version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 452
start: 4 20 119 3 48 27
data:
$ID,574
$MISSION,3
$DIVE,452
$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,32
$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
$GPS1,200419,033453,-3430.6013,2517.0049,7,1.1,17,-27.9,0.0,266.1,9,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-65.4
$GPS2,200419,034801,-3430.4888,2516.9243,7,1.1,31,-27.9,0.6,281.3,9,5.7
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3421.136,2523.465
$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,-272.5,54,1788,627,545,0.0,0.0,0,123,0.00,0.00,-97.30,0.000,16386,0.000,0.000,54,1788,3068,3033,3103,0,0,0,0,0,0,14.95,28.83,14.95
$GC,129,-0.77,-272.5,53,1788,3034,3103,3.8,-8.8,18,164,14.52,2.42,-11.55,0.000,18948,0.298,0.085,2503,412,3814,3828,3800,0,0,0,0,0,0,14.49,13.44,14.79
$GC,263,-0.77,-272.5,2502,409,3829,3800,37.8,-13.2,43,270,0.00,2.30,0.00,0.000,3078,0.000,0.034,2501,1803,3814,3829,3800,0,0,0,0,0,0,14.90,14.81,14.91
$GC,335,-0.77,-272.5,2501,1805,3829,3800,47.0,-14.0,56,341,0.00,2.40,0.00,0.000,2308,0.000,0.054,2501,3218,3814,3829,3800,0,0,0,0,0,0,15.04,14.70,15.03
$GC,385,-0.77,-272.5,2501,3219,3830,3800,53.2,-11.6,65,392,0.00,2.38,0.00,0.000,3078,0.000,0.041,2501,1801,3814,3829,3800,0,0,0,0,0,0,14.82,14.72,14.83
$GC,458,-0.77,-272.5,2501,1801,3829,3800,61.8,-11.9,78,465,0.00,2.38,0.00,0.000,2564,0.000,0.063,2501,415,3814,3829,3800,0,0,0,0,0,0,15.05,14.80,15.06
$GC,503,-0.77,-272.5,2501,415,3829,3799,67.3,-11.0,86,509,0.00,2.30,0.00,0.000,3078,0.000,0.033,2501,1815,3814,3829,3800,0,0,0,0,0,0,14.93,14.85,14.95
$GC,575,-0.77,-272.5,2501,1816,3829,3800,75.2,-11.9,99,581,0.00,2.35,0.00,0.000,2308,0.000,0.054,2501,3209,3814,3829,3800,0,0,0,0,0,0,15.07,14.72,15.07
$GC,636,-0.77,-272.5,2501,3209,3829,3800,81.8,-9.7,110,643,0.00,2.33,0.00,0.000,3078,0.000,0.041,2501,1819,3814,3829,3800,0,0,0,0,0,0,14.94,14.83,14.95
$GC,709,-0.77,-272.5,2501,1818,3829,3800,89.3,-10.7,123,717,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1819,3814,3829,3800,0,0,0,0,0,0,15.07,15.08,15.07
$GC,782,-0.77,-272.5,2502,1818,3829,3800,97.8,-11.1,136,788,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1818,3814,3829,3800,0,0,0,0,0,0,15.08,15.12,15.09
$GC,856,-0.77,-272.5,2501,1818,3829,3800,106.2,-12.1,149,861,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1819,3814,3829,3800,0,0,0,0,0,0,15.09,15.09,15.09
$GC,924,-0.77,-272.5,2501,1818,3829,3800,114.1,-11.4,162,930,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1819,3814,3829,3799,0,0,0,0,0,0,15.10,15.10,15.10
$GC,993,-0.77,-272.5,2501,1819,3829,3800,122.1,-11.9,175,999,0.00,0.00,0.00,0.000,2054,0.000,0.000,2502,1818,3814,3829,3800,0,0,0,0,0,0,15.10,15.09,15.10
$STATE,1054,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1054,begin apogee
$GC,1061,-0.17,0.0,2501,1819,3829,3800,129.0,-10.7,187,1268,0.98,0.00,199.38,1.080,10246,0.137,0.000,2697,1815,2699,2735,2663,0,0,0,0,0,0,14.59,14.40,13.93
$STATE,1272,end apogee,CONTROL_FINISHED_OK
$STATE,1272,begin climb
$GC,1274,0.77,272.5,2698,1815,2733,2661,140.8,0.0,224,1494,1.40,2.60,208.02,1.072,10756,0.077,0.070,3003,394,1587,1630,1545,0,0,0,0,0,0,14.41,14.33,13.87
$GC,1527,0.77,272.5,3002,395,1626,1545,120.9,15.9,268,1534,0.00,2.38,0.00,0.000,1030,0.000,0.031,3003,1808,1585,1626,1544,0,0,0,0,0,0,14.58,14.52,14.59
