version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 444
start: 4 19 119 19 39 57
data:
$ID,574
$MISSION,3
$DIVE,444
$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,50
$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,40
$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
$GPS1,190419,192449,-3432.1497,2514.8359,16,1.2,39,-27.9,0.2,276.5,8,5.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-66.4
$GPS2,190419,193931,-3432.2263,2514.6655,7,1.2,17,-27.9,0.4,218.4,8,9.4
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3425.285,2524.694
$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,77.9,20000,-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,-272.5,81,1814,625,545,0.0,0.0,0,128,0.00,0.00,-102.47,0.000,16386,0.000,0.000,78,1814,3083,3051,3115,0,0,0,0,0,0,14.91,28.83,14.92
$GC,134,-0.77,-272.5,76,1814,3051,3116,3.3,-7.0,19,169,14.57,2.47,-12.07,0.000,18948,0.307,0.084,2504,379,3813,3829,3798,0,0,0,0,0,0,14.46,13.43,14.76
$GC,248,-0.77,-272.5,2503,379,3831,3798,31.8,-13.3,40,255,0.00,2.40,0.00,0.000,3078,0.000,0.036,2502,1821,3814,3831,3798,0,0,0,0,0,0,14.87,14.77,14.88
$GC,318,-0.77,-272.5,2501,1823,3830,3798,42.2,-17.8,53,324,0.00,2.38,0.00,0.000,2308,0.000,0.055,2501,3214,3813,3830,3797,0,0,0,0,0,0,15.00,14.75,15.01
$GC,377,-0.77,-272.5,2501,3213,3830,3798,51.0,-13.0,64,383,0.00,2.38,0.00,0.000,3078,0.000,0.041,2501,1805,3814,3830,3798,0,0,0,0,0,0,14.88,14.78,14.90
$GC,448,-0.77,-272.5,2501,1804,3830,3798,59.9,-13.0,77,455,0.00,2.40,0.00,0.000,2564,0.000,0.064,2501,410,3814,3830,3798,0,0,0,0,0,0,15.00,14.76,15.02
$GC,463,-0.77,-272.5,2500,411,3830,3798,62.1,-13.2,79,469,0.00,2.33,0.00,0.000,3078,0.000,0.034,2501,1816,3814,3830,3798,0,0,0,0,0,0,14.90,14.81,14.91
$GC,535,-0.77,-272.5,2501,1819,3830,3798,70.4,-11.4,92,541,0.00,2.38,0.00,0.000,2308,0.000,0.055,2501,3214,3814,3830,3798,0,0,0,0,0,0,15.04,14.66,15.05
$GC,584,-0.77,-272.5,2501,3216,3830,3798,75.5,-9.5,101,591,0.00,2.38,0.00,0.000,3078,0.000,0.040,2501,1801,3814,3830,3798,0,0,0,0,0,0,14.85,14.81,14.85
$GC,657,-0.77,-272.5,2501,1801,3830,3798,82.5,-8.9,114,664,0.00,2.40,0.00,0.000,2564,0.000,0.064,2501,408,3814,3830,3798,0,0,0,0,0,0,15.05,14.77,15.04
$GC,707,-0.77,-272.5,2501,409,3830,3798,88.1,-10.7,123,714,0.00,2.33,0.00,0.000,3078,0.000,0.034,2501,1815,3814,3830,3798,0,0,0,0,0,0,14.92,14.83,14.94
$GC,778,-0.77,-272.5,2501,1817,3830,3798,95.6,-11.3,136,785,0.00,2.35,0.00,0.000,2308,0.000,0.054,2501,3209,3814,3830,3798,0,0,0,0,0,0,15.06,14.79,15.06
$GC,833,-0.77,-272.5,2501,3208,3830,3798,101.2,-9.9,146,840,0.00,2.35,0.00,0.000,3078,0.000,0.041,2501,1811,3814,3830,3798,0,0,0,0,0,0,14.92,14.83,14.94
$GC,905,-0.77,-272.5,2501,1811,3830,3798,109.2,-12.0,159,911,0.00,2.42,0.00,0.000,2564,0.000,0.063,2501,402,3814,3830,3798,0,0,0,0,0,0,15.07,14.66,15.07
$GC,929,-0.77,-272.5,2502,402,3830,3798,112.1,-11.8,163,936,0.00,2.33,0.00,0.000,3078,0.000,0.034,2501,1815,3813,3830,3797,0,0,0,0,0,0,14.82,14.73,14.83
