version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 448
start: 4 19 119 23 56 43
data:
$ID,574
$MISSION,3
$DIVE,448
$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,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
$GPS1,190419,234201,-3431.8059,2515.7991,8,0.9,28,-27.9,0.7,244.8,10,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-65.5
$GPS2,190419,235617,-3431.8511,2515.7285,7,1.0,17,-27.9,0.6,129.3,10,9.8
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3422.499,2522.271
$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,20,begin dive
$GC,23,-0.77,-272.5,53,1797,626,545,0.0,0.0,0,129,0.00,0.00,-102.38,0.000,16386,0.000,0.000,54,1797,3138,3104,3172,0,0,0,0,0,0,14.92,28.83,14.93
$GC,134,-0.77,-272.5,53,1797,3105,3173,4.0,-10.2,19,170,14.68,2.47,-10.60,0.000,18948,0.307,0.084,2504,394,3814,3828,3800,0,0,0,0,0,0,14.45,13.44,14.73
$GC,264,-0.77,-272.5,2503,394,3829,3800,34.5,-12.8,43,270,0.00,2.35,0.00,0.000,3078,0.000,0.034,2501,1810,3814,3829,3800,0,0,0,0,0,0,14.89,14.80,14.90
$GC,334,-0.77,-272.5,2501,1813,3829,3798,44.1,-15.5,56,341,0.00,2.38,0.00,0.000,2308,0.000,0.054,2501,3213,3814,3829,3800,0,0,0,0,0,0,15.02,14.66,15.02
$GC,394,-0.77,-272.5,2501,3213,3829,3800,53.4,-12.8,67,401,0.00,2.35,0.00,0.000,3078,0.000,0.041,2502,1803,3814,3829,3800,0,0,0,0,0,0,14.81,14.71,14.81
$GC,467,-0.77,-272.5,2501,1804,3829,3800,62.6,-12.3,80,474,0.00,2.40,0.00,0.000,2564,0.000,0.063,2501,409,3814,3829,3800,0,0,0,0,0,0,15.04,14.78,15.05
$GC,497,-0.77,-272.5,2501,409,3828,3800,66.7,-11.9,85,503,0.00,2.33,0.00,0.000,3078,0.000,0.033,2501,1820,3814,3829,3800,0,0,0,0,0,0,14.92,14.84,14.94
$GC,567,-0.77,-272.5,2501,1823,3829,3800,75.0,-11.9,98,575,0.00,2.35,0.00,0.000,2308,0.000,0.054,2501,3209,3814,3829,3800,0,0,0,0,0,0,15.04,14.80,15.05
$GC,608,-0.77,-272.5,2501,3208,3828,3800,79.4,-9.8,105,616,0.00,2.35,0.00,0.000,3078,0.000,0.041,2501,1804,3814,3829,3800,0,0,0,0,0,0,14.93,14.85,14.94
$GC,680,-0.77,-272.5,2501,1804,3829,3800,86.9,-10.1,118,685,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1804,3814,3828,3800,0,0,0,0,0,0,15.07,15.07,15.07
$GC,750,-0.77,-272.5,2501,1804,3829,3800,94.4,-9.9,131,757,0.00,2.40,0.00,0.000,2308,0.000,0.054,2501,3208,3814,3829,3800,0,0,0,0,0,0,15.08,14.71,15.08
$GC,780,-0.77,-272.5,2501,3209,3829,3800,96.8,-8.0,136,787,0.00,2.35,0.00,0.000,3078,0.000,0.041,2501,1806,3814,3829,3800,0,0,0,0,0,0,14.83,14.73,14.85
$GC,851,-0.77,-272.5,2501,1806,3829,3800,102.7,-9.8,149,858,0.00,2.40,0.00,0.000,2564,0.000,0.063,2502,410,3814,3828,3800,0,0,0,0,0,0,15.08,14.76,15.08
$GC,871,-0.77,-272.5,2501,409,3828,3800,104.7,-10.0,152,881,0.00,2.33,0.00,0.000,3078,0.000,0.033,2501,1818,3814,3829,3800,0,0,0,0,0,0,14.89,14.81,14.90
$GC,947,-0.77,-272.5,2501,1819,3828,3800,112.2,-9.9,165,954,0.00,2.35,0.00,0.000,2308,0.000,0.054,2501,3209,3814,3829,3800,0,0,0,0,0,0,15.08,14.81,15.08
