version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 456
start: 4 20 119 7 16 44
data:
$ID,574
$MISSION,3
$DIVE,456
$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,30
$R_STBD_OVSHOOT,46
$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
$GPS1,200419,070331,-3429.7600,2518.6628,8,1.0,33,-27.9,0.5,253.9,8,6.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-59.3
$GPS2,200419,071617,-3429.7668,2518.6479,7,1.0,15,-27.9,0.6,241.8,8,9.8
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3420.415,2525.187
$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,-272.5,58,1804,630,538,0.0,0.0,0,118,0.00,0.00,-91.97,0.000,16386,0.000,0.000,54,1805,2877,2841,2914,0,0,0,0,0,0,14.95,28.83,14.95
$GC,123,-0.77,-272.5,54,1805,2842,2914,3.1,-6.1,17,165,14.50,2.42,-16.20,0.000,18948,0.298,0.084,2502,408,3814,3830,3798,0,0,0,0,0,0,14.49,13.44,14.76
$GC,244,-0.77,-272.5,2502,407,3831,3798,28.9,-9.4,39,251,0.00,2.33,0.00,0.000,3078,0.000,0.037,2501,1806,3814,3831,3798,0,0,0,0,0,0,14.79,14.70,14.80
$GC,316,-0.77,-272.5,2501,1809,3830,3798,37.7,-14.5,52,323,0.00,2.40,0.00,0.000,2308,0.000,0.056,2501,3214,3814,3830,3798,0,0,0,0,0,0,15.04,14.74,15.04
$GC,335,-0.77,-272.5,2501,3214,3830,3794,40.7,-13.6,55,342,0.00,2.38,0.00,0.000,3078,0.000,0.043,2501,1803,3814,3830,3798,0,0,0,0,0,0,14.87,14.76,14.88
$GC,408,-0.77,-272.5,2501,1803,3830,3798,51.4,-17.7,68,414,0.00,2.40,0.00,0.000,2308,0.000,0.054,2501,3214,3814,3831,3798,0,0,0,0,0,0,15.04,14.81,15.06
$GC,453,-0.77,-272.5,2501,3215,3831,3798,58.7,-14.6,76,460,0.00,2.35,0.00,0.000,3078,0.000,0.041,2501,1805,3814,3831,3798,0,0,0,0,0,0,14.93,14.83,14.95
$GC,525,-0.77,-272.5,2501,1805,3831,3798,67.8,-12.5,89,532,0.00,2.40,0.00,0.000,2564,0.000,0.063,2501,409,3813,3830,3797,0,0,0,0,0,0,15.07,14.76,15.07
$GC,566,-0.77,-272.5,2500,409,3830,3801,73.1,-12.7,96,573,0.00,2.33,0.00,0.000,3078,0.000,0.035,2501,1818,3813,3830,3797,0,0,0,0,0,0,14.95,14.86,14.96
$GC,639,-0.77,-272.5,2501,1819,3831,3798,81.1,-11.0,109,646,0.00,2.35,0.00,0.000,2308,0.000,0.054,2500,3209,3813,3830,3797,0,0,0,0,0,0,15.09,14.71,15.09
$GC,711,-0.77,-272.5,2501,3208,3831,3797,88.3,-9.7,122,718,0.00,2.35,0.00,0.000,3078,0.000,0.041,2501,1812,3814,3831,3798,0,0,0,0,0,0,14.95,14.85,14.97
$GC,783,-0.77,-272.5,2501,1812,3831,3797,95.6,-11.0,135,789,0.00,2.40,0.00,0.000,2564,0.000,0.063,2501,409,3814,3830,3798,0,0,0,0,0,0,15.08,14.82,15.08
$GC,812,-0.77,-272.5,2501,409,3830,3798,99.2,-10.9,140,824,0.00,2.30,0.00,0.000,3078,0.000,0.034,2501,1815,3814,3831,3798,0,0,0,0,0,0,14.97,14.88,14.97
$GC,887,-0.77,-272.5,2501,1815,3830,3797,107.6,-11.7,153,894,0.00,2.35,0.00,0.000,2308,0.000,0.054,2501,3207,3814,3830,3798,0,0,0,0,0,0,15.09,14.83,15.09
$GC,932,-0.77,-272.5,2501,3207,3830,3798,112.3,-10.2,161,938,0.00,2.33,0.00,0.000,3078,0.000,0.040,2501,1812,3814,3831,3798,0,0,0,0,0,0,14.96,14.87,14.97
$GC,1003,-0.77,-272.5,2501,1812,3830,3798,119.7,-11.1,174,1010,0.00,2.42,0.00,0.000,2564,0.000,0.062,2501,398,3814,3831,3798,0,0,0,0,0,0,15.08,14.83,15.08
$GC,1038,-0.77,-272.5,2501,398,3830,3798,124.0,-12.4,180,1045,0.00,2.33,0.00,0.000,3078,0.000,0.034,2501,1817,3813,3830,3797,0,0,0,0,0,0,14.97,14.88,14.99
$STATE,1060,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1060,begin apogee
$GC,1066,-0.17,0.0,2501,1820,3827,3798,126.1,-9.1,184,1277,0.98,0.00,200.25,1.079,10246,0.130,0.000,2697,1820,2698,2733,2663,0,0,0,0,0,0,14.62,14.40,13.90
$STATE,1279,end apogee,CONTROL_FINISHED_OK
$STATE,1279,begin climb