$GC,1599,0.77,272.5,3002,1810,1625,1541,110.1,16.5,281,1605,0.00,2.35,0.00,0.000,260,0.000,0.045,3008,3200,1583,1625,1541,0,0,0,0,0,0,14.81,14.62,14.81
$GC,1618,0.77,272.5,3002,3200,1623,1540,106.8,15.7,284,1625,0.00,2.40,0.00,0.000,1030,0.000,0.050,3003,1803,1581,1623,1540,0,0,0,0,0,0,14.73,14.64,14.75
$GC,1690,0.77,272.5,3002,1803,1623,1540,94.5,17.7,297,1696,0.00,2.45,0.00,0.000,516,0.000,0.072,3002,398,1581,1623,1539,0,0,0,0,0,0,14.92,14.60,14.92
$GC,1734,0.77,272.5,3003,397,1622,1538,86.3,17.9,305,1741,0.00,2.33,0.00,0.000,1030,0.000,0.031,3003,1813,1581,1622,1540,0,0,0,0,0,0,14.83,14.77,14.85
$GC,1806,0.77,272.5,3002,1815,1622,1538,74.6,14.8,318,1812,0.00,2.33,0.00,0.000,260,0.000,0.046,3003,3194,1580,1622,1539,0,0,0,0,0,0,14.99,14.73,15.00
$GC,1845,0.77,272.5,3002,3194,1621,1538,68.3,14.3,325,1852,0.00,2.38,0.00,0.000,1030,0.000,0.052,3003,1798,1579,1621,1538,0,0,0,0,0,0,14.80,14.70,14.83
$GC,1917,0.77,272.5,3002,1799,1621,1538,58.6,14.1,338,1923,0.00,2.45,0.00,0.000,516,0.000,0.071,3002,387,1579,1621,1538,0,0,0,0,0,0,15.02,14.77,15.02
$GC,1998,0.77,272.5,3002,386,1621,1538,48.7,10.7,353,2005,0.00,2.33,0.00,0.000,1030,0.000,0.033,3003,1802,1579,1621,1538,0,0,0,0,0,0,14.92,14.85,14.94
$GC,2070,0.77,272.5,3003,1805,1621,1537,41.6,10.4,366,2075,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1805,1579,1621,1537,0,0,0,0,0,0,15.05,15.08,15.06
$GC,2139,0.80,298.7,3002,1805,1621,1537,35.0,9.4,379,2168,0.00,2.35,21.42,0.981,10500,0.000,0.046,3003,3205,1481,1528,1435,0,0,0,0,0,0,15.07,14.65,14.23
$GC,2196,0.80,298.7,3006,3205,1526,1433,28.7,10.9,389,2202,0.00,2.40,0.00,0.000,3078,0.000,0.050,3003,1800,1479,1526,1433,0,0,0,0,0,0,14.83,14.73,14.85
$GC,2267,0.80,298.7,3003,1799,1526,1432,21.4,10.7,402,2273,0.00,0.00,0.00,0.000,2054,0.000,0.000,3003,1799,1479,1526,1432,0,0,0,0,0,0,15.00,15.00,15.00
$GC,2336,0.81,306.7,3002,1799,1526,1432,14.1,9.8,415,2349,0.00,2.35,5.22,0.719,10500,0.000,0.047,3003,3204,1447,1495,1399,0,0,0,0,0,0,15.03,14.77,14.18
$GC,2399,0.81,306.7,3003,3204,1494,1397,7.6,10.3,426,2406,0.00,2.40,0.00,0.000,3078,0.000,0.047,3003,1796,1445,1494,1397,0,0,0,0,0,0,14.91,14.81,14.92
$STATE,2426,end climb,FINISH_DEPTH_REACHED
$STATE,2426,begin subsurface finish
$FINISH1,4.7,1.025049,126
$GC,2434,0.15,125.7,3003,1797,1494,1396,4.7,8.7,431,2468,0.95,0.00,-27.77,0.000,20998,0.151,0.000,2813,1796,2191,2237,2145,0,0,0,0,0,0,14.68,13.54,14.78
$FINISH2,2.5
$STATE,2469,end subsurface finish,CONTROL_FINISHED_OK
$STATE,2469,begin surface
$IRIDIUM_FIX,-3417.32,2515.55,200419,014737
$TT8_MAMPS,0.021721,0.933254
$HUMID,45.58
$INTERNAL_PRESSURE,9.44905
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,105.1,33.8
$SC_FREEKB,3684288
$24V_AH,13.44,141.061
$10V_AH,13.52,0.000
$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,17.850,52.325,434.050,0.000,0.000,23.999,18.261,429.749,3.250,0.000,32.729,835.244,353.197,531.647,1227.081,315.950,0.000,1002.829,0.000,660.487,0.000,24.124,0.000
$DEVICE_MAMPS,297.585,84.915,1080.180,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2529.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.394,0.000,0.000,0.000
$MEM,340920
$DATA_FILE_SIZE,10114,437
$CAP_FILE_SIZE,86308,0
$CFSIZE,2097086464,2007236608
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,1057.92,0x2131c2,2,24
$GPS,200419,034801,-3430.489,2516.924,7,1.1,31,-27.9,0.6,281.3,9,5.7