version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 450
start: 4 20 119 1 57 34
data:
$ID,574
$MISSION,3
$DIVE,450
$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,25
$R_STBD_OVSHOOT,45
$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
$GPS1,200419,014302,-3431.2354,2516.3484,9,0.9,27,-27.9,0.8,299.3,10,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-66.6
$GPS2,200419,015709,-3431.1450,2516.2517,7,1.0,14,-27.9,0.0,285.3,10,9.7
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3421.793,2522.793
$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,-272.5,53,1805,626,542,0.0,0.0,0,123,0.00,0.00,-97.32,0.000,16386,0.000,0.000,54,1805,3004,2972,3036,0,0,0,0,0,0,14.92,28.83,14.94
$GC,129,-0.77,-272.5,54,1805,2971,3037,3.2,-6.2,18,164,14.62,2.45,-13.60,0.000,18948,0.304,0.084,2504,392,3813,3830,3796,0,0,0,0,0,0,14.49,13.85,14.77
$GC,273,-0.77,-272.5,2504,393,3830,3796,35.7,-14.1,45,280,0.00,2.35,0.00,0.000,3078,0.000,0.035,2504,1811,3812,3828,3796,0,0,0,0,0,0,14.89,14.80,14.90
$GC,345,-0.77,-272.5,2504,1814,3830,3795,47.6,-19.6,58,351,0.00,2.38,0.00,0.000,2308,0.000,0.054,2504,3214,3812,3830,3795,0,0,0,0,0,0,15.03,14.69,15.04
$GC,394,-0.77,-272.5,2504,3214,3830,3796,56.1,-15.8,67,401,0.00,2.38,0.00,0.000,3078,0.000,0.041,2504,1795,3812,3830,3795,0,0,0,0,0,0,14.81,14.71,14.81
$GC,465,-0.77,-272.5,2504,1794,3830,3796,65.8,-13.5,80,472,0.00,2.40,0.00,0.000,2564,0.000,0.063,2504,408,3812,3829,3796,0,0,0,0,0,0,15.04,14.72,15.05
$GC,505,-0.77,-272.5,2504,408,3829,3796,71.1,-13.0,87,511,0.00,2.33,0.00,0.000,3078,0.000,0.034,2504,1817,3812,3830,3795,0,0,0,0,0,0,14.81,14.72,14.82
$GC,577,-0.77,-272.5,2504,1820,3830,3796,79.8,-12.5,100,586,0.00,2.35,0.00,0.000,2308,0.000,0.054,2504,3210,3813,3830,3796,0,0,0,0,0,0,15.07,14.80,15.07
$GC,653,-0.77,-272.5,2504,3209,3829,3796,87.4,-9.1,113,659,0.00,2.35,0.00,0.000,3078,0.000,0.041,2504,1804,3813,3830,3796,0,0,0,0,0,0,14.94,14.83,14.95
$GC,724,-0.77,-272.5,2504,1803,3830,3795,94.5,-10.3,126,731,0.00,0.00,0.00,0.000,2054,0.000,0.000,2504,1804,3813,3830,3796,0,0,0,0,0,0,15.07,15.07,15.07
$GC,796,-0.77,-272.5,2507,1803,3829,3796,102.2,-10.6,139,801,0.00,0.00,0.00,0.000,2054,0.000,0.000,2504,1804,3812,3830,3795,0,0,0,0,0,0,15.06,15.09,15.09
$GC,864,-0.77,-272.5,2504,1804,3830,3795,109.7,-11.0,152,873,0.00,0.00,0.00,0.000,2054,0.000,0.000,2504,1804,3813,3830,3796,0,0,0,0,0,0,15.09,15.09,15.09
$GC,941,-0.77,-272.5,2508,1803,3830,3795,118.1,-11.1,165,947,0.00,0.00,0.00,0.000,2054,0.000,0.000,2504,1804,3813,3830,3796,0,0,0,0,0,0,15.09,15.09,15.09
