GC,0.86,13.62,0.00,121.57,0.039,0.000,0.811,124,1807,599,-8.17,-0.11,515.37,0,0,0,0,0,0,14.81,15.02,14.10
$IRIDIUM_FIX,-3417.32,2521.39,200419,085410
$TT8_MAMPS,0.021721,0.676347
$HUMID,45.27
$INTERNAL_PRESSURE,9.30256
$TCM_TEMP,19.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.1,35.0
$SC_FREEKB,3679680
$24V_AH,13.56,142.962
$10V_AH,13.51,0.000
$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,17.300,75.925,461.500,121.575,0.000,0.000,0.000,0.000,3.000,0.000,0.000,972.436,405.267,639.551,836.581,174.452,0.000,1146.640,0.000,726.278,0.000,20.719,0.000
$DEVICE_MAMPS,254.745,73.440,1111.545,810.900,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2790.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.536,0.000,0.000,0.000
$MEM,341064
$DATA_FILE_SIZE,13442,483
$CAP_FILE_SIZE,93523,0
$CFSIZE,2097086464,2005762048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200419,121548,-3428.111,2522.624,12,1.0,53,-27.9,1.1,54.9,7,4.5