version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 533
start: 4 22 119 15 45 36
data:
$ID,574
$MISSION,3
$DIVE,533
$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,32
$R_STBD_OVSHOOT,47
$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
$GPS1,220419,150247,-3416.6377,2544.4631,7,0.9,14,-27.9,0.9,331.2,10,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,1.5
$GPS2,220419,150247,-3416.6377,2544.4631,7,0.9,14,-27.9,0.9,331.2,10,9.7
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3407.285,2550.986
$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,24,-0.77,-272.5,2805,1804,2299,2218,0.0,0.0,0,69,0.00,0.00,-43.00,0.000,16386,0.000,0.000,2806,1805,3426,3438,3415,0,0,0,0,0,0,15.07,28.83,15.08
$GC,73,-0.77,-272.5,2805,1804,3439,3415,3.5,-7.5,8,92,1.30,2.45,-11.07,0.000,20996,0.093,0.080,2527,398,3813,3834,3792,0,0,0,0,0,0,14.78,13.40,14.85
$GC,105,-0.77,-272.5,2527,398,3834,3791,7.0,-11.6,13,112,0.00,2.33,0.00,0.000,5126,0.000,0.034,2527,1813,3813,3834,3792,0,0,0,0,0,0,14.92,14.83,14.93
$GC,175,-0.77,-272.5,2527,1814,3834,3792,16.4,-14.5,26,182,0.00,2.35,0.00,0.000,4356,0.000,0.053,2527,3207,3813,3834,3792,0,0,0,0,0,0,15.11,14.80,15.11
$GC,230,-0.77,-272.5,2527,3207,3834,3792,23.4,-11.3,36,237,0.00,2.35,0.00,0.000,5126,0.000,0.041,2527,1806,3813,3834,3792,0,0,0,0,0,0,14.87,14.77,14.89
$GC,302,-0.77,-272.5,2526,1806,3834,3792,31.9,-12.4,49,308,0.00,0.00,0.00,0.000,4102,0.000,0.000,2527,1805,3813,3834,3792,0,0,0,0,0,0,15.09,15.09,15.09
$GC,371,-0.77,-272.5,2527,1806,3831,3792,40.3,-11.6,62,377,0.00,0.00,0.00,0.000,4102,0.000,0.000,2527,1806,3813,3834,3792,0,0,0,0,0,0,15.13,15.11,15.11
$GC,441,-0.77,-272.5,2527,1806,3834,3792,48.3,-11.6,75,446,0.00,0.00,0.00,0.000,4102,0.000,0.000,2527,1806,3813,3834,3793,0,0,0,0,0,0,15.11,15.12,15.11
$GC,510,-0.77,-272.5,2527,1806,3834,3792,56.1,-11.4,88,516,0.00,0.00,0.00,0.000,4102,0.000,0.000,2527,1806,3813,3834,3792,0,0,0,0,0,0,15.12,15.12,15.15
$GC,578,-0.77,-272.5,2526,1806,3834,3792,63.7,-10.6,101,585,0.00,2.38,0.00,0.000,4356,0.000,0.053,2526,3209,3813,3835,3792,0,0,0,0,0,0,15.11,14.85,15.11
$GC,609,-0.77,-272.5,2525,3209,3835,3792,66.5,-9.7,106,615,0.00,2.33,0.00,0.000,5126,0.000,0.041,2525,1812,3813,3835,3792,0,0,0,0,0,0,14.97,14.88,15.00
$GC,681,-0.77,-272.5,2525,1811,3835,3792,73.2,-9.6,119,687,0.00,0.00,0.00,0.000,4102,0.000,0.000,2525,1812,3813,3835,3792,0,0,0,0,0,0,15.12,15.12,15.12
$GC,751,-0.77,-272.5,2525,1810,3835,3792,79.7,-9.4,132,760,0.00,2.40,0.00,0.000,4356,0.000,0.054,2525,3216,3813,3835,3792,0,0,0,0,0,0,15.12,14.80,15.12
$GC,774,-0.77,-272.5,2525,3215,3835,3792,82.0,-9.5,135,780,0.00,2.35,0.00,0.000,5126,0.000,0.041,2525,1803,3813,3835,3792,0,0,0,0,0,0,14.98,14.88,15.00
$GC,848,-0.77,-272.5,2525,1803,3835,3792,88.1,-8.5,148,855,0.00,2.38,0.00,0.000,4612,0.000,0.060,2525,408,3813,3835,3792,0,0,0,0,0,0,15.11,14.85,15.11
$GC,873,-0.77,-272.5,2525,408,3835,3792,90.7,-9.3,152,879,0.00,2.30,0.00,0.000,5126,0.000,0.033,2526,1815,3813,3835,3792,0,0,0,0,0,0,14.98,14.90,15.00
$GC,945,-0.77,-272.5,2525,1816,3835,3792,97.1,-8.9,165,952,0.00,2.35,0.00,0.000,4356,0.000,0.052,2526,3208,3813,3835,3792,0,0,0,0,0,0,15.11,14.78,15.11
$GC,995,-0.77,-272.5,2525,3208,3835,3792,101.5,-7.8,174,1002,0.00,2.33,0.00,0.000,5126,0.000,0.039,2526,1807,3813,3834,3792,0,0,0,0,0,0,14.91,14.81,14.92
$GC,1068,-0.77,-272.5,2525,1807,3835,3792,107.1,-8.7,187,1074,0.00,2.38,0.00,0.000,4612,0.000,0.061,2525,413,3813,3835,3792,0,0,0,0,0,0,15.11,14.84,15.11
$STATE,1110,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1110,begin apogee
