version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 462
start: 4 20 119 12 30 24
data:
$ID,574
$MISSION,3
$DIVE,462
$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,57
$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
$GPS1,200419,121548,-3428.1111,2522.6238,12,1.0,53,-27.9,1.1,54.9,7,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-53.8
$GPS2,200419,122958,-3428.0010,2522.8772,8,1.0,48,-27.9,1.1,95.8,7,4.0
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3418.649,2529.414
$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,-272.5,53,1811,631,538,0.0,0.0,0,123,0.00,0.00,-97.45,0.000,16386,0.000,0.000,53,1812,3037,2999,3076,0,0,0,0,0,0,14.97,28.83,14.98
$GC,129,-0.77,-272.5,53,1812,3000,3076,3.6,-8.1,18,164,14.60,2.40,-12.45,0.000,18948,0.307,0.083,2503,404,3813,3827,3799,0,0,0,0,0,0,14.52,13.43,14.81
$GC,305,-0.77,-272.5,2502,403,3827,3798,41.2,-12.6,51,312,0.00,2.33,0.00,0.000,3078,0.000,0.037,2501,1802,3812,3826,3798,0,0,0,0,0,0,14.87,14.78,14.88
$GC,377,-0.77,-272.5,2500,1805,3828,3799,49.7,-12.7,64,384,0.00,2.40,0.00,0.000,2308,0.000,0.056,2502,3219,3811,3825,3798,0,0,0,0,0,0,15.05,14.81,15.05
$GC,397,-0.77,-272.5,2501,3218,3828,3798,52.0,-11.0,67,404,0.00,2.38,0.00,0.000,3078,0.000,0.043,2501,1806,3813,3828,3798,0,0,0,0,0,0,14.93,14.83,14.95
$GC,469,-0.77,-272.5,2501,1805,3827,3798,59.6,-11.6,80,479,0.00,2.40,0.00,0.000,2564,0.000,0.063,2501,408,3813,3828,3798,0,0,0,0,0,0,15.07,14.69,15.07
$GC,507,-0.77,-272.5,2501,408,3827,3798,63.7,-9.5,86,514,0.00,2.33,0.00,0.000,3078,0.000,0.036,2501,1817,3813,3828,3798,0,0,0,0,0,0,14.95,14.86,14.96
$GC,579,-0.77,-272.5,2501,1819,3827,3798,71.1,-11.3,99,586,0.00,2.35,0.00,0.000,2308,0.000,0.055,2501,3210,3812,3827,3798,0,0,0,0,0,0,15.09,14.71,15.09
$GC,618,-0.77,-272.5,2498,3210,3828,3798,75.8,-10.7,106,625,0.00,2.33,0.00,0.000,3078,0.000,0.039,2501,1807,3813,3828,3798,0,0,0,0,0,0,14.95,14.85,14.97
$GC,690,-0.77,-272.5,2501,1808,3831,3798,83.5,-12.7,119,696,0.00,2.40,0.00,0.000,2564,0.000,0.062,2501,408,3813,3828,3798,0,0,0,0,0,0,15.09,14.76,15.09
$GC,719,-0.77,-272.5,2501,408,3827,3798,87.0,-12.4,124,726,0.00,2.33,0.00,0.000,3078,0.000,0.034,2501,1820,3813,3828,3799,0,0,0,0,0,0,14.84,14.76,14.85
$GC,792,-0.77,-272.5,2501,1823,3828,3799,94.8,-11.4,137,800,0.00,2.38,0.00,0.000,2308,0.000,0.056,2501,3215,3813,3828,3798,0,0,0,0,0,0,15.08,14.83,15.08
$GC,837,-0.77,-272.5,2500,3215,3828,3798,99.9,-10.2,145,847,0.00,2.33,0.00,0.000,3078,0.000,0.039,2501,1814,3813,3828,3798,0,0,0,0,0,0,14.96,14.86,14.97
$GC,910,-0.77,-272.5,2501,1814,3828,3798,107.8,-10.6,158,915,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1814,3812,3827,3798,0,0,0,0,0,0,15.10,15.10,15.10
$GC,978,-0.77,-272.5,2501,1814,3827,3798,115.6,-11.7,171,985,0.00,2.38,0.00,0.000,2308,0.000,0.052,2501,3217,3813,3827,3799,0,0,0,0,0,0,15.10,14.84,15.11
$GC,1013,-0.77,-272.5,2501,3217,3828,3798,119.2,-11.1,177,1020,0.00,2.35,0.00,0.000,3078,0.000,0.040,2501,1802,3813,3828,3798,0,0,0,0,0,0,14.97,14.86,14.98
$STATE,1075,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1077,begin apogee
$GC,1083,-0.17,0.0,2501,1802,3827,3801,126.4,-11.6,189,1293,0.95,0.00,200.52,1.086,10246,0.135,0.000,2693,1802,2698,2730,2666,0,0,0,0,0,0,14.73,14.37,13.89
$STATE,1295,end apogee,CONTROL_FINISHED_OK
$STATE,1295,begin climb
$GC,1298,0.77,272.5,2694,1802,2729,2665,137.0,0.0,227,1524,1.42,2.53,209.80,1.076,10756,0.093,0.070,2992,403,1587,1629,1545,0,0,0,0,0,0,14.40,14.34,13.88