$GC,1281,0.77,272.5,2698,1820,2731,2662,135.4,0.0,222,1502,1.40,2.60,208.75,1.067,10756,0.070,0.067,3007,394,1587,1630,1545,0,0,0,0,0,0,14.43,14.35,13.88
$GC,1540,0.77,272.5,3007,392,1626,1545,119.1,18.4,267,1546,0.00,2.35,0.00,0.000,1030,0.000,0.031,3008,1800,1584,1625,1544,0,0,0,0,0,0,14.61,14.54,14.62
$GC,1611,0.77,272.5,3007,1803,1625,1550,107.0,15.2,280,1617,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1803,1583,1625,1542,0,0,0,0,0,0,14.83,14.84,14.83
$GC,1680,0.77,272.5,3007,1803,1624,1541,95.3,17.1,293,1686,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1803,1583,1624,1542,0,0,0,0,0,0,14.91,14.92,14.92
$GC,1749,0.77,272.5,3007,1803,1622,1540,83.6,16.4,306,1754,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1803,1581,1623,1540,0,0,0,0,0,0,14.97,14.97,14.97
$GC,1817,0.77,272.5,3007,1803,1622,1540,72.9,14.8,319,1824,0.00,2.35,0.00,0.000,260,0.000,0.047,3008,3208,1581,1622,1540,0,0,0,0,0,0,15.00,14.74,15.01
$GC,1857,0.77,272.5,3007,3208,1621,1540,67.0,14.8,326,1864,0.00,2.40,0.00,0.000,5126,0.000,0.051,3010,1801,1580,1621,1539,0,0,0,0,0,0,14.82,14.71,14.83
$GC,1929,0.77,272.5,3009,1800,1621,1539,57.0,14.0,339,1936,0.00,2.42,0.00,0.000,4612,0.000,0.070,3010,395,1580,1621,1539,0,0,0,0,0,0,15.04,14.78,15.05
$GC,2000,0.77,272.5,3009,395,1621,1538,47.9,11.6,352,2007,0.00,2.33,0.00,0.000,5126,0.000,0.034,3009,1813,1580,1621,1539,0,0,0,0,0,0,14.94,14.86,14.95
$GC,2072,0.78,277.4,3009,1816,1621,1538,40.7,9.9,365,2085,0.00,2.33,3.85,0.553,8452,0.000,0.046,3010,3193,1569,1611,1527,0,0,0,0,0,0,15.06,14.81,14.11
$GC,2113,0.78,277.4,3009,3193,1611,1526,35.6,12.3,372,2119,0.00,2.38,0.00,0.000,1030,0.000,0.050,3010,1793,1568,1611,1526,0,0,0,0,0,0,14.88,14.79,14.90
$GC,2185,0.78,277.4,3009,1789,1611,1526,28.1,10.9,385,2191,0.00,2.40,0.00,0.000,516,0.000,0.069,3010,392,1568,1611,1526,0,0,0,0,0,0,15.05,14.81,15.06
$GC,2224,0.78,277.4,3009,392,1611,1527,23.4,11.7,392,2230,0.00,2.33,0.00,0.000,1030,0.000,0.032,3010,1808,1568,1611,1526,0,0,0,0,0,0,14.95,14.88,14.96
$GC,2295,0.78,277.4,3009,1810,1611,1526,15.9,10.6,405,2301,0.00,2.33,0.00,0.000,260,0.000,0.047,3010,3201,1568,1610,1526,0,0,0,0,0,0,15.06,14.85,15.07
$GC,2339,0.78,277.4,3009,3201,1610,1525,10.7,11.5,413,2345,0.00,2.38,0.00,0.000,1030,0.000,0.050,3010,1800,1567,1610,1525,0,0,0,0,0,0,14.94,14.85,14.96
$STATE,2396,end climb,FINISH_DEPTH_REACHED
$STATE,2396,begin subsurface finish
$FINISH1,4.7,1.025175,119
$GC,2403,0.15,119.2,3010,1800,1610,1525,4.7,8.7,424,2433,1.00,2.45,-21.85,0.000,20996,0.163,0.083,2814,392,2216,2264,2169,0,0,0,0,0,0,14.62,13.47,14.71
$FINISH2,3.7
$STATE,2434,end subsurface finish,CONTROL_FINISHED_OK
$STATE,2434,begin surface
$IRIDIUM_FIX,-3417.32,2515.55,200419,052603
$TT8_MAMPS,0.021721,0.916776
$HUMID,46.22
$INTERNAL_PRESSURE,9.45881
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.2,35.9
$SC_FREEKB,3682240
$24V_AH,13.44,141.909
$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,17.875,68.850,412.850,0.000,0.000,22.413,39.598,415.064,3.000,0.000,16.330,829.355,341.577,522.866,1210.122,305.094,0.000,991.409,0.000,645.424,0.000,22.485,0.000
$DEVICE_MAMPS,298.350,84.150,1079.415,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2488.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.283,0.000,0.000,0.000
$MEM,340920
$DATA_FILE_SIZE,10126,429
$CAP_FILE_SIZE,86444,0
$CFSIZE,2097086464,2006581248
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,2430.55,0x2131ca,5,24
$GPS,200419,071617,-3429.767,2518.648,7,1.0,15,-27.9,0.6,241.8,8,9.8