$GC,978,-0.77,-272.5,2501,3209,3828,3800,115.2,-8.6,170,984,0.00,2.35,0.00,0.000,3078,0.000,0.041,2501,1803,3814,3829,3800,0,0,0,0,0,0,14.95,14.84,14.96
$GC,1049,-0.77,-272.5,2501,1803,3829,3800,122.3,-10.8,183,1055,0.00,2.40,0.00,0.000,2564,0.000,0.063,2502,403,3813,3827,3799,0,0,0,0,0,0,15.07,14.81,15.07
$GC,1073,-0.77,-272.5,2501,403,3829,3799,125.3,-11.9,187,1080,0.00,2.33,0.00,0.000,3078,0.000,0.033,2501,1819,3814,3828,3800,0,0,0,0,0,0,14.95,14.86,14.97
$GC,1144,-0.77,-272.5,2501,1822,3828,3798,133.0,-11.5,200,1150,0.00,2.35,0.00,0.000,2308,0.000,0.054,2501,3214,3814,3828,3800,0,0,0,0,0,0,15.08,14.82,15.08
$GC,1190,-0.77,-272.5,2505,3215,3828,3799,138.0,-9.8,208,1197,0.00,2.35,0.00,0.000,3078,0.000,0.041,2501,1811,3813,3828,3799,0,0,0,0,0,0,14.89,14.78,14.90
$GC,1262,-0.77,-272.5,2501,1811,3828,3799,146.2,-12.2,221,1268,0.00,2.40,0.00,0.000,2564,0.000,0.061,2501,410,3813,3828,3799,0,0,0,0,0,0,15.09,14.81,15.09
$GC,1286,-0.77,-272.5,2501,409,3828,3799,149.4,-12.0,225,1293,0.00,2.33,0.00,0.000,3078,0.000,0.033,2501,1819,3813,3828,3799,0,0,0,0,0,0,14.90,14.81,14.91
$GC,1358,-0.77,-272.5,2501,1822,3828,3799,156.9,-10.4,238,1364,0.00,2.35,0.00,0.000,2308,0.000,0.052,2501,3214,3813,3828,3799,0,0,0,0,0,0,15.07,14.82,15.07
$STATE,1385,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1385,begin apogee
$GC,1394,-0.17,0.0,2502,1791,3828,3799,160.3,-10.5,243,1605,0.98,0.00,201.68,1.144,10246,0.131,0.000,2699,1788,2699,2734,2664,0,0,0,0,0,0,14.69,14.36,13.85
$STATE,1607,end apogee,CONTROL_FINISHED_OK
$STATE,1607,begin climb
$GC,1609,0.77,272.5,2699,1788,2734,2664,166.1,0.0,281,1832,1.40,0.00,210.52,1.121,10758,0.077,0.000,2995,1788,1588,1631,1546,0,0,0,0,0,0,14.39,14.19,13.82
$GC,1896,0.77,272.5,2995,1788,1629,1543,148.8,15.3,332,1902,0.00,2.50,0.00,0.000,2564,0.000,0.073,2999,389,1585,1629,1542,0,0,0,0,0,0,14.73,14.47,14.73
$GC,1915,0.77,272.5,2999,389,1627,1542,146.4,12.9,335,1922,0.00,2.38,0.00,0.000,3078,0.000,0.032,2998,1808,1584,1627,1542,0,0,0,0,0,0,14.60,14.53,14.62
$GC,1987,0.77,272.5,2998,1810,1627,1541,136.5,14.6,348,1993,0.00,2.35,0.00,0.000,2308,0.000,0.046,2999,3197,1583,1626,1541,0,0,0,0,0,0,14.88,14.68,14.88
$GC,2011,0.77,272.5,2998,3197,1624,1540,132.5,15.8,352,2018,0.00,2.42,0.00,0.000,3078,0.000,0.052,3000,1803,1582,1624,1540,0,0,0,0,0,0,14.74,14.64,14.75
$GC,2083,0.77,272.5,2999,1803,1625,1540,122.0,15.6,365,2089,0.00,2.47,0.00,0.000,2564,0.000,0.072,2999,392,1582,1625,1540,0,0,0,0,0,0,14.93,14.69,14.94
$GC,2102,0.77,272.5,2999,392,1624,1540,118.6,16.1,368,2109,0.00,2.33,0.00,0.000,3078,0.000,0.031,2999,1803,1581,1624,1539,0,0,0,0,0,0,14.85,14.77,14.85
$GC,2174,0.77,272.5,2999,1806,1624,1539,107.1,17.7,381,2179,0.00,0.00,0.00,0.000,2054,0.000,0.000,2999,1806,1581,1624,1539,0,0,0,0,0,0,14.97,14.97,14.97
