version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 458
start: 4 20 119 9 3 5
data:
$ID,574
$MISSION,3
$DIVE,458
$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,31
$R_STBD_OVSHOOT,53
$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
$GPS1,200419,084801,-3429.3352,2519.8169,7,0.8,32,-27.9,0.9,260.4,9,5.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-61.7
$GPS2,200419,090240,-3429.3689,2519.9495,7,0.7,13,-27.9,0.9,132.2,11,9.9
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3420.017,2526.488
$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,21,begin dive
$GC,23,-0.77,-272.5,53,1793,633,538,0.0,0.0,0,123,0.00,0.00,-96.95,0.000,16386,0.000,0.000,53,1793,3042,3012,3073,0,0,0,0,0,0,14.95,28.83,14.95
$GC,129,-0.77,-272.5,53,1793,3012,3073,3.6,-8.2,18,165,14.55,2.38,-12.75,0.000,18948,0.299,0.084,2504,405,3813,3829,3798,0,0,0,0,0,0,14.49,13.44,14.76
$GC,239,-0.77,-272.5,2504,405,3830,3798,30.4,-13.8,38,246,0.00,2.33,0.00,0.000,3078,0.000,0.034,2501,1811,3814,3830,3798,0,0,0,0,0,0,14.90,14.81,14.91
$GC,310,-0.77,-272.5,2501,1814,3830,3798,41.2,-16.0,51,317,0.00,2.40,0.00,0.000,2308,0.000,0.056,2501,3217,3814,3830,3798,0,0,0,0,0,0,15.04,14.73,15.04
$GC,365,-0.77,-272.5,2501,3217,3830,3798,48.7,-12.3,61,371,0.00,2.38,0.00,0.000,3078,0.000,0.041,2501,1801,3814,3830,3798,0,0,0,0,0,0,14.81,14.71,14.82
$GC,437,-0.77,-272.5,2501,1800,3830,3798,57.6,-12.9,74,444,0.00,2.40,0.00,0.000,2564,0.000,0.063,2501,404,3814,3830,3798,0,0,0,0,0,0,15.06,14.80,15.06
$GC,468,-0.77,-272.5,2501,404,3829,3798,61.7,-12.3,79,475,0.00,2.33,0.00,0.000,3078,0.000,0.035,2501,1815,3813,3830,3797,0,0,0,0,0,0,14.94,14.85,14.95
$GC,539,-0.77,-272.5,2501,1818,3829,3798,70.5,-13.1,92,545,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1818,3814,3830,3798,0,0,0,0,0,0,15.09,15.11,15.09
$GC,608,-0.77,-272.5,2501,1818,3829,3798,79.3,-11.9,105,614,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1818,3814,3830,3798,0,0,0,0,0,0,15.08,15.08,15.08
$GC,677,-0.77,-272.5,2501,1818,3830,3798,86.9,-10.6,118,684,0.00,2.38,0.00,0.000,2308,0.000,0.057,2501,3216,3813,3829,3798,0,0,0,0,0,0,15.09,14.83,15.09
$GC,728,-0.77,-272.5,2501,3216,3830,3798,91.6,-9.8,127,735,0.00,2.35,0.00,0.000,3078,0.000,0.040,2501,1805,3814,3830,3798,0,0,0,0,0,0,14.95,14.85,14.97
$GC,799,-0.77,-272.5,2501,1804,3829,3798,99.4,-11.8,140,805,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1804,3813,3829,3798,0,0,0,0,0,0,15.09,15.09,15.09
$GC,868,-0.77,-272.5,2498,1804,3830,3798,108.7,-12.9,153,875,0.00,2.40,0.00,0.000,2308,0.000,0.052,2501,3217,3813,3829,3798,0,0,0,0,0,0,15.09,14.83,15.10
$GC,898,-0.77,-272.5,2501,3217,3830,3798,111.9,-11.7,158,904,0.00,2.35,0.00,0.000,3078,0.000,0.040,2501,1806,3814,3830,3798,0,0,0,0,0,0,14.97,14.85,14.98
$STATE,929,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,929,begin apogee
$GC,935,-0.17,0.0,2501,1806,3829,3798,116.0,-12.1,164,1146,0.98,0.00,200.43,1.071,10246,0.131,0.000,2699,1806,2698,2733,2664,0,0,0,0,0,0,14.71,14.41,13.92
$STATE,1148,end apogee,CONTROL_FINISHED_OK
