version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 463
start: 4 20 119 13 16 48
data:
$ID,574
$MISSION,3
$DIVE,463
$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,58
$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
$GPS1,200419,122958,-3428.0010,2522.8772,8,1.0,48,-27.9,1.1,95.8,7,4.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.16
$_SM_ANGLEo,1.1
$GPS2,200419,122958,-3428.0010,2522.8772,8,1.0,48,-27.9,1.1,95.8,7,4.0
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3418.649,2529.414
$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,21,begin dive
$GC,23,-0.77,-272.5,2809,1801,2308,2211,0.0,0.0,0,31,0.00,0.00,-5.78,0.000,16386,0.000,0.000,2809,1802,2493,2541,2445,0,0,0,0,0,0,15.02,28.83,15.03
$GC,34,-0.77,-272.5,2809,1802,2542,2451,7.5,0.0,1,75,1.33,2.40,-28.90,0.000,20740,0.087,0.079,2522,3193,3815,3832,3798,0,0,0,0,0,0,14.76,13.47,14.83
$GC,129,-0.77,-272.5,2522,3193,3833,3798,17.1,-9.1,18,136,0.00,2.33,0.00,0.000,5126,0.000,0.044,2521,1806,3815,3833,3798,0,0,0,0,0,0,14.85,14.75,14.85
$GC,201,-0.77,-272.5,2522,1806,3833,3798,26.7,-15.2,31,207,0.00,0.00,0.00,0.000,4102,0.000,0.000,2522,1806,3815,3833,3798,0,0,0,0,0,0,15.08,15.08,15.08
$GC,270,-0.77,-272.5,2522,1806,3829,3798,38.4,-15.3,44,276,0.00,2.38,0.00,0.000,4356,0.000,0.053,2522,3197,3816,3834,3798,0,0,0,0,0,0,15.09,14.73,15.09
$GC,304,-0.77,-272.5,2522,3198,3833,3798,43.3,-13.2,50,311,0.00,2.33,0.00,0.000,5126,0.000,0.041,2522,1807,3817,3836,3798,0,0,0,0,0,0,14.96,14.85,14.97
$GC,375,-0.77,-272.5,2522,1806,3833,3798,52.3,-13.2,63,382,0.00,2.40,0.00,0.000,4612,0.000,0.063,2522,409,3815,3832,3798,0,0,0,0,0,0,15.09,14.74,15.09
$GC,415,-0.77,-272.5,2522,409,3833,3798,57.4,-10.2,70,421,0.00,2.30,0.00,0.000,5126,0.000,0.034,2522,1808,3816,3834,3798,0,0,0,0,0,0,14.85,14.77,14.85
$GC,486,-0.77,-272.5,2521,1811,3833,3798,63.6,-9.2,83,493,0.00,2.38,0.00,0.000,4356,0.000,0.055,2522,3209,3816,3834,3798,0,0,0,0,0,0,15.09,14.79,15.09
$GC,526,-0.77,-272.5,2522,3209,3834,3798,66.7,-7.3,90,533,0.00,2.35,0.00,0.000,5126,0.000,0.038,2522,1805,3816,3835,3798,0,0,0,0,0,0,14.92,14.82,14.92
$GC,599,-0.77,-272.5,2522,1805,3834,3798,72.2,-7.8,103,606,0.00,2.38,0.00,0.000,4612,0.000,0.062,2522,411,3816,3834,3798,0,0,0,0,0,0,15.08,14.78,15.09
$GC,634,-0.77,-272.5,2522,411,3833,3798,75.7,-8.8,109,640,0.00,2.30,0.00,0.000,5126,0.000,0.034,2522,1815,3816,3834,3798,0,0,0,0,0,0,14.97,14.91,14.98
$GC,705,-0.77,-272.5,2522,1817,3834,3798,81.7,-8.6,122,711,0.00,0.00,0.00,0.000,4102,0.000,0.000,2522,1817,3818,3834,3802,0,0,0,0,0,0,15.10,15.10,15.10
$GC,775,-0.77,-272.5,2522,1820,3834,3798,87.5,-8.0,135,781,0.00,2.42,0.00,0.000,4612,0.000,0.062,2522,410,3816,3834,3798,0,0,0,0,0,0,15.11,14.73,15.11