$GC,1001,-0.77,-272.5,2501,1813,3830,3798,118.6,-8.7,176,1008,0.00,2.38,0.00,0.000,2308,0.000,0.057,2501,3210,3813,3829,3798,0,0,0,0,0,0,15.07,14.79,15.07
$GC,1061,-0.77,-272.5,2501,3210,3830,3798,123.6,-10.1,187,1067,0.00,2.35,0.00,0.000,3078,0.000,0.044,2501,1813,3813,3828,3798,0,0,0,0,0,0,14.88,14.77,14.89
$GC,1132,-0.77,-272.5,2501,1813,3830,3798,131.0,-11.0,200,1137,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1813,3813,3828,3798,0,0,0,0,0,0,15.07,15.07,15.07
$GC,1204,-0.77,-272.5,2501,1813,3830,3798,139.0,-11.5,213,1210,0.00,2.40,0.00,0.000,2308,0.000,0.054,2501,3220,3814,3830,3798,0,0,0,0,0,0,15.06,14.81,15.06
$GC,1229,-0.77,-272.5,2500,3220,3829,3798,142.1,-11.8,217,1235,0.00,2.35,0.00,0.000,3078,0.000,0.041,2501,1811,3813,3829,3798,0,0,0,0,0,0,14.93,14.85,14.95
$GC,1300,-0.77,-272.5,2501,1812,3830,3798,149.6,-11.6,230,1306,0.00,2.42,0.00,0.000,2564,0.000,0.063,2501,405,3813,3829,3798,0,0,0,0,0,0,15.07,14.69,15.08
$GC,1324,-0.77,-272.5,2501,406,3829,3797,152.7,-11.8,234,1331,0.00,2.33,0.00,0.000,3078,0.000,0.033,2499,1826,3813,3829,3797,0,0,0,0,0,0,14.94,14.86,14.95
$STATE,1381,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1381,begin apogee
$GC,1389,-0.17,0.0,2501,1829,3829,3797,159.8,-13.0,245,1601,1.00,0.00,203.02,1.140,10246,0.142,0.000,2701,1829,2699,2735,2664,0,0,0,0,0,0,14.66,14.35,13.83
$STATE,1603,end apogee,CONTROL_FINISHED_OK
$STATE,1603,begin climb
$GC,1605,0.77,272.5,2700,1829,2734,2663,172.3,0.0,283,1831,1.42,2.58,211.80,1.121,10756,0.092,0.066,3003,402,1589,1632,1546,0,0,0,0,0,0,14.34,14.20,13.80
$GC,1844,0.77,272.5,3002,401,1629,1546,163.0,12.4,324,1850,0.00,2.38,0.00,0.000,1030,0.000,0.034,3003,1797,1587,1629,1545,0,0,0,0,0,0,14.48,14.42,14.49
$GC,1915,0.77,272.5,3002,1799,1628,1543,153.3,14.5,337,1921,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1799,1585,1628,1542,0,0,0,0,0,0,14.74,14.76,14.75
$GC,1984,0.77,272.5,3002,1799,1627,1542,142.6,15.8,350,1990,0.00,2.38,0.00,0.000,2308,0.000,0.046,3003,3204,1583,1626,1541,0,0,0,0,0,0,14.85,14.64,14.85
$GC,2055,0.77,272.5,3002,3201,1623,1541,132.7,13.1,363,2062,0.00,2.38,0.00,0.000,1030,0.000,0.047,3003,1803,1582,1623,1541,0,0,0,0,0,0,14.73,14.70,14.74
$GC,2127,0.77,272.5,3002,1803,1623,1540,123.7,12.7,376,2133,0.00,2.45,0.00,0.000,516,0.000,0.072,3003,398,1582,1624,1540,0,0,0,0,0,0,14.95,14.66,14.96
$GC,2146,0.77,272.5,3002,396,1623,1540,120.3,15.1,379,2153,0.00,2.33,0.00,0.000,3078,0.000,0.032,3003,1806,1581,1623,1540,0,0,0,0,0,0,14.78,14.71,14.79
$GC,2218,0.77,272.5,3003,1809,1623,1541,109.5,15.0,392,2224,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1809,1581,1623,1540,0,0,0,0,0,0,14.98,15.00,15.00
$GC,2287,0.77,272.5,3002,1809,1623,1539,99.2,14.4,405,2292,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1809,1581,1623,1540,0,0,0,0,0,0,15.01,15.02,15.02
$GC,2355,0.77,272.5,3002,1809,1623,1540,89.3,13.4,418,2361,0.00,2.47,0.00,0.000,516,0.000,0.070,3011,388,1581,1623,1540,0,0,0,0,0,0,15.02,14.76,15.02
