version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 465
start: 4 20 119 15 8 1
data:
$ID,574
$MISSION,3
$DIVE,465
$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,33
$R_STBD_OVSHOOT,61
$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
$GPS1,200419,142007,-3427.0803,2524.4602,7,1.0,15,-27.9,0.0,355.2,8,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.12
$_SM_ANGLEo,2.1
$GPS2,200419,142007,-3427.0803,2524.4602,7,1.0,15,-27.9,0.0,355.2,8,9.7
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3417.728,2530.996
$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,-272.5,2810,1794,2265,2177,0.0,0.0,0,32,0.00,0.00,-6.80,0.000,16386,0.000,0.000,2810,1793,2526,2567,2485,0,0,0,0,0,0,15.05,28.83,15.06
$GC,35,-0.77,-272.5,2810,1794,2568,2485,9.2,0.0,1,70,1.33,2.38,-25.98,0.000,20996,0.089,0.082,2525,402,3814,3831,3797,0,0,0,0,0,0,14.70,14.01,14.75
$GC,105,-0.77,-272.5,2525,404,3831,3797,17.5,-13.3,13,112,0.00,2.30,0.00,0.000,5126,0.000,0.034,2522,1797,3814,3832,3797,0,0,0,0,0,0,14.91,14.83,14.91
$GC,177,-0.77,-272.5,2522,1799,3831,3794,27.4,-14.9,26,183,0.00,2.40,0.00,0.000,4356,0.000,0.056,2522,3212,3814,3831,3797,0,0,0,0,0,0,15.07,14.83,15.07
$GC,253,-0.77,-272.5,2522,3213,3832,3797,36.4,-9.7,40,260,0.00,2.35,0.00,0.000,5126,0.000,0.042,2522,1808,3814,3831,3797,0,0,0,0,0,0,14.90,14.86,14.90
$GC,323,-0.77,-272.5,2522,1807,3831,3797,45.8,-14.7,53,329,0.00,0.00,0.00,0.000,4102,0.000,0.000,2522,1807,3814,3832,3797,0,0,0,0,0,0,15.09,15.09,15.09
$GC,392,-0.77,-272.5,2522,1807,3831,3797,54.4,-12.0,66,399,0.00,2.40,0.00,0.000,4612,0.000,0.064,2522,408,3814,3832,3797,0,0,0,0,0,0,15.09,14.83,15.09
$GC,422,-0.77,-272.5,2521,412,3832,3797,58.1,-11.0,71,429,0.00,2.33,0.00,0.000,5126,0.000,0.034,2522,1823,3814,3832,3797,0,0,0,0,0,0,14.97,14.89,14.99
$GC,495,-0.77,-272.5,2522,1826,3832,3797,65.0,-11.1,84,502,0.00,0.00,0.00,0.000,4102,0.000,0.000,2522,1826,3814,3832,3797,0,0,0,0,0,0,15.09,15.10,15.10
$GC,565,-0.77,-272.5,2522,1826,3832,3797,73.1,-10.7,97,571,0.00,2.35,0.00,0.000,4356,0.000,0.055,2522,3210,3814,3832,3797,0,0,0,0,0,0,15.10,14.79,15.10
$GC,605,-0.77,-272.5,2522,3210,3833,3797,77.3,-9.9,104,612,0.00,2.35,0.00,0.000,5126,0.000,0.039,2522,1799,3815,3834,3797,0,0,0,0,0,0,14.92,14.83,14.93
$GC,676,-0.77,-272.5,2522,1799,3833,3797,84.5,-9.6,117,684,0.00,2.38,0.00,0.000,4612,0.000,0.062,2523,409,3814,3832,3797,0,0,0,0,0,0,15.10,14.85,15.10
$GC,717,-0.77,-272.5,2522,410,3833,3797,88.6,-10.1,124,723,0.00,2.30,0.00,0.000,5126,0.000,0.033,2522,1819,3815,3833,3797,0,0,0,0,0,0,14.98,14.89,14.99
$GC,791,-0.77,-272.5,2521,1819,3833,3797,95.3,-8.7,137,798,0.00,2.35,0.00,0.000,4356,0.000,0.053,2522,3211,3815,3833,3797,0,0,0,0,0,0,15.10,14.85,15.11