$GC,825,-0.77,-272.5,2522,410,3834,3798,92.0,-9.3,144,832,0.00,2.30,0.00,0.000,5126,0.000,0.034,2522,1812,3816,3834,3798,0,0,0,0,0,0,14.85,14.77,14.86
$GC,896,-0.77,-272.5,2522,1813,3843,3798,98.1,-8.0,157,903,0.00,2.38,0.00,0.000,4356,0.000,0.054,2522,3217,3816,3834,3798,0,0,0,0,0,0,15.11,14.85,15.10
$GC,927,-0.77,-272.5,2522,3217,3834,3798,100.4,-8.1,162,934,0.00,2.35,0.00,0.000,5126,0.000,0.039,2522,1803,3816,3834,3798,0,0,0,0,0,0,14.97,14.87,14.98
$GC,1002,-0.77,-272.5,2522,1802,3834,3798,106.7,-9.1,175,1009,0.00,2.38,0.00,0.000,4612,0.000,0.061,2522,411,3816,3834,3798,0,0,0,0,0,0,15.10,14.84,15.11
$GC,1062,-0.77,-272.5,2522,411,3834,3798,112.3,-10.0,186,1069,0.00,2.30,0.00,0.000,5126,0.000,0.034,2522,1813,3815,3833,3798,0,0,0,0,0,0,14.97,14.89,14.99
$GC,1134,-0.77,-272.5,2522,1816,3834,3798,118.8,-8.8,199,1141,0.00,2.35,0.00,0.000,4356,0.000,0.054,2522,3210,3816,3834,3798,0,0,0,0,0,0,15.10,14.75,15.10
$GC,1184,-0.77,-272.5,2522,3210,3834,3798,123.7,-8.5,208,1191,0.00,2.33,0.00,0.000,5126,0.000,0.035,2522,1799,3816,3834,3798,0,0,0,0,0,0,14.97,14.88,14.97
$STATE,1248,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1248,begin apogee
$GC,1255,-0.17,0.0,2522,1800,3834,3798,130.0,-9.3,220,1466,0.88,0.00,201.70,1.120,10246,0.129,0.000,2701,1799,2699,2732,2666,0,0,0,0,0,0,14.73,14.40,13.89
$STATE,1467,end apogee,CONTROL_FINISHED_OK
$STATE,1468,begin climb
$GC,1470,0.77,272.5,2701,1799,2730,2664,140.2,0.0,258,1695,1.38,2.50,210.12,1.099,10756,0.073,0.069,2996,413,1587,1630,1545,0,0,0,0,0,0,14.41,14.32,13.87
$GC,1718,0.77,272.5,2996,413,1628,1544,132.9,12.5,301,1725,0.00,2.35,0.00,0.000,3078,0.000,0.031,2996,1812,1586,1628,1544,0,0,0,0,0,0,14.57,14.51,14.59
$GC,1790,0.77,272.5,2996,1814,1628,1542,123.1,14.3,314,1796,0.00,0.00,0.00,0.000,2054,0.000,0.000,2996,1815,1584,1626,1542,0,0,0,0,0,0,14.81,14.81,14.81
$GC,1859,0.77,272.5,2996,1814,1625,1541,112.7,14.4,327,1865,0.00,0.00,0.00,0.000,2054,0.000,0.000,2996,1814,1583,1625,1541,0,0,0,0,0,0,14.90,14.90,14.90
$GC,1928,0.77,272.5,2995,1815,1625,1542,102.8,13.6,340,1934,0.00,2.33,0.00,0.000,2308,0.000,0.046,2996,3195,1582,1624,1541,0,0,0,0,0,0,14.96,14.74,14.96
$GC,1977,0.77,272.5,2995,3195,1622,1541,95.7,14.0,349,1984,0.00,2.38,0.00,0.000,3078,0.000,0.053,2997,1811,1581,1622,1540,0,0,0,0,0,0,14.86,14.73,14.88
$GC,2049,0.77,272.5,2996,1810,1622,1540,85.7,14.6,362,2056,0.00,2.45,0.00,0.000,2564,0.000,0.071,3004,392,1581,1622,1540,0,0,0,0,0,0,15.00,14.76,15.00
$GC,2093,0.77,272.5,3004,392,1622,1540,78.8,15.0,370,2100,0.00,2.33,0.00,0.000,1030,0.000,0.031,3005,1808,1581,1622,1541,0,0,0,0,0,0,14.90,14.84,14.92
