version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 471
start: 4 20 119 20 44 23
data:
$ID,574
$MISSION,3
$DIVE,471
$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,35
$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
$GPS1,200419,195955,-3424.8254,2529.2644,7,1.1,48,-27.9,0.4,165.7,7,4.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.32
$_SM_ANGLEo,0.1
$GPS2,200419,195955,-3424.8254,2529.2644,7,1.1,48,-27.9,0.4,165.7,7,4.2
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3417.189,2538.507
$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,-272.5,2822,1796,2144,2062,0.0,0.0,0,32,0.00,0.00,-6.60,0.000,16386,0.000,0.000,2821,1796,2378,2421,2336,0,0,0,0,0,0,15.09,28.83,15.11
$GC,35,-0.77,-272.5,2822,1796,2422,2335,8.1,0.0,1,75,1.38,2.35,-30.25,0.000,20996,0.083,0.084,2524,411,3815,3832,3798,0,0,0,0,0,0,14.74,13.42,14.79
$GC,119,-0.77,-272.5,2523,407,3832,3798,18.1,-11.9,16,125,0.00,2.28,0.00,0.000,5126,0.000,0.033,2522,1805,3815,3832,3798,0,0,0,0,0,0,14.93,14.90,14.96
$GC,190,-0.77,-272.5,2522,1807,3831,3798,27.4,-13.8,29,197,0.00,2.38,0.00,0.000,4356,0.000,0.054,2522,3207,3814,3830,3798,0,0,0,0,0,0,15.12,14.81,15.12
$GC,235,-0.77,-272.5,2522,3207,3832,3798,33.0,-11.9,37,242,0.00,2.35,0.00,0.000,5126,0.000,0.042,2522,1811,3815,3832,3798,0,0,0,0,0,0,14.92,14.81,14.94
$GC,305,-0.77,-272.5,2522,1812,3832,3798,42.1,-13.4,50,312,0.00,2.42,0.00,0.000,4612,0.000,0.066,2522,402,3815,3832,3798,0,0,0,0,0,0,15.11,14.79,15.12
$GC,339,-0.77,-272.5,2522,403,3832,3798,46.8,-13.1,56,346,0.00,2.33,0.00,0.000,5126,0.000,0.034,2522,1819,3815,3832,3798,0,0,0,0,0,0,14.86,14.78,14.87
$GC,412,-0.77,-272.5,2522,1822,3832,3798,55.0,-11.5,69,420,0.00,2.35,0.00,0.000,4356,0.000,0.054,2522,3213,3815,3832,3798,0,0,0,0,0,0,15.10,14.85,15.10
$GC,469,-0.77,-272.5,2522,3210,3833,3798,60.8,-9.3,79,476,0.00,2.33,0.00,0.000,5126,0.000,0.038,2522,1810,3815,3833,3798,0,0,0,0,0,0,14.85,14.76,14.87
$GC,541,-0.77,-272.5,2521,1809,3833,3798,67.8,-8.7,92,548,0.00,2.40,0.00,0.000,4612,0.000,0.061,2522,405,3815,3832,3798,0,0,0,0,0,0,15.11,14.85,15.12
$GC,572,-0.77,-272.5,2522,405,3832,3798,70.8,-8.7,97,579,0.00,2.30,0.00,0.000,5126,0.000,0.032,2522,1821,3814,3831,3797,0,0,0,0,0,0,14.99,14.90,15.00
$GC,644,-0.77,-272.5,2522,1822,3833,3798,76.7,-8.1,110,651,0.00,2.33,0.00,0.000,4356,0.000,0.051,2522,3207,3818,3838,3798,0,0,0,0,0,0,15.11,14.76,15.11
$GC,674,-0.77,-272.5,2522,3207,3833,3798,79.5,-8.6,115,681,0.00,2.33,0.00,0.000,5126,0.000,0.038,2522,1802,3815,3833,3798,0,0,0,0,0,0,14.85,14.76,14.86