$GC,1009,-0.77,-272.5,2504,1804,3830,3796,125.7,-10.4,178,1016,0.00,2.40,0.00,0.000,2308,0.000,0.053,2501,3209,3813,3830,3796,0,0,0,0,0,0,15.09,14.71,15.09
$GC,1044,-0.77,-272.5,2501,3209,3829,3796,129.1,-9.1,184,1051,0.00,2.33,0.00,0.000,3078,0.000,0.041,2501,1813,3811,3829,3794,0,0,0,0,0,0,14.83,14.74,14.83
$GC,1116,-0.77,-272.5,2501,1813,3829,3795,137.4,-13.6,197,1122,0.00,2.42,0.00,0.000,2564,0.000,0.064,2501,408,3812,3829,3795,0,0,0,0,0,0,15.09,14.76,15.09
$GC,1135,-0.77,-272.5,2501,406,3829,3795,139.7,-11.5,200,1142,0.00,2.33,0.00,0.000,3078,0.000,0.032,2498,1821,3812,3829,3795,0,0,0,0,0,0,14.86,14.77,14.88
$STATE,1147,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1147,begin apogee
$GC,1153,-0.17,0.0,2498,1826,3829,3795,141.4,-12.1,202,1364,1.00,0.00,200.48,1.101,10246,0.134,0.000,2699,1826,2699,2735,2664,0,0,0,0,0,0,14.69,14.34,13.86
$STATE,1366,end apogee,CONTROL_FINISHED_OK
$STATE,1366,begin climb
$GC,1368,0.77,272.5,2699,1826,2733,2662,150.3,0.0,240,1591,1.50,2.60,208.15,1.089,10756,0.099,0.071,3006,404,1587,1630,1545,0,0,0,0,0,0,14.38,14.30,13.85
$GC,1604,0.77,272.5,3006,405,1628,1545,137.6,15.9,280,1611,0.00,2.38,0.00,0.000,1030,0.000,0.034,3006,1801,1585,1627,1544,0,0,0,0,0,0,14.45,14.40,14.47
$GC,1676,0.77,272.5,3006,1802,1626,1541,126.7,16.6,293,1682,0.00,2.38,0.00,0.000,260,0.000,0.044,3006,3204,1583,1626,1541,0,0,0,0,0,0,14.78,14.59,14.79
$GC,1700,0.77,272.5,3005,3204,1624,1541,122.8,15.4,297,1706,0.00,2.42,0.00,0.000,1030,0.000,0.051,3006,1802,1582,1624,1540,0,0,0,0,0,0,14.66,14.57,14.68
$GC,1771,0.77,272.5,3006,1803,1624,1540,112.0,15.9,310,1778,0.00,2.47,0.00,0.000,516,0.000,0.071,3011,385,1582,1624,1540,0,0,0,0,0,0,14.90,14.66,14.90
$GC,1796,0.77,272.5,3011,385,1623,1540,107.6,17.5,314,1803,0.00,2.35,0.00,0.000,5126,0.000,0.032,3011,1809,1581,1623,1540,0,0,0,0,0,0,14.81,14.73,14.83
$GC,1868,0.77,272.5,3010,1812,1622,1539,95.8,17.2,327,1873,0.00,0.00,0.00,0.000,4102,0.000,0.000,3011,1811,1580,1621,1540,0,0,0,0,0,0,14.95,14.95,14.95
$GC,1936,0.77,272.5,3011,1812,1623,1539,84.0,16.2,340,1943,0.00,2.33,0.00,0.000,4356,0.000,0.046,3011,3204,1582,1622,1543,0,0,0,0,0,0,15.00,14.77,15.00
$GC,1966,0.77,272.5,3011,3204,1621,1538,79.6,15.9,345,1973,0.00,2.40,0.00,0.000,5126,0.000,0.049,3013,1796,1580,1622,1539,0,0,0,0,0,0,14.89,14.78,14.90
$GC,2039,0.77,272.5,3013,1796,1622,1538,69.4,14.8,358,2045,0.00,0.00,0.00,0.000,4102,0.000,0.000,3013,1796,1579,1621,1538,0,0,0,0,0,0,15.02,15.04,15.04