$STATE,1148,begin climb
$GC,1150,0.77,272.5,2699,1806,2732,2663,129.1,0.0,202,1371,1.38,2.55,208.27,1.062,10756,0.060,0.065,3011,392,1587,1629,1546,0,0,0,0,0,0,14.45,14.35,13.89
$GC,1424,0.77,272.5,3011,394,1622,1545,108.2,15.1,250,1431,0.00,2.38,0.00,0.000,5126,0.000,0.032,3011,1802,1583,1622,1545,0,0,0,0,0,0,14.66,14.59,14.66
$GC,1496,0.77,272.5,3011,1805,1622,1542,97.4,14.9,263,1502,0.00,2.35,0.00,0.000,4356,0.000,0.045,3011,3198,1581,1622,1541,0,0,0,0,0,0,14.87,14.59,14.87
$GC,1591,0.77,272.5,3010,3198,1621,1540,84.0,13.8,281,1598,0.00,2.38,0.00,0.000,5126,0.000,0.050,3013,1806,1580,1621,1540,0,0,0,0,0,0,14.76,14.65,14.76
$GC,1663,0.77,272.5,3013,1806,1621,1540,74.5,14.4,294,1668,0.00,0.00,0.00,0.000,4102,0.000,0.000,3013,1806,1580,1621,1540,0,0,0,0,0,0,15.00,15.00,15.00
$GC,1731,0.77,272.5,3017,1806,1620,1539,64.7,14.7,307,1737,0.00,0.00,0.00,0.000,4102,0.000,0.000,3013,1806,1580,1621,1539,0,0,0,0,0,0,15.02,15.03,15.03
$GC,1800,0.77,272.5,3013,1805,1621,1539,54.5,14.0,320,1807,0.00,2.42,0.00,0.000,4612,0.000,0.067,3016,393,1578,1621,1536,0,0,0,0,0,0,15.04,14.71,15.04
$GC,1860,0.77,272.5,3019,391,1621,1539,45.1,16.3,331,1867,0.00,2.33,0.00,0.000,5126,0.000,0.032,3017,1813,1580,1621,1539,0,0,0,0,0,0,14.94,14.86,14.95
$GC,1932,0.77,272.5,3016,1815,1620,1538,35.2,13.8,344,1939,0.00,2.30,0.00,0.000,4356,0.000,0.047,3016,3196,1579,1620,1538,0,0,0,0,0,0,15.07,14.83,15.07
$GC,2004,0.77,272.5,3016,3196,1619,1537,25.4,12.7,357,2011,0.00,2.38,0.00,0.000,5126,0.000,0.050,3017,1794,1578,1620,1537,0,0,0,0,0,0,14.95,14.84,14.97
$GC,2075,0.77,272.5,3016,1793,1620,1537,17.4,11.7,370,2082,0.00,2.40,0.00,0.000,4612,0.000,0.069,3017,395,1578,1620,1537,0,0,0,0,0,0,15.08,14.73,15.08
$GC,2125,0.77,272.5,3015,395,1620,1537,11.7,12.0,379,2132,0.00,2.30,0.00,0.000,5126,0.000,0.031,3017,1814,1577,1618,1537,0,0,0,0,0,0,14.97,14.90,14.99
$STATE,2182,end climb,FINISH_DEPTH_REACHED
$STATE,2182,begin subsurface finish
$FINISH1,4.8,1.025196,118
$GC,2190,0.15,118.1,3017,1817,1625,1536,4.8,11.3,390,2220,1.02,2.50,-22.80,0.000,20996,0.156,0.087,2813,394,2221,2267,2175,0,0,0,0,0,0,14.71,13.45,14.81
$FINISH2,3.0
$STATE,2221,end subsurface finish,CONTROL_FINISHED_OK
$STATE,2221,begin surface
$IRIDIUM_FIX,-3417.32,2517.91,200419,070747
$TT8_MAMPS,0.020972,0.92876
$HUMID,45.43
$INTERNAL_PRESSURE,9.46858
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.1,35.6
$SC_FREEKB,3681216
$24V_AH,13.44,142.316
$10V_AH,13.48,0.000
$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,17.925,49.950,408.700,0.000,0.000,56.996,43.316,424.377,2.500,0.000,14.353,745.587,371.326,494.456,1191.702,302.862,0.000,924.778,0.000,598.919,0.000,17.712,0.000
$DEVICE_MAMPS,299.115,87.210,1071.000,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2276.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.131,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,10095,395
$CAP_FILE_SIZE,78674,0
$CFSIZE,2097086464,2006253568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,200419,090240,-3429.369,2519.949,7,0.7,13,-27.9,0.9,132.2,11,9.9