$GC,2165,0.77,272.5,3004,1811,1622,1539,68.3,15.6,383,2171,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1811,1580,1621,1540,0,0,0,0,0,0,15.02,15.03,15.03
$GC,2234,0.77,272.5,3004,1811,1622,1538,58.6,12.8,396,2240,0.00,2.47,0.00,0.000,516,0.000,0.069,3011,387,1580,1621,1540,0,0,0,0,0,0,15.04,14.79,15.05
$GC,2253,0.77,272.5,3010,386,1622,1540,56.3,11.9,399,2260,0.00,2.33,0.00,0.000,5126,0.000,0.032,3011,1799,1581,1622,1540,0,0,0,0,0,0,14.95,14.87,14.96
$GC,2325,0.77,272.5,3010,1802,1622,1540,47.6,11.6,412,2331,0.00,2.45,0.00,0.000,4612,0.000,0.070,3017,389,1581,1622,1540,0,0,0,0,0,0,15.05,14.81,15.05
$GC,2359,0.77,272.5,3016,389,1621,1539,43.2,12.6,418,2366,0.00,2.30,0.00,0.000,5126,0.000,0.033,3016,1804,1580,1621,1539,0,0,0,0,0,0,14.95,14.86,14.96
$GC,2431,0.77,272.5,3016,1807,1621,1539,35.2,11.0,431,2438,0.00,2.33,0.00,0.000,4356,0.000,0.047,3017,3196,1580,1621,1539,0,0,0,0,0,0,15.08,14.76,15.08
$GC,2481,0.77,272.5,3016,3196,1621,1539,29.6,10.5,440,2488,0.00,2.38,0.00,0.000,5126,0.000,0.048,3017,1792,1580,1621,1539,0,0,0,0,0,0,14.86,14.76,14.88
$GC,2553,0.80,298.7,3016,1791,1621,1539,23.1,9.4,453,2576,0.00,0.00,20.25,0.955,8198,0.000,0.000,3017,1792,1479,1525,1434,0,0,0,0,0,0,15.09,14.76,14.23
$GC,2640,0.83,320.5,3016,1791,1524,1433,15.2,9.5,469,2658,0.00,0.00,15.12,0.890,10246,0.000,0.000,3017,1791,1391,1441,1342,0,0,0,0,0,0,15.02,14.76,14.25
$GC,2723,0.89,368.3,3017,1791,1439,1340,5.7,8.8,484,2746,0.00,0.00,21.12,0.827,10242,0.000,0.000,3017,1792,1264,1321,1208,0,0,0,0,0,0,14.99,28.83,15.00
$STATE,2747,end climb,SURFACE_DEPTH_REACHED
$STATE,2747,begin surface coast
$FINISH,0.6,1.025364
$STATE,2773,end surface coast,CONTROL_FINISHED_OK
$STATE,2774,begin surface
$SM_CCo,2800,112.43,0.812,0,0,598,515.37
$SM_GC,0.83,13.68,0.00,112.43,0.044,0.000,0.812,129,1790,598,-8.18,-0.62,515.37,0,0,0,0,0,0,14.72,14.96,14.09
$IRIDIUM_FIX,-3417.32,2521.39,200419,103144
$TT8_MAMPS,0.020972,0.959469
$HUMID,45.43
$INTERNAL_PRESSURE,9.30256
$TCM_TEMP,19.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,105.1,34.9
$SC_FREEKB,3678656
$24V_AH,13.47,143.416
$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,17.250,70.900,468.325,112.425,0.000,0.000,0.000,0.000,3.250,0.000,0.000,995.662,426.000,621.427,849.765,169.372,0.000,1129.271,0.000,742.133,0.000,22.265,0.000
$DEVICE_MAMPS,129.285,78.795,1119.960,811.665,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2831.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.276,0.000,0.000,0.000
$MEM,341056
$DATA_FILE_SIZE,13432,493
$CAP_FILE_SIZE,93162,0
$CFSIZE,2097086464,2005434368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200419,140649,-3427.232,2524.289,9,1.0,46,-27.9,0.4,2.4,8,4.9