$GC,836,-0.77,-272.5,2522,3213,3833,3797,98.9,-8.1,145,843,0.00,2.33,0.00,0.000,5126,0.000,0.038,2522,1809,3815,3833,3797,0,0,0,0,0,0,14.97,14.88,14.99
$GC,909,-0.77,-272.5,2522,1809,3834,3796,105.1,-8.9,158,916,0.00,2.40,0.00,0.000,4612,0.000,0.061,2522,404,3815,3833,3797,0,0,0,0,0,0,15.10,14.74,15.11
$GC,954,-0.77,-272.5,2521,404,3833,3797,109.9,-10.1,166,961,0.00,2.30,0.00,0.000,5126,0.000,0.032,2522,1816,3815,3833,3797,0,0,0,0,0,0,14.85,14.78,14.86
$GC,1028,-0.77,-272.5,2522,1816,3834,3797,118.0,-11.3,179,1034,0.00,2.33,0.00,0.000,4356,0.000,0.053,2522,3202,3815,3834,3797,0,0,0,0,0,0,15.10,14.85,15.11
$GC,1057,-0.77,-272.5,2522,3202,3833,3797,120.4,-8.7,184,1064,0.00,2.30,0.00,0.000,5126,0.000,0.037,2522,1811,3815,3834,3797,0,0,0,0,0,0,14.97,14.88,14.98
$GC,1129,-0.77,-272.5,2520,1810,3834,3797,126.9,-9.2,197,1136,0.00,2.40,0.00,0.000,4612,0.000,0.061,2522,409,3812,3827,3797,0,0,0,0,0,0,15.11,14.74,15.11
$GC,1180,-0.77,-272.5,2522,409,3833,3797,132.0,-10.3,206,1186,0.00,2.30,0.00,0.000,5126,0.000,0.034,2522,1808,3815,3833,3797,0,0,0,0,0,0,14.88,14.78,14.90
$STATE,1244,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1244,begin apogee
$GC,1250,-0.17,0.0,2522,1811,3833,3797,138.5,-10.8,218,1462,0.88,0.00,201.05,1.128,10246,0.123,0.000,2702,1811,2701,2733,2669,0,0,0,0,0,0,14.64,14.27,13.88
$STATE,1464,end apogee,CONTROL_FINISHED_OK
$STATE,1464,begin climb
$GC,1467,0.77,272.5,2702,1811,2732,2668,149.7,0.0,256,1692,1.38,2.53,211.15,1.106,10756,0.086,0.069,2991,402,1586,1629,1544,0,0,0,0,0,0,14.40,14.28,13.85
$GC,1730,0.77,272.5,2992,402,1626,1545,137.3,15.7,302,1737,0.00,2.35,0.00,0.000,3078,0.000,0.034,2992,1799,1585,1626,1545,0,0,0,0,0,0,14.61,14.52,14.62
$GC,1802,0.77,272.5,2991,1802,1625,1542,126.9,13.8,315,1808,0.00,2.47,0.00,0.000,2564,0.000,0.074,2992,406,1583,1625,1542,0,0,0,0,0,0,14.83,14.53,14.83
$GC,1821,0.77,272.5,2992,406,1624,1542,123.9,14.2,318,1828,0.00,2.33,0.00,0.000,3078,0.000,0.033,2993,1805,1583,1624,1542,0,0,0,0,0,0,14.76,14.69,14.77
$GC,1893,0.77,272.5,2992,1808,1624,1541,113.4,15.4,331,1899,0.00,0.00,0.00,0.000,2054,0.000,0.000,2992,1808,1582,1624,1541,0,0,0,0,0,0,14.93,14.94,14.93
$GC,1962,0.77,272.5,2992,1808,1624,1541,103.3,14.3,344,1968,0.00,2.35,0.00,0.000,2308,0.000,0.047,2992,3207,1581,1622,1541,0,0,0,0,0,0,14.97,14.74,14.98
$GC,2006,0.77,272.5,2992,3207,1622,1541,96.8,15.1,352,2013,0.00,2.38,0.00,0.000,3078,0.000,0.051,2992,1811,1581,1621,1541,0,0,0,0,0,0,14.88,14.77,14.89
$GC,2077,0.77,272.5,2991,1810,1622,1541,86.5,14.7,365,2084,0.00,2.45,0.00,0.000,2564,0.000,0.072,2993,393,1581,1621,1541,0,0,0,0,0,0,15.02,14.69,15.02
