version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 469
start: 4 20 119 18 58 33
data:
$ID,574
$MISSION,3
$DIVE,469
$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,45
$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,32
$R_STBD_OVSHOOT,54
$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
$GPS1,200419,181255,-3425.3877,2527.5518,8,0.9,42,-27.9,0.6,324.3,10,5.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.04
$_SM_ANGLEo,0.1
$GPS2,200419,181255,-3425.3877,2527.5518,8,0.9,42,-27.9,0.6,324.3,10,5.9
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3417.752,2536.795
$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,72.9,20000,-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,-272.5,2809,1820,2266,2175,0.0,0.0,0,31,0.00,0.00,-5.93,0.000,16386,0.000,0.000,2809,1820,2431,2476,2386,0,0,0,0,0,0,15.10,28.83,15.11
$GC,34,-0.77,-272.5,2809,1820,2476,2387,5.3,0.0,1,80,1.30,2.35,-34.47,0.000,20740,0.080,0.080,2522,3191,3813,3830,3796,0,0,0,0,0,0,14.83,13.43,14.89
$GC,88,-0.77,-272.5,2522,3191,3830,3797,9.8,-11.6,10,94,0.00,2.30,0.00,0.000,5126,0.000,0.041,2522,1808,3813,3830,3796,0,0,0,0,0,0,14.99,14.89,15.00
$GC,159,-0.77,-272.5,2522,1808,3830,3797,18.4,-12.7,23,164,0.00,0.00,0.00,0.000,4102,0.000,0.000,2522,1808,3813,3830,3797,0,0,0,0,0,0,15.09,15.10,15.10
$GC,227,-0.77,-272.5,2522,1808,3830,3797,28.9,-14.5,36,233,0.00,0.00,0.00,0.000,4102,0.000,0.000,2522,1808,3813,3830,3796,0,0,0,0,0,0,15.11,15.12,15.11
$GC,297,-0.77,-272.5,2522,1807,3830,3797,36.6,-9.2,49,303,0.00,2.38,0.00,0.000,4356,0.000,0.052,2522,3204,3813,3830,3797,0,0,0,0,0,0,15.12,14.85,15.12
$GC,336,-0.77,-272.5,2522,3204,3831,3797,40.5,-10.2,56,343,0.00,2.35,0.00,0.000,5126,0.000,0.044,2522,1805,3814,3831,3797,0,0,0,0,0,0,14.98,14.88,15.00
$GC,409,-0.77,-272.5,2522,1805,3831,3797,50.9,-17.0,69,415,0.00,2.38,0.00,0.000,4356,0.000,0.053,2522,3206,3814,3831,3797,0,0,0,0,0,0,15.11,14.85,15.11
$GC,454,-0.77,-272.5,2520,3206,3831,3796,56.7,-7.0,77,460,0.00,2.33,0.00,0.000,5126,0.000,0.042,2522,1810,3813,3831,3796,0,0,0,0,0,0,14.98,14.88,15.00
$GC,526,-0.77,-272.5,2522,1810,3831,3797,61.6,-7.8,90,532,0.00,2.40,0.00,0.000,4612,0.000,0.063,2522,411,3814,3831,3797,0,0,0,0,0,0,15.11,14.80,15.12
$GC,566,-0.77,-272.5,2521,411,3831,3796,65.0,-8.7,97,573,0.00,2.30,0.00,0.000,5126,0.000,0.033,2522,1811,3814,3831,3797,0,0,0,0,0,0,14.93,14.84,14.95
$GC,637,-0.77,-272.5,2522,1812,3830,3796,72.3,-11.9,110,644,0.00,2.35,0.00,0.000,4356,0.000,0.054,2522,3207,3814,3831,3797,0,0,0,0,0,0,15.11,14.85,15.11
$GC,687,-0.77,-272.5,2522,3207,3831,3797,78.7,-12.6,119,694,0.00,2.33,0.00,0.000,5126,0.000,0.038,2522,1807,3814,3832,3796,0,0,0,0,0,0,14.98,14.88,15.00