$GC,745,-0.77,-272.5,2522,1802,3833,3798,85.6,-9.0,128,752,0.00,2.38,0.00,0.000,4612,0.000,0.061,2522,412,3815,3833,3798,0,0,0,0,0,0,15.11,14.80,15.11
$GC,803,-0.77,-272.5,2521,412,3833,3798,91.2,-11.3,138,809,0.00,2.28,0.00,0.000,5126,0.000,0.031,2522,1814,3815,3833,3798,0,0,0,0,0,0,14.98,14.90,15.00
$GC,875,-0.77,-272.5,2522,1815,3833,3797,97.0,-8.7,151,881,0.00,2.35,0.00,0.000,4356,0.000,0.052,2522,3210,3815,3833,3798,0,0,0,0,0,0,15.11,14.78,15.11
$GC,960,-0.77,-272.5,2522,3210,3834,3798,104.2,-9.3,167,967,0.00,2.33,0.00,0.000,5126,0.000,0.041,2522,1816,3816,3834,3798,0,0,0,0,0,0,14.92,14.83,14.93
$GC,1033,-0.77,-272.5,2522,1814,3833,3798,109.0,-7.9,180,1038,0.00,0.00,0.00,0.000,4102,0.000,0.000,2522,1814,3815,3833,3798,0,0,0,0,0,0,15.10,15.11,15.10
$GC,1101,-0.77,-272.5,2522,1814,3833,3798,115.2,-10.3,193,1107,0.00,0.00,0.00,0.000,4102,0.000,0.000,2522,1814,3815,3833,3797,0,0,0,0,0,0,15.11,15.11,15.11
$STATE,1127,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1127,begin apogee
$GC,1134,-0.17,0.0,2522,1814,3833,3798,118.1,-8.9,198,1345,0.88,0.00,201.02,1.097,10246,0.124,0.000,2702,1813,2698,2729,2667,0,0,0,0,0,0,14.73,14.40,13.91
$STATE,1346,end apogee,CONTROL_FINISHED_OK
$STATE,1346,begin climb
$GC,1349,0.77,272.5,2701,1814,2727,2665,127.0,0.0,236,1574,1.45,2.55,210.20,1.077,11012,0.079,0.071,3007,408,1587,1629,1545,0,0,0,0,0,0,14.42,14.33,13.86
$GC,1607,0.77,272.5,3005,405,1625,1545,115.8,12.5,281,1614,0.00,2.33,0.00,0.000,1030,0.000,0.031,3007,1799,1585,1625,1545,0,0,0,0,0,0,14.60,14.52,14.62
$GC,1679,0.77,272.5,3007,1802,1618,1542,106.1,14.5,294,1685,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1802,1583,1624,1542,0,0,0,0,0,0,14.84,14.85,14.84
$GC,1748,0.77,272.5,3007,1801,1623,1542,95.1,15.8,307,1754,0.00,2.35,0.00,0.000,260,0.000,0.047,3007,3198,1584,1623,1546,0,0,0,0,0,0,14.92,14.71,14.92
$GC,1788,0.77,272.5,3007,3199,1622,1541,88.7,16.2,314,1794,0.00,2.38,0.00,0.000,1030,0.000,0.052,3007,1809,1581,1621,1541,0,0,0,0,0,0,14.83,14.73,14.85
$GC,1859,0.77,272.5,3007,1808,1626,1541,77.6,16.5,327,1865,0.00,2.45,0.00,0.000,516,0.000,0.070,3015,389,1581,1621,1541,0,0,0,0,0,0,14.97,14.75,14.97
$GC,1878,0.77,272.5,3015,389,1621,1541,74.6,14.6,330,1885,0.00,2.33,0.00,0.000,5126,0.000,0.031,3015,1803,1581,1621,1541,0,0,0,0,0,0,14.89,14.81,14.90
$GC,1950,0.77,272.5,3015,1808,1620,1540,63.5,17.4,343,1956,0.00,0.00,0.00,0.000,4102,0.000,0.000,3016,1809,1580,1621,1540,0,0,0,0,0,0,15.02,15.03,15.03