$GC,2117,0.77,272.5,2991,395,1621,1541,80.7,14.0,372,2124,0.00,2.33,0.00,0.000,3078,0.000,0.032,2992,1810,1581,1621,1541,0,0,0,0,0,0,14.83,14.76,14.84
$GC,2188,0.77,272.5,2992,1813,1622,1540,71.2,14.1,385,2194,0.00,0.00,0.00,0.000,2054,0.000,0.000,2992,1813,1581,1622,1540,0,0,0,0,0,0,15.04,15.05,15.05
$GC,2257,0.77,272.5,2992,1813,1622,1541,62.0,12.4,398,2263,0.00,2.30,0.00,0.000,2308,0.000,0.047,2993,3198,1580,1621,1540,0,0,0,0,0,0,15.06,14.83,15.08
$GC,2296,0.77,272.5,2992,3197,1621,1540,57.1,12.5,405,2302,0.00,2.38,0.00,0.000,3078,0.000,0.052,2992,1800,1580,1621,1540,0,0,0,0,0,0,14.94,14.83,14.95
$GC,2367,0.77,272.7,2992,1799,1621,1540,49.1,10.0,418,2374,0.00,2.42,0.00,0.000,2564,0.000,0.070,2992,393,1580,1621,1540,0,0,0,0,0,0,15.07,14.72,15.07
$GC,2432,0.77,272.7,2992,393,1621,1540,42.8,10.2,430,2439,0.00,2.30,0.00,0.000,3078,0.000,0.032,2992,1805,1580,1620,1540,0,0,0,0,0,0,14.85,14.76,14.86
$GC,2504,0.84,329.1,2992,1807,1621,1539,36.3,8.6,443,2561,0.08,2.35,46.78,1.040,10500,0.186,0.047,3037,3184,1356,1407,1305,0,0,0,0,0,0,14.76,14.64,14.14
$GC,2594,0.84,329.1,3037,3184,1406,1305,26.0,12.2,459,2601,0.00,2.38,0.00,0.000,5126,0.000,0.050,3037,1799,1355,1406,1305,0,0,0,0,0,0,14.78,14.68,14.80
$GC,2666,0.84,329.1,3037,1799,1406,1304,17.3,12.8,472,2671,0.00,0.00,0.00,0.000,4102,0.000,0.000,3038,1799,1355,1406,1304,0,0,0,0,0,0,14.93,14.94,14.94
$GC,2734,0.84,329.1,3037,1799,1406,1303,8.9,11.5,485,2741,0.00,2.38,0.00,0.000,4356,0.000,0.049,3037,3191,1354,1405,1303,0,0,0,0,0,0,15.00,14.76,15.00
$STATE,2786,end climb,SURFACE_DEPTH_REACHED
$STATE,2786,begin surface coast
$FINISH,2.2,1.025020
$STATE,2795,end surface coast,CONTROL_FINISHED_OK
$STATE,2795,begin surface
$SM_CCo,2822,128.15,0.814,0,0,598,515.37
$SM_GC,0.82,13.98,2.40,128.15,0.067,0.053,0.814,132,1812,598,-8.18,0.93,515.37,0,0,0,0,0,0,14.74,14.80,14.10
$IRIDIUM_FIX,-3412.10,2522.63,200419,122028
$TT8_MAMPS,0.021721,0.926513
$HUMID,46.10
$INTERNAL_PRESSURE,9.30256
$TCM_TEMP,18.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,115.3,32.9
$SC_FREEKB,3677632
$24V_AH,13.85,143.873
$10V_AH,13.40,0.000
$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,17.625,82.675,458.975,128.150,0.000,0.000,0.000,0.000,3.750,0.000,0.000,1006.012,425.584,642.407,856.281,172.942,0.000,1153.670,0.000,749.858,0.000,27.155,0.000
$DEVICE_MAMPS,185.895,81.855,1128.375,813.960,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2853.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.234,0.000,0.000,0.000
$MEM,341064
$DATA_FILE_SIZE,13423,496
$CAP_FILE_SIZE,93887,0
$CFSIZE,2097086464,2005106688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200419,155813,-3426.429,2525.972,8,1.0,20,-27.9,0.7,10.1,8,9.4