version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 460
start: 4 20 119 10 40 10
data:
$ID,574
$MISSION,3
$DIVE,460
$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,29
$R_STBD_OVSHOOT,50
$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
$GPS1,200419,102725,-3428.8630,2521.0918,8,1.2,48,-27.9,1.0,131.7,7,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-61.9
$GPS2,200419,103944,-3428.8813,2521.2954,7,1.2,47,-27.9,0.5,145.8,7,4.6
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3419.529,2527.834
$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,-272.5,53,1809,632,537,0.0,0.0,0,123,0.00,0.00,-96.95,0.000,16386,0.000,0.000,53,1809,3022,2986,3059,0,0,0,0,0,0,14.98,28.83,14.99
$GC,129,-0.77,-272.5,53,1808,2987,3058,3.4,-7.1,18,164,14.50,2.45,-13.18,0.000,18948,0.299,0.086,2503,396,3813,3829,3798,0,0,0,0,0,0,14.50,13.90,14.78
$GC,203,-0.77,-272.5,2502,397,3830,3798,24.7,-18.0,31,210,0.00,2.35,0.00,0.000,3078,0.000,0.038,2501,1808,3814,3830,3798,0,0,0,0,0,0,14.90,14.81,14.92
$GC,275,-0.77,-272.5,2501,1810,3832,3797,35.1,-15.8,44,281,0.00,2.40,0.00,0.000,2308,0.000,0.055,2501,3224,3814,3830,3798,0,0,0,0,0,0,15.04,14.71,15.04
$GC,299,-0.77,-272.5,2501,3224,3830,3798,39.1,-15.5,48,306,0.00,2.38,0.00,0.000,3078,0.000,0.042,2501,1808,3814,3830,3798,0,0,0,0,0,0,14.92,14.82,14.92
$GC,371,-0.77,-272.5,2501,1808,3830,3798,49.4,-14.9,61,377,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1808,3813,3829,3798,0,0,0,0,0,0,15.07,15.07,15.07
$GC,443,-0.77,-272.5,2501,1808,3830,3798,60.4,-16.9,74,449,0.00,2.40,0.00,0.000,2564,0.000,0.063,2503,406,3814,3830,3798,0,0,0,0,0,0,15.05,14.81,15.06
$GC,473,-0.77,-272.5,2501,406,3830,3796,65.1,-13.8,79,480,0.00,2.33,0.00,0.000,3078,0.000,0.036,2501,1818,3813,3830,3797,0,0,0,0,0,0,14.95,14.86,14.97
$GC,545,-0.77,-272.5,2501,1820,3830,3798,73.8,-11.8,92,552,0.00,2.35,0.00,0.000,2308,0.000,0.053,2501,3212,3814,3830,3798,0,0,0,0,0,0,15.09,14.74,15.09
$GC,580,-0.77,-272.5,2501,3212,3830,3798,77.6,-10.5,98,586,0.00,2.35,0.00,0.000,3078,0.000,0.041,2501,1802,3814,3831,3798,0,0,0,0,0,0,14.84,14.74,14.85
$GC,651,-0.77,-272.5,2500,1802,3830,3798,85.0,-10.6,111,658,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1802,3813,3829,3798,0,0,0,0,0,0,15.09,15.10,15.09
$GC,721,-0.77,-272.5,2501,1798,3829,3798,93.0,-12.1,124,728,0.00,2.40,0.00,0.000,2308,0.000,0.051,2501,3213,3814,3830,3798,0,0,0,0,0,0,15.10,14.83,15.10
