version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 537
start: 4 22 119 19 0 21
data:
$ID,574
$MISSION,3
$DIVE,537
$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,57
$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,15
$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
$GPS1,220419,181956,-3416.0103,2543.3132,8,0.8,14,-27.8,0.7,181.1,10,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.19
$_SM_ANGLEo,2.5
$GPS2,220419,181956,-3416.0103,2543.3132,8,0.8,14,-27.8,0.7,181.1,10,9.2
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3406.658,2549.835
$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,57.8,20000,-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,-272.5,2807,1797,2301,2223,0.0,0.0,0,32,0.00,0.00,-5.80,0.000,16386,0.000,0.000,2807,1796,2447,2488,2406,0,0,0,0,0,0,15.10,28.83,15.11
$GC,35,-0.77,-272.5,2806,1796,2491,2407,4.3,0.0,1,80,1.30,2.38,-35.62,0.000,20996,0.083,0.086,2524,406,3812,3831,3793,0,0,0,0,0,0,14.72,13.32,14.78
$GC,120,-0.77,-272.5,2524,406,3828,3794,13.0,-10.0,16,127,0.00,2.30,0.00,0.000,5126,0.000,0.034,2522,1800,3812,3831,3794,0,0,0,0,0,0,14.93,14.84,14.95
$GC,193,-0.77,-272.5,2522,1802,3832,3794,22.2,-13.8,29,199,0.00,0.00,0.00,0.000,4102,0.000,0.000,2522,1802,3812,3831,3794,0,0,0,0,0,0,15.11,15.10,15.10
$GC,262,-0.77,-272.5,2522,1802,3832,3794,31.5,-12.6,42,268,0.00,2.40,0.00,0.000,4356,0.000,0.055,2522,3217,3813,3832,3794,0,0,0,0,0,0,15.11,14.85,15.11
$GC,292,-0.77,-272.5,2522,3217,3832,3794,34.8,-9.5,47,299,0.00,2.35,0.00,0.000,5126,0.000,0.041,2522,1811,3813,3832,3794,0,0,0,0,0,0,14.97,14.87,15.00
$GC,362,-0.77,-272.5,2522,1810,3832,3794,42.2,-10.8,60,369,0.00,2.42,0.00,0.000,4612,0.000,0.064,2522,405,3812,3831,3793,0,0,0,0,0,0,15.11,14.83,15.11
$GC,397,-0.77,-272.5,2522,405,3832,3794,45.9,-10.3,66,404,0.00,2.33,0.00,0.000,5126,0.000,0.034,2522,1818,3812,3830,3794,0,0,0,0,0,0,14.98,14.89,15.00
$GC,470,-0.77,-272.5,2523,1819,3831,3794,52.6,-9.7,79,476,0.00,2.35,0.00,0.000,4356,0.000,0.054,2522,3207,3813,3832,3794,0,0,0,0,0,0,15.11,14.73,15.11
$GC,519,-0.77,-272.5,2522,3207,3832,3794,57.1,-7.7,88,526,0.00,2.33,0.00,0.000,5126,0.000,0.041,2522,1809,3812,3832,3793,0,0,0,0,0,0,14.84,14.74,14.85
$GC,592,-0.77,-272.5,2521,1809,3832,3794,63.2,-9.0,101,599,0.00,2.40,0.00,0.000,4612,0.000,0.064,2522,410,3813,3832,3794,0,0,0,0,0,0,15.11,14.83,15.11
$GC,614,-0.77,-272.5,2522,411,3832,3794,65.1,-8.2,104,621,0.00,2.30,0.00,0.000,5126,0.000,0.033,2522,1812,3813,3832,3794,0,0,0,0,0,0,14.84,14.76,14.85