$GC,1572,0.77,272.5,2991,402,1623,1545,126.9,13.7,275,1579,0.00,2.35,0.00,0.000,3078,0.000,0.032,2992,1803,1583,1623,1544,0,0,0,0,0,0,14.65,14.59,14.64
$GC,1644,0.77,272.5,2991,1805,1623,1541,116.7,14.7,288,1649,0.00,0.00,0.00,0.000,2054,0.000,0.000,2992,1805,1582,1623,1541,0,0,0,0,0,0,14.87,14.87,14.88
$GC,1713,0.77,272.5,2991,1805,1622,1545,106.9,13.2,301,1719,0.00,2.33,0.00,0.000,2308,0.000,0.046,2992,3197,1581,1622,1540,0,0,0,0,0,0,14.94,14.72,14.94
$GC,1757,0.77,272.5,2991,3197,1621,1540,100.3,14.9,309,1764,0.00,2.38,0.00,0.000,3078,0.000,0.051,2992,1806,1580,1621,1540,0,0,0,0,0,0,14.85,14.74,14.86
$GC,1829,0.77,272.5,2992,1806,1621,1540,89.7,16.0,322,1835,0.00,2.45,0.00,0.000,2564,0.000,0.072,2992,397,1580,1621,1540,0,0,0,0,0,0,15.01,14.70,15.01
$GC,1868,0.77,272.5,2992,396,1621,1540,82.9,15.8,329,1875,0.00,2.33,0.00,0.000,3078,0.000,0.032,2992,1812,1579,1621,1538,0,0,0,0,0,0,14.81,14.73,14.82
$GC,1940,0.77,272.5,2992,1814,1621,1539,71.8,15.6,342,1947,0.00,2.30,0.00,0.000,2308,0.000,0.045,2992,3197,1580,1621,1539,0,0,0,0,0,0,15.04,14.81,15.04
$GC,1990,0.77,272.5,2991,3197,1620,1538,64.4,13.5,351,1996,0.00,2.38,0.00,0.000,3078,0.000,0.050,2992,1800,1579,1620,1538,0,0,0,0,0,0,14.88,14.78,14.90
$GC,2061,0.77,272.5,2992,1800,1619,1538,56.2,11.3,364,2067,0.00,2.42,0.00,0.000,2564,0.000,0.069,2993,386,1579,1621,1538,0,0,0,0,0,0,15.05,14.80,15.06
$GC,2095,0.77,272.5,2992,386,1621,1538,52.2,11.2,370,2102,0.00,2.33,0.00,0.000,3078,0.000,0.031,2992,1809,1579,1620,1538,0,0,0,0,0,0,14.92,14.81,14.94
$GC,2166,0.77,272.5,2992,1811,1620,1537,45.1,10.3,383,2172,0.00,0.00,0.00,0.000,2054,0.000,0.000,2992,1811,1578,1620,1537,0,0,0,0,0,0,15.06,15.07,15.07
$GC,2235,0.77,272.5,2992,1810,1620,1537,38.1,10.4,396,2242,0.00,2.47,0.00,0.000,2564,0.000,0.070,2997,390,1578,1620,1537,0,0,0,0,0,0,15.09,14.81,15.09
$GC,2270,0.79,289.1,2996,389,1620,1537,34.7,9.6,402,2294,0.00,2.30,13.95,0.970,11270,0.000,0.031,2996,1802,1519,1563,1475,0,0,0,0,0,0,14.96,14.87,14.23
$GC,2357,0.95,418.6,2996,1802,1562,1474,27.7,6.8,418,2463,0.20,0.00,96.05,0.960,10502,0.096,0.000,3065,1802,991,1055,928,0,0,0,0,0,0,14.79,14.52,14.07
$GC,2526,0.96,423.6,3065,1802,1054,924,6.2,9.9,449,2533,0.00,0.00,2.58,0.388,8710,0.000,0.000,3065,1802,971,1036,906,0,0,0,0,0,0,14.83,14.63,14.07
$STATE,2538,end climb,FINISH_DEPTH_REACHED
$STATE,2538,begin subsurface finish
$FINISH1,4.4,1.025370,109
$GC,2545,0.13,109.2,3065,1802,1036,905,4.4,11.0,451,2596,1.35,0.00,-45.55,0.000,20998,0.171,0.000,2809,1802,2258,2305,2211,0,0,0,0,0,0,14.50,13.53,14.59
$FINISH2,3.0
$STATE,2597,end subsurface finish,CONTROL_FINISHED_OK
$STATE,2597,begin surface
$IRIDIUM_FIX,-3417.32,2521.39,200419,103144
$TT8_MAMPS,0.021721,0.934752
$HUMID,45.70
$INTERNAL_PRESSURE,9.45881
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.7,35.5
$SC_FREEKB,3679168
$24V_AH,13.43,143.199
$10V_AH,13.51,0.000
$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,18.525,61.600,522.900,0.000,0.000,25.675,41.004,443.045,3.000,0.000,49.539,836.212,346.846,619.984,1317.365,332.231,0.000,1134.236,0.000,692.582,0.000,20.707,0.000
$DEVICE_MAMPS,306.765,83.385,1086.300,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2658.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.257,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,13445,460
$CAP_FILE_SIZE,90872,0
$CFSIZE,2097086464,2005598208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,200419,122958,-3428.001,2522.877,8,1.0,48,-27.9,1.1,95.8,7,4.0