version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 446
start: 4 19 119 21 50 33
data:
$ID,574
$MISSION,3
$DIVE,446
$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,27
$R_STBD_OVSHOOT,52
$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
$GPS1,190419,213528,-3432.1677,2515.2676,17,0.9,43,-27.9,0.9,290.5,9,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-65.3
$GPS2,190419,215007,-3432.1714,2515.0271,7,1.0,16,-27.9,0.9,277.4,8,9.4
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3425.230,2525.056
$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,-272.5,53,1787,625,545,0.0,0.0,0,129,0.00,0.00,-102.82,0.000,16386,0.000,0.000,54,1788,3191,3157,3225,0,0,0,0,0,0,14.92,28.83,14.92
$GC,134,-0.77,-272.5,59,1788,3157,3225,4.1,-9.9,19,165,14.62,2.45,-9.38,0.000,18948,0.304,0.085,2502,397,3816,3831,3801,0,0,0,0,0,0,14.48,13.45,14.76
$GC,259,-0.77,-272.5,2501,396,3828,3801,38.8,-14.3,42,266,0.00,2.33,0.00,0.000,3078,0.000,0.035,2501,1802,3814,3827,3801,0,0,0,0,0,0,14.78,14.69,14.79
$GC,330,-0.77,-272.5,2501,1805,3827,3801,49.2,-15.2,55,337,0.00,2.40,0.00,0.000,2308,0.000,0.054,2501,3219,3814,3827,3801,0,0,0,0,0,0,15.02,14.71,15.02
$GC,365,-0.77,-272.5,2501,3219,3827,3801,53.3,-11.4,61,372,0.00,2.38,0.00,0.000,3078,0.000,0.041,2501,1804,3814,3827,3801,0,0,0,0,0,0,14.78,14.68,14.80
$GC,437,-0.77,-272.5,2501,1804,3827,3801,61.3,-13.0,74,443,0.00,2.42,0.00,0.000,2564,0.000,0.066,2501,404,3814,3827,3801,0,0,0,0,0,0,15.04,14.76,15.04
$GC,456,-0.77,-272.5,2500,403,3827,3800,63.7,-10.8,77,463,0.00,2.35,0.00,0.000,3078,0.000,0.034,2501,1820,3814,3827,3801,0,0,0,0,0,0,14.88,14.77,14.90
$GC,529,-0.77,-272.5,2501,1823,3827,3801,72.8,-14.1,90,536,0.00,2.35,0.00,0.000,2308,0.000,0.053,2501,3212,3814,3827,3801,0,0,0,0,0,0,15.05,14.69,15.05
$GC,559,-0.77,-272.5,2501,3213,3827,3801,77.6,-14.7,95,565,0.00,2.35,0.00,0.000,3078,0.000,0.042,2501,1809,3814,3827,3801,0,0,0,0,0,0,14.92,14.81,14.94
$GC,632,-0.77,-272.5,2501,1809,3825,3800,87.2,-13.4,108,638,0.00,2.42,0.00,0.000,2564,0.000,0.064,2501,404,3814,3828,3800,0,0,0,0,0,0,15.06,14.78,15.07
$GC,678,-0.77,-272.5,2501,406,3827,3801,93.4,-12.6,116,684,0.00,2.33,0.00,0.000,3078,0.000,0.034,2501,1814,3813,3826,3800,0,0,0,0,0,0,14.93,14.84,14.95
$GC,750,-0.77,-272.5,2501,1816,3827,3800,101.9,-12.0,129,756,0.00,2.35,0.00,0.000,2308,0.000,0.053,2501,3208,3814,3827,3801,0,0,0,0,0,0,15.07,14.67,15.07
$GC,812,-0.77,-272.5,2501,3209,3827,3800,108.6,-9.7,140,819,0.00,2.35,0.00,0.000,3078,0.000,0.040,2501,1802,3814,3828,3800,0,0,0,0,0,0,14.93,14.83,14.95
$GC,883,-0.77,-272.5,2501,1802,3827,3800,115.5,-10.0,153,890,0.00,2.38,0.00,0.000,2564,0.000,0.063,2501,410,3813,3827,3800,0,0,0,0,0,0,15.07,14.80,15.07
$GC,913,-0.77,-272.5,2501,411,3827,3799,118.9,-10.2,158,919,0.00,2.30,0.00,0.000,3078,0.000,0.032,2501,1816,3813,3827,3800,0,0,0,0,0,0,14.95,14.86,14.96