$GC,687,-0.77,-272.5,2522,1815,3832,3793,71.5,-8.9,117,693,0.00,2.38,0.00,0.000,4356,0.000,0.054,2522,3214,3813,3833,3794,0,0,0,0,0,0,15.11,14.83,15.11
$GC,722,-0.77,-272.5,2522,3213,3832,3794,74.3,-7.8,123,729,0.00,2.35,0.00,0.000,5126,0.000,0.040,2522,1806,3813,3832,3794,0,0,0,0,0,0,14.97,14.87,14.99
$GC,795,-0.77,-272.5,2522,1805,3831,3794,80.2,-8.4,136,801,0.00,0.00,0.00,0.000,4102,0.000,0.000,2522,1805,3813,3832,3794,0,0,0,0,0,0,15.11,15.11,15.11
$GC,869,-0.77,-272.5,2522,1805,3831,3794,86.1,-6.4,149,875,0.00,2.38,0.00,0.000,4612,0.000,0.061,2522,408,3813,3832,3794,0,0,0,0,0,0,15.09,14.83,15.10
$GC,904,-0.77,-272.5,2520,408,3832,3794,89.6,-9.5,155,911,0.00,2.30,0.00,0.000,5126,0.000,0.034,2522,1814,3813,3832,3794,0,0,0,0,0,0,14.85,14.78,14.87
$GC,976,-0.77,-272.5,2522,1816,3832,3794,95.5,-8.4,168,982,0.00,2.35,0.00,0.000,4356,0.000,0.053,2522,3208,3813,3832,3794,0,0,0,0,0,0,15.12,14.78,15.12
$GC,1030,-0.77,-272.5,2522,3208,3832,3794,99.9,-8.5,178,1037,0.00,2.35,0.00,0.000,5126,0.000,0.038,2522,1808,3812,3831,3794,0,0,0,0,0,0,14.90,14.81,14.92
$GC,1103,-0.77,-272.5,2522,1808,3832,3794,105.9,-8.6,191,1110,0.00,2.38,0.00,0.000,4612,0.000,0.061,2522,415,3813,3832,3794,0,0,0,0,0,0,15.11,14.83,15.11
$STATE,1115,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1115,begin apogee
$GC,1124,-0.17,0.0,2522,1808,3832,3794,107.3,-8.8,193,1335,0.88,0.00,200.45,1.074,10246,0.125,0.000,2701,1806,2697,2734,2661,0,0,0,0,0,0,14.71,14.40,13.90
$STATE,1337,end apogee,CONTROL_FINISHED_OK
$STATE,1337,begin climb
$GC,1340,0.77,272.5,2701,1806,2732,2660,121.4,0.0,231,1562,1.38,2.45,209.90,1.050,10500,0.075,0.047,2994,3200,1587,1630,1545,0,0,0,0,0,0,14.44,14.38,13.88
$GC,1627,0.77,272.5,2994,3200,1625,1542,101.2,13.5,281,1634,0.00,2.42,0.00,0.000,3078,0.000,0.051,2996,1803,1583,1625,1542,0,0,0,0,0,0,14.69,14.58,14.69
$GC,1699,0.77,272.5,2996,1803,1625,1541,91.4,14.1,294,1706,0.00,2.50,0.00,0.000,2564,0.000,0.072,2997,385,1582,1624,1541,0,0,0,0,0,0,14.88,14.65,14.88
$GC,1735,0.77,272.5,2997,385,1623,1541,86.3,13.6,300,1741,0.00,2.35,0.00,0.000,3078,0.000,0.033,2997,1800,1582,1623,1541,0,0,0,0,0,0,14.82,14.75,14.83
$GC,1806,0.77,272.5,2996,1803,1623,1540,75.9,16.4,313,1813,0.00,2.35,0.00,0.000,2308,0.000,0.047,2997,3202,1581,1623,1539,0,0,0,0,0,0,14.97,14.71,14.98
$GC,1841,0.77,272.5,2997,3203,1622,1539,71.0,13.6,319,1848,0.00,2.40,0.00,0.000,3078,0.000,0.051,2999,1799,1581,1622,1540,0,0,0,0,0,0,14.83,14.73,14.85