$GC,2242,0.77,272.5,2999,1806,1624,1540,95.2,16.1,394,2248,0.00,2.33,0.00,0.000,2308,0.000,0.046,2999,3196,1581,1624,1539,0,0,0,0,0,0,15.01,14.78,15.02
$GC,2271,0.77,272.5,2999,3195,1622,1539,90.6,16.5,399,2278,0.00,2.40,0.00,0.000,3078,0.000,0.050,2999,1798,1578,1622,1534,0,0,0,0,0,0,14.85,14.75,14.87
$GC,2343,0.77,272.5,2999,1797,1622,1539,80.9,13.9,412,2349,0.00,0.00,0.00,0.000,2054,0.000,0.000,2999,1797,1580,1622,1539,0,0,0,0,0,0,15.02,15.02,15.02
$GC,2412,0.77,272.5,2999,1797,1622,1538,70.9,15.0,425,2418,0.00,0.00,0.00,0.000,2054,0.000,0.000,2999,1798,1580,1622,1538,0,0,0,0,0,0,15.05,15.05,15.05
$GC,2481,0.77,272.5,2997,1797,1622,1538,60.2,15.7,438,2486,0.00,0.00,0.00,0.000,2054,0.000,0.000,2999,1797,1580,1622,1538,0,0,0,0,0,0,15.06,15.06,15.06
$GC,2549,0.77,272.5,2999,1805,1622,1538,49.8,15.5,451,2556,0.00,2.42,0.00,0.000,2564,0.000,0.073,2999,396,1579,1622,1537,0,0,0,0,0,0,15.07,14.70,15.07
$GC,2650,0.77,272.5,2998,396,1622,1538,38.1,10.3,470,2657,0.00,2.30,0.00,0.000,3078,0.000,0.032,2999,1801,1579,1621,1537,0,0,0,0,0,0,14.85,14.78,14.87
$GC,2722,0.85,336.3,2999,1803,1621,1537,32.2,8.4,483,2784,0.05,2.53,52.12,1.040,10756,0.260,0.072,3033,392,1328,1379,1277,0,0,0,0,0,0,14.71,14.55,14.13
$GC,2814,0.85,336.3,3032,392,1378,1275,22.4,12.4,499,2821,0.00,2.33,0.00,0.000,1030,0.000,0.033,3033,1798,1326,1378,1274,0,0,0,0,0,0,14.76,14.69,14.76
$GC,2887,0.85,336.3,3032,1800,1377,1273,14.2,12.1,512,2894,0.00,2.35,0.00,0.000,260,0.000,0.046,3033,3197,1325,1377,1273,0,0,0,0,0,0,14.92,14.71,14.94
$GC,2916,0.85,336.3,3033,3197,1376,1272,9.8,13.6,517,2923,0.00,2.40,0.00,0.000,1030,0.000,0.051,3033,1798,1323,1376,1271,0,0,0,0,0,0,14.81,14.71,14.83
$STATE,2958,end climb,FINISH_DEPTH_REACHED
$STATE,2959,begin subsurface finish
$FINISH1,4.6,1.025484,103
$GC,2966,0.13,103.3,3033,1797,1376,1271,4.6,11.2,525,3006,1.17,0.00,-34.33,0.000,20998,0.167,0.000,2805,1798,2281,2327,2236,0,0,0,0,0,0,14.52,13.48,14.62
$FINISH2,3.3
$STATE,3007,end subsurface finish,CONTROL_FINISHED_OK
$STATE,3007,begin surface
$IRIDIUM_FIX,-3419.93,2515.55,190419,214014
$TT8_MAMPS,0.021721,0.823151
$HUMID,46.49
$INTERNAL_PRESSURE,9.43928
$TCM_TEMP,19.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,135.6,34.1
$SC_FREEKB,3686336
$24V_AH,13.44,140.201
$10V_AH,13.42,0.000
$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,18.275,85.575,464.325,0.000,0.000,23.617,20.421,495.800,4.750,0.000,18.349,1034.683,431.412,609.916,1433.448,357.066,0.000,1174.712,0.000,802.366,0.000,31.371,0.000
$DEVICE_MAMPS,306.765,84.150,1144.440,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3071.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.337,0.000,0.000,0.000
$MEM,340920
$DATA_FILE_SIZE,13442,532
$CAP_FILE_SIZE,108418,0
$CFSIZE,2097086464,2007859200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,190419,235617,-3431.851,2515.729,7,1.0,17,-27.9,0.6,129.3,10,9.8