$GC,2108,0.77,272.5,3013,1796,1621,1538,58.8,14.6,371,2114,0.00,2.42,0.00,0.000,4612,0.000,0.073,3013,395,1579,1621,1538,0,0,0,0,0,0,15.04,14.78,15.04
$GC,2179,0.77,272.5,3013,395,1621,1538,48.2,14.9,384,2186,0.00,2.33,0.00,0.000,5126,0.000,0.034,3013,1806,1579,1621,1538,0,0,0,0,0,0,14.85,14.77,14.86
$GC,2251,0.77,272.5,3013,1809,1621,1537,39.6,10.7,397,2257,0.00,2.33,0.00,0.000,4356,0.000,0.047,3013,3203,1579,1621,1537,0,0,0,0,0,0,15.07,14.83,15.07
$GC,2275,0.77,272.5,3013,3203,1621,1536,36.4,12.5,401,2282,0.00,2.38,0.00,0.000,5126,0.000,0.050,3013,1803,1578,1621,1536,0,0,0,0,0,0,14.89,14.78,14.90
$GC,2346,0.77,272.5,3013,1802,1621,1537,29.2,10.4,414,2352,0.00,0.00,0.00,0.000,4102,0.000,0.000,3013,1802,1578,1621,1536,0,0,0,0,0,0,15.06,15.07,15.07
$GC,2416,0.77,272.5,3013,1802,1621,1536,21.6,10.9,427,2422,0.00,2.35,0.00,0.000,4356,0.000,0.048,3013,3197,1578,1621,1536,0,0,0,0,0,0,15.07,14.83,15.08
$GC,2460,0.77,272.5,3013,3198,1620,1536,16.6,11.3,435,2467,0.00,2.38,0.00,0.000,5126,0.000,0.050,3014,1799,1578,1621,1536,0,0,0,0,0,0,14.90,14.79,14.92
$GC,2531,0.77,272.5,3014,1802,1620,1536,9.2,10.8,448,2538,0.00,2.38,0.00,0.000,4356,0.000,0.048,3015,3203,1578,1620,1536,0,0,0,0,0,0,15.09,14.84,15.09
$STATE,2573,end climb,FINISH_DEPTH_REACHED
$STATE,2574,begin subsurface finish
$FINISH1,4.8,1.024981,129
$GC,2584,0.16,129.1,3017,1798,1621,1535,4.8,8.6,456,2613,1.02,0.00,-21.10,0.000,20998,0.170,0.000,2816,1796,2176,2221,2131,0,0,0,0,0,0,14.67,14.02,14.79
$FINISH2,3.3
$STATE,2613,end subsurface finish,CONTROL_FINISHED_OK
$STATE,2614,begin surface
$IRIDIUM_FIX,-3417.32,2515.55,190419,234644
$TT8_MAMPS,0.021721,0.932505
$HUMID,46.06
$INTERNAL_PRESSURE,9.43928
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,115.3,35.3
$SC_FREEKB,3685312
$24V_AH,13.85,140.635
$10V_AH,13.43,0.000
$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,18.150,66.750,408.625,0.000,0.000,22.232,38.394,483.345,3.750,0.000,15.360,898.962,378.011,534.265,1317.809,334.637,0.000,1029.391,0.000,694.651,0.000,25.283,0.000
$DEVICE_MAMPS,303.705,84.150,1100.835,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2675.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.467,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,10104,461
$CAP_FILE_SIZE,91789,0
$CFSIZE,2097086464,2007564288
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,1502.04,0x23609a,1,24
$GPS,200419,015709,-3431.145,2516.252,7,1.0,14,-27.9,0.0,285.3,10,9.7