$GC,2019,0.77,272.5,3015,1809,1621,1540,53.2,13.2,356,2026,0.00,2.33,0.00,0.000,4356,0.000,0.047,3015,3201,1580,1621,1540,0,0,0,0,0,0,15.04,14.82,15.05
$GC,2063,0.77,272.5,3015,3200,1621,1540,47.2,12.9,364,2070,0.00,2.40,0.00,0.000,5126,0.000,0.050,3017,1786,1580,1620,1540,0,0,0,0,0,0,14.93,14.82,14.94
$GC,2136,0.80,297.2,3016,1786,1620,1539,39.8,9.4,377,2159,0.00,0.00,20.50,0.985,8198,0.000,0.000,3017,1786,1486,1531,1442,0,0,0,0,0,0,15.07,14.73,14.25
$GC,2223,0.80,297.2,3016,1786,1530,1442,30.3,10.5,393,2229,0.00,2.38,0.00,0.000,260,0.000,0.047,3017,3190,1485,1530,1441,0,0,0,0,0,0,14.99,14.78,15.00
$GC,2247,0.80,297.2,3016,3190,1531,1441,27.4,12.0,397,2254,0.00,2.40,0.00,0.000,1030,0.000,0.050,3016,1794,1485,1530,1440,0,0,0,0,0,0,14.88,14.78,14.90
$GC,2319,0.80,297.2,3016,1796,1529,1440,19.2,12.2,410,2326,0.00,2.40,0.00,0.000,516,0.000,0.070,3016,396,1484,1529,1440,0,0,0,0,0,0,15.02,14.70,15.02
$GC,2390,0.80,297.2,3016,396,1529,1440,10.2,12.3,423,2397,0.00,2.30,0.00,0.000,1030,0.000,0.034,3017,1793,1484,1529,1440,0,0,0,0,0,0,14.84,14.77,14.85
$GC,2462,0.86,349.0,3016,1796,1529,1439,3.9,8.7,436,2475,0.00,0.00,10.88,0.792,10498,0.000,0.000,3016,1796,1419,1467,1372,0,0,0,0,0,0,15.07,28.83,15.07
$STATE,2476,end climb,SURFACE_DEPTH_REACHED
$STATE,2476,begin surface coast
$FINISH,0.4,1.024589
$STATE,2512,end surface coast,CONTROL_FINISHED_OK
$STATE,2512,begin surface
$SM_CCo,2538,136.70,0.810,0,0,597,515.37
$SM_GC,0.97,13.55,0.00,136.70,0.037,0.000,0.810,111,1796,597,-8.22,-0.45,515.37,0,0,0,0,0,0,14.84,15.06,14.11
$IRIDIUM_FIX,-3412.10,2528.47,200419,180824
$TT8_MAMPS,0.021721,0.948234
$HUMID,45.35
$INTERNAL_PRESSURE,9.32209
$TCM_TEMP,19.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.2,37.4
$SC_FREEKB,3674560
$24V_AH,13.42,145.179
$10V_AH,13.41,0.000
$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,17.250,68.400,442.600,136.700,0.000,0.000,0.000,0.000,2.500,0.000,0.000,895.306,375.148,618.799,773.804,164.939,0.000,1085.059,0.000,672.986,0.000,17.698,0.000
$DEVICE_MAMPS,123.930,84.150,1097.010,810.135,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2568.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.284,0.000,0.000,0.000
$MEM,341064
$DATA_FILE_SIZE,10109,445
$CAP_FILE_SIZE,84534,0
$CFSIZE,2097086464,2004123648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200419,213025,-3424.189,2530.759,9,0.9,42,-27.9,0.5,323.1,9,8.7