$GC,985,-0.77,-272.5,2501,1818,3827,3800,125.3,-9.2,171,992,0.00,2.35,0.00,0.000,2308,0.000,0.054,2501,3204,3812,3825,3800,0,0,0,0,0,0,15.08,14.70,15.08
$GC,1015,-0.77,-272.5,2501,3204,3827,3800,129.0,-10.9,176,1022,0.00,2.33,0.00,0.000,3078,0.000,0.041,2501,1814,3815,3831,3800,0,0,0,0,0,0,14.83,14.73,14.84
$GC,1089,-0.77,-272.5,2501,1814,3827,3800,137.1,-11.5,189,1096,0.00,2.42,0.00,0.000,2564,0.000,0.063,2502,402,3814,3827,3801,0,0,0,0,0,0,15.09,14.67,15.09
$GC,1114,-0.77,-272.5,2501,402,3827,3800,140.2,-13.5,193,1121,0.00,2.33,0.00,0.000,3078,0.000,0.037,2498,1804,3813,3827,3800,0,0,0,0,0,0,14.95,14.85,14.96
$GC,1186,-0.77,-272.5,2501,1806,3827,3799,148.4,-11.8,206,1192,0.00,2.40,0.00,0.000,2308,0.000,0.053,2501,3221,3813,3827,3799,0,0,0,0,0,0,15.09,14.76,15.08
$GC,1226,-0.77,-272.5,2500,3221,3827,3804,152.2,-9.0,213,1232,0.00,2.38,0.00,0.000,3078,0.000,0.041,2501,1803,3813,3827,3799,0,0,0,0,0,0,14.88,14.78,14.90
$GC,1297,-0.77,-272.5,2501,1802,3827,3799,160.0,-12.1,226,1303,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1802,3813,3827,3799,0,0,0,0,0,0,15.08,15.09,15.08
$STATE,1314,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1314,begin apogee
$GC,1320,-0.17,0.0,2501,1802,3827,3799,162.5,-12.1,229,1531,0.98,0.00,202.68,1.136,10246,0.140,0.000,2696,1802,2699,2736,2663,0,0,0,0,0,0,14.67,14.37,13.85
$STATE,1533,end apogee,CONTROL_FINISHED_OK
$STATE,1533,begin climb
$GC,1535,0.77,272.5,2697,1802,2734,2662,173.3,0.0,267,1754,1.40,0.00,210.95,1.120,10758,0.083,0.000,2990,1802,1589,1633,1546,0,0,0,0,0,0,14.37,14.31,13.81
$GC,1817,0.77,272.5,2990,1802,1628,1541,156.1,14.3,317,1823,0.00,0.00,0.00,0.000,2054,0.000,0.000,2990,1802,1584,1628,1541,0,0,0,0,0,0,14.73,14.73,14.73
$GC,1886,0.77,272.5,2990,1801,1626,1540,145.6,15.9,330,1892,0.00,0.00,0.00,0.000,2054,0.000,0.000,2990,1801,1583,1626,1540,0,0,0,0,0,0,14.84,14.85,14.84
$GC,1955,0.77,272.5,2990,1801,1625,1539,135.4,15.0,343,1961,0.00,0.00,0.00,0.000,2054,0.000,0.000,2990,1802,1582,1625,1539,0,0,0,0,0,0,14.90,14.91,14.91
$GC,2024,0.77,272.5,2990,1802,1624,1539,125.3,13.1,356,2030,0.00,2.45,0.00,0.000,2564,0.000,0.072,2992,398,1581,1624,1539,0,0,0,0,0,0,14.95,14.70,14.95
$GC,2048,0.77,272.5,2991,398,1622,1538,121.8,14.6,360,2055,0.00,2.35,0.00,0.000,3078,0.000,0.032,2992,1811,1580,1622,1539,0,0,0,0,0,0,14.85,14.78,14.87
$GC,2119,0.77,272.5,2992,1814,1622,1536,112.9,11.9,373,2126,0.00,2.30,0.00,0.000,2308,0.000,0.045,2992,3198,1579,1622,1537,0,0,0,0,0,0,14.97,14.77,14.98
$GC,2159,0.77,272.5,2991,3198,1622,1537,108.1,12.7,380,2166,0.00,2.38,0.00,0.000,3078,0.000,0.050,2992,1804,1579,1621,1537,0,0,0,0,0,0,14.88,14.78,14.90
$GC,2232,0.77,272.5,2992,1804,1621,1536,99.5,12.0,393,2238,0.00,0.00,0.00,0.000,2054,0.000,0.000,2992,1804,1579,1621,1537,0,0,0,0,0,0,15.02,15.03,15.03
$GC,2301,0.77,272.5,2992,1805,1622,1536,90.9,11.9,406,2306,0.00,0.00,0.00,0.000,2054,0.000,0.000,2992,1804,1578,1621,1536,0,0,0,0,0,0,15.04,15.05,15.04