$GC,1119,-0.17,0.0,2525,1812,3835,3792,111.5,-9.7,195,1331,0.85,0.00,200.02,1.073,10246,0.120,0.000,2701,1813,2697,2733,2662,0,0,0,0,0,0,14.72,14.28,13.90
$STATE,1333,end apogee,CONTROL_FINISHED_OK
$STATE,1333,begin climb
$GC,1336,0.77,272.5,2701,1813,2732,2661,121.9,0.0,233,1557,1.38,2.45,208.93,1.047,11012,0.075,0.046,2994,3205,1587,1630,1545,0,0,0,0,0,0,14.44,14.38,13.89
$GC,1628,0.77,272.5,2994,3205,1626,1543,96.7,13.6,284,1634,0.00,2.42,0.00,0.000,3078,0.000,0.050,2996,1807,1584,1626,1543,0,0,0,0,0,0,14.70,14.57,14.71
$GC,1701,0.77,272.5,2995,1807,1626,1541,86.7,13.9,297,1708,0.00,2.47,0.00,0.000,2564,0.000,0.071,2996,395,1583,1625,1541,0,0,0,0,0,0,14.92,14.59,14.92
$GC,1726,0.77,272.5,2996,395,1625,1541,83.0,12.8,301,1733,0.00,2.33,0.00,0.000,3078,0.000,0.031,2996,1803,1582,1623,1541,0,0,0,0,0,0,14.73,14.67,14.75
$GC,1798,0.77,272.5,2996,1806,1625,1540,73.4,14.5,314,1804,0.00,2.35,0.00,0.000,2308,0.000,0.047,2996,3198,1582,1625,1540,0,0,0,0,0,0,15.00,14.76,15.00
$GC,1838,0.77,272.5,2996,3199,1623,1540,67.3,13.4,321,1844,0.00,2.40,0.00,0.000,3078,0.000,0.050,2997,1795,1581,1623,1540,0,0,0,0,0,0,14.89,14.78,14.90
$GC,1910,0.77,272.5,2996,1795,1623,1540,58.6,12.2,334,1916,0.00,2.45,0.00,0.000,2564,0.000,0.071,2998,385,1581,1623,1539,0,0,0,0,0,0,15.02,14.76,15.01
$GC,1935,0.77,272.5,2996,385,1624,1540,55.6,11.3,338,1941,0.00,2.33,0.00,0.000,3078,0.000,0.032,2996,1806,1583,1623,1543,0,0,0,0,0,0,14.92,14.85,14.94
$GC,2007,0.78,276.7,2996,1808,1623,1539,48.4,9.9,351,2014,0.00,2.33,0.00,0.000,2308,0.000,0.048,2996,3191,1581,1623,1539,0,0,0,0,0,0,15.06,14.78,15.06
$GC,2042,0.78,276.7,2996,3192,1622,1538,44.4,11.3,357,2049,0.00,2.38,0.00,0.000,3078,0.000,0.050,2996,1797,1580,1622,1539,0,0,0,0,0,0,14.90,14.79,14.91
$GC,2115,0.78,276.7,2996,1797,1622,1538,37.3,10.2,370,2121,0.00,2.45,0.00,0.000,2564,0.000,0.070,2997,389,1580,1622,1539,0,0,0,0,0,0,15.06,14.81,15.06
$GC,2170,0.82,311.7,2996,389,1622,1538,31.8,9.1,380,2210,0.00,2.30,32.40,0.965,11270,0.000,0.032,2997,1802,1428,1476,1380,0,0,0,0,0,0,14.97,14.89,14.20
$GC,2274,0.82,311.7,2996,1802,1476,1377,21.2,10.7,399,2280,0.00,2.35,0.00,0.000,2308,0.000,0.048,2997,3193,1427,1476,1378,0,0,0,0,0,0,14.97,14.76,14.98
$GC,2346,0.85,338.7,2996,3193,1474,1376,14.4,9.3,412,2371,0.05,2.38,18.52,0.850,11270,0.256,0.048,3029,1795,1318,1370,1267,0,0,0,0,0,0,14.61,14.69,14.24
$GC,2435,0.85,338.7,3029,1796,1368,1262,4.0,12.5,428,2442,0.00,2.42,0.00,0.000,516,0.000,0.071,3030,392,1315,1369,1262,0,0,0,0,0,0,14.99,14.66,15.00
$STATE,2447,end climb,SURFACE_DEPTH_REACHED
$STATE,2447,begin surface coast
$FINISH,0.9,1.025371
$STATE,2459,end surface coast,CONTROL_FINISHED_OK
$STATE,2459,begin surface
$SM_CCo,2487,118.22,0.788,0,0,598,515.37
$SM_GC,1.03,13.70,2.38,118.22,0.043,0.031,0.788,125,1799,598,-8.18,-1.55,515.37,0,0,0,0,0,0,14.81,14.84,14.12
$IRIDIUM_FIX,-3401.68,2542.60,220419,132202
$TT8_MAMPS,0.021721,0.918274
$HUMID,45.19
$INTERNAL_PRESSURE,9.31233
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.1,36.2
$SC_FREEKB,3642784
$24V_AH,13.40,156.714
$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,17.275,73.525,459.875,118.225,0.000,0.000,0.000,0.000,2.250,0.000,0.000,851.981,357.085,627.998,753.164,168.394,0.000,1089.289,0.000,648.865,0.000,16.177,0.000
$DEVICE_MAMPS,255.510,80.325,1073.295,787.950,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2516.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.554,0.000,0.000,0.000
$MEM,341064
$DATA_FILE_SIZE,10127,432
$CAP_FILE_SIZE,83025,0
$CFSIZE,2097086464,1993965568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220419,163002,-3416.211,2544.140,8,1.0,17,-27.8,1.5,304.7,8,8.5