$GC,2384,0.77,272.5,3011,388,1622,1540,85.3,12.6,423,2391,0.00,2.35,0.00,0.000,5126,0.000,0.032,3011,1802,1580,1622,1539,0,0,0,0,0,0,14.92,14.85,14.93
$GC,2456,0.77,272.5,3011,1804,1622,1539,75.0,13.7,436,2463,0.00,2.47,0.00,0.000,4612,0.000,0.072,3013,390,1580,1622,1539,0,0,0,0,0,0,15.04,14.69,15.07
$GC,2490,0.77,272.5,3011,390,1622,1539,70.0,14.3,442,2497,0.00,2.33,0.00,0.000,5126,0.000,0.033,3013,1802,1580,1622,1539,0,0,0,0,0,0,14.92,14.84,14.94
$GC,2562,0.77,272.5,3013,1805,1622,1546,60.3,14.6,455,2568,0.00,2.35,0.00,0.000,4356,0.000,0.046,3013,3206,1580,1622,1539,0,0,0,0,0,0,15.05,14.77,15.06
$GC,2677,0.77,272.5,3012,3206,1621,1538,45.1,11.5,477,2683,0.00,2.40,0.00,0.000,5126,0.000,0.050,3013,1799,1579,1621,1538,0,0,0,0,0,0,14.88,14.78,14.90
$GC,2749,0.77,272.5,3012,1799,1621,1538,37.6,10.7,490,2755,0.00,2.42,0.00,0.000,4612,0.000,0.072,3010,398,1579,1621,1538,0,0,0,0,0,0,15.05,14.79,15.06
$GC,2788,0.77,272.5,3013,397,1621,1538,33.2,10.3,497,2794,0.00,2.33,0.00,0.000,5126,0.000,0.032,3013,1808,1579,1621,1538,0,0,0,0,0,0,14.95,14.86,14.96
$GC,2859,0.77,272.5,3012,1813,1621,1538,26.1,10.5,510,2866,0.00,2.33,0.00,0.000,4356,0.000,0.047,3013,3206,1579,1621,1538,0,0,0,0,0,0,15.05,14.83,15.06
$GC,2899,0.77,272.5,3013,3207,1621,1537,21.5,10.9,517,2905,0.00,2.40,0.00,0.000,5126,0.000,0.050,3013,1796,1579,1621,1537,0,0,0,0,0,0,14.94,14.82,14.95
$GC,2969,0.77,272.5,3013,1796,1621,1538,14.2,10.9,530,2975,0.00,0.00,0.00,0.000,4102,0.000,0.000,3013,1796,1579,1621,1537,0,0,0,0,0,0,15.05,15.06,15.05
$GC,3038,0.80,295.9,3013,1796,1621,1537,6.8,9.4,543,3056,0.00,0.00,14.95,0.850,8710,0.000,0.000,3013,1796,1491,1537,1445,0,0,0,0,0,0,15.07,14.78,14.28
$STATE,3061,end climb,FINISH_DEPTH_REACHED
$STATE,3061,begin subsurface finish
$FINISH1,4.1,1.025571,99
$GC,3069,0.12,98.9,3013,1795,1535,1444,4.1,10.7,547,3108,1.08,0.00,-31.77,0.000,20998,0.171,0.000,2805,1796,2298,2345,2252,0,0,0,0,0,0,14.64,14.04,14.78
$FINISH2,2.0
$STATE,3109,end subsurface finish,CONTROL_FINISHED_OK
$STATE,3109,begin surface
$IRIDIUM_FIX,-3417.32,2509.70,190419,171258
$TT8_MAMPS,0.021721,0.932505
$HUMID,46.10
$INTERNAL_PRESSURE,9.42951
$TCM_TEMP,19.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,135.3,34.5
$SC_FREEKB,3688384
$24V_AH,13.43,139.260
$10V_AH,13.56,0.000
$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,18.075,85.825,429.775,0.000,0.000,22.783,18.147,523.812,4.750,0.000,18.468,1095.827,462.847,579.475,1497.047,359.484,0.000,1155.118,0.000,834.532,0.000,33.159,0.000
$DEVICE_MAMPS,306.765,84.150,1139.850,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3177.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.370,0.000,0.000,0.000
$MEM,340920
$DATA_FILE_SIZE,13438,554
$CAP_FILE_SIZE,110917,0
$CFSIZE,2097086464,2008514560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,190419,193931,-3432.226,2514.666,7,1.2,17,-27.9,0.4,218.4,8,9.4