$GC,761,-0.77,-272.5,2500,3213,3830,3798,97.0,-9.1,131,768,0.00,2.35,0.00,0.000,3078,0.000,0.041,2501,1807,3813,3829,3798,0,0,0,0,0,0,14.97,14.85,14.97
$GC,833,-0.77,-272.5,2501,1805,3829,3798,104.0,-10.9,144,839,0.00,2.38,0.00,0.000,2564,0.000,0.062,2501,411,3813,3829,3798,0,0,0,0,0,0,15.09,14.83,15.10
$GC,867,-0.77,-272.5,2501,411,3830,3797,108.1,-10.5,150,874,0.00,2.30,0.00,0.000,3078,0.000,0.034,2501,1813,3814,3830,3798,0,0,0,0,0,0,14.97,14.88,14.99
$GC,942,-0.77,-272.5,2501,1817,3829,3798,116.1,-12.0,163,949,0.00,2.35,0.00,0.000,2308,0.000,0.053,2501,3211,3813,3829,3798,0,0,0,0,0,0,15.10,14.84,15.10
$GC,997,-0.77,-272.5,2501,3211,3829,3798,122.1,-10.0,173,1004,0.00,2.33,0.00,0.000,3078,0.000,0.039,2501,1813,3813,3829,3798,0,0,0,0,0,0,14.97,14.87,14.99
$GC,1069,-0.77,-272.5,2500,1812,3829,3798,130.0,-11.6,186,1075,0.00,2.40,0.00,0.000,2564,0.000,0.063,2501,408,3813,3829,3798,0,0,0,0,0,0,15.09,14.83,15.09
$STATE,1091,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1091,begin apogee
$GC,1099,-0.17,0.0,2501,1803,3829,3798,133.2,-13.1,190,1310,0.95,0.00,200.45,1.099,10246,0.122,0.000,2697,1806,2699,2733,2665,0,0,0,0,0,0,14.73,14.40,13.91
$STATE,1312,end apogee,CONTROL_FINISHED_OK
$STATE,1312,begin climb
$GC,1314,0.77,272.5,2697,1806,2732,2664,140.1,0.0,228,1535,1.40,2.58,208.52,1.085,10756,0.080,0.068,2996,399,1587,1630,1545,0,0,0,0,0,0,14.42,14.35,13.87
$GC,1553,0.77,272.5,2996,399,1627,1545,127.7,13.2,269,1560,0.00,2.35,0.00,0.000,3078,0.000,0.031,2996,1809,1586,1628,1544,0,0,0,0,0,0,14.57,14.50,14.57
$GC,1625,0.77,272.5,2996,1812,1626,1541,117.7,14.3,282,1631,0.00,2.33,0.00,0.000,2308,0.000,0.046,2996,3190,1583,1625,1541,0,0,0,0,0,0,14.83,14.54,14.83
$GC,1644,0.77,272.5,2994,3190,1623,1541,114.9,13.8,285,1651,0.00,2.38,0.00,0.000,3078,0.000,0.050,2996,1805,1582,1623,1541,0,0,0,0,0,0,14.74,14.63,14.76
$GC,1716,0.77,272.5,2996,1807,1623,1540,105.4,13.6,298,1722,0.00,0.00,0.00,0.000,2054,0.000,0.000,2996,1806,1581,1623,1540,0,0,0,0,0,0,14.93,14.93,14.93
$GC,1785,0.77,272.5,2991,1805,1622,1540,94.6,15.2,311,1791,0.00,2.33,0.00,0.000,2308,0.000,0.044,2996,3191,1580,1621,1540,0,0,0,0,0,0,14.98,14.68,14.99
$GC,1821,0.77,272.5,2996,3192,1621,1539,89.6,14.7,317,1827,0.00,2.38,0.00,0.000,3078,0.000,0.051,2996,1800,1580,1621,1539,0,0,0,0,0,0,14.83,14.71,14.85
$GC,1892,0.77,272.5,2996,1800,1621,1539,79.1,15.4,330,1898,0.00,2.42,0.00,0.000,2564,0.000,0.072,2997,396,1580,1621,1539,0,0,0,0,0,0,15.02,14.76,15.03
$GC,1926,0.77,272.5,2996,395,1621,1539,73.5,15.3,336,1933,0.00,2.30,0.00,0.000,3078,0.000,0.031,2996,1797,1580,1621,1539,0,0,0,0,0,0,14.88,14.80,14.89