$GC,1913,0.77,272.5,2998,1799,1622,1540,61.8,13.2,332,1920,0.00,2.45,0.00,0.000,2564,0.000,0.071,3003,385,1581,1622,1540,0,0,0,0,0,0,15.01,14.76,15.01
$GC,1978,0.77,272.5,3002,385,1622,1539,52.5,13.0,344,1985,0.00,2.35,0.00,0.000,1030,0.000,0.033,3003,1812,1580,1622,1539,0,0,0,0,0,0,14.91,14.84,14.93
$GC,2051,0.77,272.5,3002,1814,1622,1539,43.9,12.1,357,2057,0.00,2.33,0.00,0.000,2308,0.000,0.047,3003,3197,1580,1622,1539,0,0,0,0,0,0,15.05,14.73,15.05
$GC,2086,0.77,272.5,3003,3197,1622,1538,39.6,11.8,363,2092,0.00,2.38,0.00,0.000,1030,0.000,0.050,3004,1796,1579,1621,1538,0,0,0,0,0,0,14.82,14.72,14.85
$GC,2158,0.77,272.5,3003,1796,1622,1538,32.2,10.1,376,2165,0.00,2.42,0.00,0.000,516,0.000,0.070,3006,392,1580,1622,1538,0,0,0,0,0,0,15.06,14.80,15.06
$GC,2203,0.77,272.5,3006,392,1621,1538,27.2,10.3,384,2210,0.00,2.33,0.00,0.000,1030,0.000,0.032,3006,1809,1579,1621,1537,0,0,0,0,0,0,14.95,14.87,14.97
$GC,2275,0.77,272.5,3006,1812,1621,1538,20.0,10.3,397,2282,0.00,2.30,0.00,0.000,260,0.000,0.047,3005,3193,1579,1621,1537,0,0,0,0,0,0,15.07,14.75,15.08
$GC,2305,0.77,272.5,3006,3200,1621,1537,16.6,10.8,402,2311,0.00,2.35,0.00,0.000,1030,0.000,0.050,3007,1800,1579,1621,1537,0,0,0,0,0,0,14.84,14.77,14.85
$GC,2377,0.85,339.6,3007,1800,1621,1537,10.0,8.4,415,2428,0.00,2.53,45.47,0.856,10756,0.000,0.070,3008,391,1311,1364,1258,0,0,0,0,0,0,15.09,14.69,14.22
$STATE,2441,end climb,SURFACE_DEPTH_REACHED
$STATE,2441,begin surface coast
$FINISH,2.1,1.025398
$STATE,2447,end surface coast,CONTROL_FINISHED_OK
$STATE,2447,begin surface
$SM_CCo,2475,118.78,0.795,0,0,599,515.37
$SM_GC,0.93,14.07,2.40,118.78,0.078,0.036,0.795,129,1791,599,-8.17,-1.67,515.37,0,0,0,0,0,0,14.73,14.75,14.08
$IRIDIUM_FIX,-3401.68,2614.09,220419,163458
$TT8_MAMPS,0.020972,0.925015
$HUMID,45.27
$INTERNAL_PRESSURE,9.30256
$TCM_TEMP,19.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.0,36.6
$SC_FREEKB,3640736
$24V_AH,13.32,157.506
$10V_AH,13.28,0.000
$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,17.625,83.025,455.825,118.775,0.000,0.000,0.000,0.000,2.250,0.000,0.000,850.518,352.965,619.824,742.192,179.661,0.000,1076.824,0.000,642.828,0.000,16.174,0.000
$DEVICE_MAMPS,124.695,86.445,1074.060,794.835,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2501.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.134,0.000,0.000,0.000
$MEM,341064
$DATA_FILE_SIZE,10127,427
$CAP_FILE_SIZE,83885,0
$CFSIZE,2097086464,1993310208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220419,194435,-3415.726,2542.958,8,1.1,18,-27.8,1.1,358.1,8,9.5