$GC,2369,0.77,272.5,2992,1804,1621,1536,83.8,10.6,419,2376,0.00,2.45,0.00,0.000,2564,0.000,0.071,2992,389,1578,1621,1535,0,0,0,0,0,0,15.05,14.78,15.05
$GC,2399,0.77,272.5,2992,389,1621,1536,80.5,10.1,424,2405,0.00,2.33,0.00,0.000,3078,0.000,0.033,2992,1801,1578,1621,1536,0,0,0,0,0,0,14.94,14.85,14.95
$GC,2470,0.77,272.5,2992,1803,1621,1535,71.8,11.6,437,2477,0.00,2.35,0.00,0.000,2308,0.000,0.047,2992,3207,1578,1621,1535,0,0,0,0,0,0,15.06,14.72,15.06
$GC,2547,0.77,272.5,2992,3207,1620,1535,63.2,12.3,451,2554,0.00,2.40,0.00,0.000,3078,0.000,0.051,2992,1800,1579,1621,1537,0,0,0,0,0,0,14.89,14.78,14.91
$GC,2618,0.77,272.5,2992,1800,1621,1535,55.2,10.5,464,2624,0.00,2.45,0.00,0.000,2564,0.000,0.072,2992,391,1577,1621,1534,0,0,0,0,0,0,15.07,14.80,15.07
$GC,2699,0.77,272.5,2992,391,1621,1535,46.4,10.1,479,2706,0.00,2.33,0.00,0.000,3078,0.000,0.033,2992,1806,1578,1621,1535,0,0,0,0,0,0,14.95,14.88,14.97
$GC,2771,0.84,326.2,2991,1809,1620,1535,39.7,8.7,492,2823,0.08,2.53,43.47,1.045,11012,0.188,0.070,3037,388,1371,1420,1322,0,0,0,0,0,0,14.83,14.59,14.19
$GC,2847,0.84,326.2,3036,388,1419,1321,28.1,18.7,505,2854,0.00,2.35,0.00,0.000,5126,0.000,0.032,3037,1803,1369,1419,1320,0,0,0,0,0,0,14.76,14.69,14.76
$GC,2920,0.84,326.2,3037,1806,1418,1318,17.4,14.9,518,2926,0.00,0.00,0.00,0.000,4102,0.000,0.000,3037,1806,1368,1418,1318,0,0,0,0,0,0,14.95,14.95,14.95
$GC,2989,0.84,326.2,3037,1806,1417,1318,7.9,12.7,531,2995,0.00,2.35,0.00,0.000,4356,0.000,0.047,3034,3199,1367,1417,1318,0,0,0,0,0,0,14.97,14.75,14.97
$GC,3008,0.84,326.2,3037,3200,1417,1317,5.3,13.2,534,3015,0.00,2.40,0.00,0.000,5126,0.000,0.050,3037,1796,1366,1417,1316,0,0,0,0,0,0,14.86,14.75,14.88
$STATE,3020,end climb,FINISH_DEPTH_REACHED
$STATE,3020,begin subsurface finish
$FINISH1,3.4,1.025542,100
$GC,3027,0.12,100.3,3037,1796,1417,1316,3.4,13.3,536,3072,1.20,0.00,-37.40,0.000,20998,0.171,0.000,2810,1796,2286,2332,2240,0,0,0,0,0,0,14.54,14.00,14.65
$FINISH2,2.1
$STATE,3073,end subsurface finish,CONTROL_FINISHED_OK
$STATE,3073,begin surface
$IRIDIUM_FIX,-3417.32,2515.55,190419,192933
$TT8_MAMPS,0.020972,0.919023
$HUMID,46.10
$INTERNAL_PRESSURE,9.42951
$TCM_TEMP,19.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,135.3,37.1
$SC_FREEKB,3687360
$24V_AH,13.45,139.729
$10V_AH,13.44,0.000
$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,18.275,80.750,457.100,0.000,0.000,22.874,17.449,525.774,4.750,0.000,17.349,1070.781,447.086,598.135,1475.733,363.808,0.000,1168.758,0.000,822.620,0.000,33.295,0.000
$DEVICE_MAMPS,303.705,84.915,1136.025,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3143.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.525,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,13445,544
$CAP_FILE_SIZE,109353,0
$CFSIZE,2097086464,2008186880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,190419,215007,-3432.171,2515.027,7,1.0,16,-27.9,0.9,277.4,8,9.4