$GC,1999,0.77,272.5,2996,1799,1620,1537,64.1,13.8,349,2005,0.00,2.30,0.00,0.000,2308,0.000,0.045,2997,3195,1579,1621,1538,0,0,0,0,0,0,15.05,14.83,15.06
$GC,2033,0.77,272.5,2996,3196,1620,1538,59.6,11.0,355,2040,0.00,2.38,0.00,0.000,3078,0.000,0.049,2996,1797,1579,1621,1537,0,0,0,0,0,0,14.93,14.83,14.95
$GC,2105,0.77,272.5,2996,1797,1621,1537,51.9,11.5,368,2112,0.00,2.40,0.00,0.000,2564,0.000,0.067,2999,395,1579,1621,1537,0,0,0,0,0,0,15.07,14.72,15.07
$GC,2165,0.77,272.5,2998,394,1621,1538,45.6,11.0,379,2171,0.00,2.30,0.00,0.000,3078,0.000,0.032,2999,1805,1579,1621,1537,0,0,0,0,0,0,14.86,14.79,14.88
$GC,2237,0.79,291.0,2999,1807,1621,1537,38.8,9.6,392,2254,0.00,0.00,15.60,0.968,10246,0.000,0.000,2999,1808,1513,1558,1468,0,0,0,0,0,0,15.09,14.77,14.24
$GC,2319,0.90,377.5,2999,1807,1557,1465,31.2,7.9,407,2391,0.10,0.00,68.43,1.000,10246,0.150,0.000,3047,1809,1160,1220,1101,0,0,0,0,0,0,14.82,14.54,14.07
$GC,2456,0.90,377.5,3047,1807,1218,1099,13.2,15.9,432,2462,0.00,2.47,0.00,0.000,516,0.000,0.071,3050,396,1158,1218,1098,0,0,0,0,0,0,14.87,14.60,14.88
$GC,2490,0.90,377.5,3050,396,1217,1096,8.6,13.0,438,2497,0.00,2.33,0.00,0.000,1030,0.000,0.034,3051,1794,1156,1217,1095,0,0,0,0,0,0,14.70,14.64,14.71
$STATE,2517,end climb,FINISH_DEPTH_REACHED
$STATE,2517,begin subsurface finish
$FINISH1,4.2,1.025349,110
$GC,2525,0.14,110.3,3050,1796,1217,1094,4.2,14.0,443,2575,1.23,0.00,-44.88,0.000,20998,0.158,0.000,2810,1797,2254,2300,2208,0,0,0,0,0,0,14.59,13.55,14.70
$FINISH2,1.6
$STATE,2576,end subsurface finish,CONTROL_FINISHED_OK
$STATE,2576,begin surface
$IRIDIUM_FIX,-3417.32,2521.39,200419,085410
$TT8_MAMPS,0.020972,0.933254
$HUMID,46.02
$INTERNAL_PRESSURE,9.45881
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,110.0,33.1
$SC_FREEKB,3680192
$24V_AH,13.55,142.745
$10V_AH,13.45,0.000
$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,18.175,71.050,493.000,0.000,0.000,25.786,16.623,375.576,3.500,0.000,49.059,843.241,345.381,599.729,1223.039,311.087,0.000,1103.579,0.000,680.185,0.000,23.770,0.000
$DEVICE_MAMPS,299.115,85.680,1098.540,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2631.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.353,0.000,0.000,0.000
$MEM,340920
$DATA_FILE_SIZE,10114,452
$CAP_FILE_SIZE,91253,0
$CFSIZE,2097086464,2005925888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,200419,103944,-3428.881,2521.295,7,1.2,47,-27.9,0.5,145.8,7,4.6