$GC,759,-0.77,-272.5,2522,1806,3831,3796,87.5,-11.1,132,766,0.00,2.38,0.00,0.000,4612,0.000,0.061,2522,410,3814,3831,3797,0,0,0,0,0,0,15.11,14.73,15.12
$GC,790,-0.77,-272.5,2522,411,3831,3796,91.0,-10.4,137,797,0.00,2.30,0.00,0.000,5126,0.000,0.033,2522,1816,3814,3832,3797,0,0,0,0,0,0,14.92,14.82,14.94
$GC,862,-0.77,-272.5,2522,1816,3832,3797,97.4,-8.3,150,869,0.00,2.35,0.00,0.000,4356,0.000,0.053,2522,3209,3814,3831,3797,0,0,0,0,0,0,15.11,14.85,15.11
$GC,883,-0.77,-272.5,2522,3208,3832,3797,99.2,-7.9,153,889,0.00,2.33,0.00,0.000,5126,0.000,0.037,2522,1802,3813,3831,3796,0,0,0,0,0,0,14.98,14.88,15.00
$GC,956,-0.77,-272.5,2522,1802,3832,3796,105.1,-7.4,166,963,0.00,2.38,0.00,0.000,4612,0.000,0.061,2522,412,3814,3831,3797,0,0,0,0,0,0,15.11,14.85,15.12
$GC,1035,-0.77,-272.5,2521,413,3831,3801,109.9,-6.1,180,1041,0.00,2.30,0.00,0.000,5126,0.000,0.039,2522,1805,3814,3832,3797,0,0,0,0,0,0,14.85,14.74,14.85
$GC,1107,-0.77,-272.5,2522,1804,3832,3796,114.8,-7.0,193,1113,0.00,2.40,0.00,0.000,4356,0.000,0.054,2522,3224,3814,3832,3797,0,0,0,0,0,0,15.12,14.85,15.12
$GC,1137,-0.77,-272.5,2522,3224,3832,3797,116.7,-4.8,198,1143,0.00,2.33,0.00,0.000,5126,0.000,0.033,2528,1806,3813,3831,3796,0,0,0,0,0,0,14.98,14.89,15.00
$GC,1209,-0.77,-272.5,2522,1806,3832,3797,122.2,-7.5,211,1215,0.00,0.00,0.00,0.000,4102,0.000,0.000,2522,1806,3813,3831,3796,0,0,0,0,0,0,15.10,15.10,15.10
$STATE,1235,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1235,begin apogee
$GC,1242,-0.17,0.0,2522,1806,3831,3797,125.5,-11.1,216,1453,0.88,0.00,200.20,1.104,10246,0.116,0.000,2702,1806,2697,2729,2666,0,0,0,0,0,0,14.64,14.29,13.90
$STATE,1455,end apogee,CONTROL_FINISHED_OK
$STATE,1455,begin climb
$GC,1458,0.77,272.5,2701,1806,2728,2665,135.6,0.0,254,1683,1.42,2.50,210.18,1.079,10756,0.104,0.067,2991,416,1587,1629,1545,0,0,0,0,0,0,14.40,14.34,13.88
$GC,1748,0.77,272.5,2991,415,1622,1545,119.1,13.2,305,1755,0.00,2.33,0.00,0.000,3078,0.000,0.031,2992,1812,1583,1623,1544,0,0,0,0,0,0,14.60,14.54,14.62
$GC,1820,0.77,272.5,2991,1814,1622,1542,109.8,12.4,318,1827,0.00,2.35,0.00,0.000,2308,0.000,0.046,2992,3202,1581,1622,1541,0,0,0,0,0,0,14.89,14.68,14.89
$GC,1844,0.77,272.5,2991,3202,1621,1541,106.1,14.5,322,1851,0.00,2.38,0.00,0.000,3078,0.000,0.048,2992,1815,1581,1622,1541,0,0,0,0,0,0,14.75,14.64,14.77
$GC,1916,0.77,272.5,2992,1815,1621,1541,96.2,15.4,335,1922,0.00,0.00,0.00,0.000,2054,0.000,0.000,2992,1815,1581,1622,1541,0,0,0,0,0,0,14.97,14.97,14.96
$GC,1984,0.77,272.5,2991,1815,1621,1540,85.4,15.1,348,1991,0.00,2.33,0.00,0.000,2308,0.000,0.045,2992,3198,1580,1621,1540,0,0,0,0,0,0,15.00,14.74,15.01
$GC,2004,0.77,272.5,2991,3198,1621,1540,82.3,14.8,351,2011,0.00,2.40,0.00,0.000,3078,0.000,0.051,2992,1793,1580,1621,1540,0,0,0,0,0,0,14.83,14.71,14.85
$GC,2075,0.77,272.5,2992,1793,1621,1540,72.5,13.7,364,2082,0.00,2.42,0.00,0.000,2564,0.000,0.067,2992,390,1580,1621,1540,0,0,0,0,0,0,15.04,14.78,15.04
$GC,2109,0.77,272.5,2992,389,1621,1540,67.0,14.7,370,2116,0.00,2.33,0.00,0.000,3078,0.000,0.033,2992,1798,1580,1621,1540,0,0,0,0,0,0,14.88,14.80,14.90
$GC,2181,0.81,305.4,2992,1801,1621,1539,58.9,9.2,383,2216,0.00,2.35,27.60,1.007,10500,0.000,0.045,2992,3198,1453,1499,1407,0,0,0,0,0,0,15.04,14.59,14.20
$GC,2251,0.81,305.4,2992,3199,1498,1405,51.6,11.0,395,2258,0.00,2.40,0.00,0.000,3078,0.000,0.050,2992,1795,1451,1498,1404,0,0,0,0,0,0,14.84,14.73,14.85
$GC,2323,0.88,362.3,2992,1795,1498,1404,45.6,8.6,408,2373,0.10,0.00,47.38,1.010,10758,0.151,0.000,3041,1795,1222,1279,1165,0,0,0,0,0,0,14.77,14.56,14.06
$GC,2438,0.88,362.3,3041,1794,1277,1162,30.7,14.0,429,2444,0.00,2.38,0.00,0.000,260,0.000,0.044,3041,3205,1219,1277,1161,0,0,0,0,0,0,14.89,14.62,14.90
$GC,2467,0.88,362.3,3041,3205,1277,1160,26.7,12.8,434,2474,0.00,2.42,0.00,0.000,1030,0.000,0.052,3044,1801,1218,1277,1159,0,0,0,0,0,0,14.79,14.70,14.81
$GC,2539,0.88,362.3,3041,1801,1277,1158,17.3,13.5,447,2546,0.00,2.47,0.00,0.000,516,0.000,0.071,3043,389,1217,1277,1158,0,0,0,0,0,0,14.97,14.69,14.97
$GC,2589,0.88,362.3,3043,388,1277,1157,9.8,14.3,456,2596,0.00,2.35,0.00,0.000,1030,0.000,0.032,3044,1811,1217,1277,1157,0,0,0,0,0,0,14.82,14.73,14.83
$STATE,2636,end climb,SURFACE_DEPTH_REACHED
$STATE,2636,begin surface coast
$FINISH,0.1,1.024726
$STATE,2664,end surface coast,CONTROL_FINISHED_OK
$STATE,2664,begin surface
$SM_CCo,2689,103.12,0.812,0,0,597,515.37
$SM_GC,0.82,13.70,0.00,103.12,0.043,0.000,0.812,123,1814,597,-8.18,0.03,515.37,0,0,0,0,0,0,14.84,15.05,14.14
$IRIDIUM_FIX,-3412.10,2528.47,200419,175510
$TT8_MAMPS,0.020972,0.944489
$HUMID,45.90
$INTERNAL_PRESSURE,9.31233
$TCM_TEMP,19.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.4,34.4
$SC_FREEKB,3675584
$24V_AH,13.43,144.768
$10V_AH,13.43,0.000
$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,17.400,77.925,485.350,103.125,0.000,0.000,0.000,0.000,3.000,0.000,0.000,935.867,389.165,634.850,811.864,171.758,0.000,1132.365,0.000,704.281,0.000,20.737,0.000
$DEVICE_MAMPS,150.705,79.560,1103.895,811.665,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2720.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.524,0.000,0.000,0.000
$MEM,341056
$DATA_FILE_SIZE,13441,470
$CAP_FILE_SIZE,90405,0
$CFSIZE,2097086464,2004451328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200419,194608,-3424.887,2529.174,8,1.1,20,-27.9,0.0,176.8,8,8.3