version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 464
start: 4 20 119 14 20 33
data:
$ID,574
$MISSION,3
$DIVE,464
$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,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
$GPS1,200419,140649,-3427.2319,2524.2891,9,1.0,46,-27.9,0.4,2.4,8,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-60.4
$GPS2,200419,142007,-3427.0803,2524.4602,7,1.0,15,-27.9,0.0,355.2,8,9.7
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3417.728,2530.996
$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,-272.5,54,1786,633,538,0.0,0.0,0,123,0.00,0.00,-97.03,0.000,16386,0.000,0.000,54,1787,3026,2987,3066,0,0,0,0,0,0,14.95,28.83,14.95
$GC,129,-0.77,-272.5,53,1787,2987,3065,3.7,-8.9,18,164,14.57,2.40,-12.52,0.000,18948,0.302,0.089,2502,406,3813,3828,3799,0,0,0,0,0,0,14.47,13.43,14.75
$GC,288,-0.77,-272.5,2502,405,3828,3799,43.1,-15.5,48,295,0.00,2.30,0.00,0.000,3078,0.000,0.034,2501,1798,3813,3828,3799,0,0,0,0,0,0,14.91,14.83,14.92
$GC,361,-0.77,-272.5,2501,1801,3829,3799,52.4,-12.9,61,368,0.00,2.40,0.00,0.000,2308,0.000,0.054,2501,3211,3813,3828,3799,0,0,0,0,0,0,15.05,14.75,15.05
$GC,420,-0.77,-272.5,2501,3212,3829,3799,58.7,-8.2,72,427,0.00,2.35,0.00,0.000,3078,0.000,0.042,2501,1809,3813,3828,3799,0,0,0,0,0,0,14.88,14.76,14.88
$GC,492,-0.77,-272.5,2501,1809,3829,3799,66.0,-12.1,85,498,0.00,2.40,0.00,0.000,2564,0.000,0.063,2501,408,3814,3829,3799,0,0,0,0,0,0,15.07,14.81,15.07
$GC,521,-0.77,-272.5,2500,409,3829,3799,69.5,-10.7,90,528,0.00,2.33,0.00,0.000,3078,0.000,0.032,2501,1823,3812,3825,3799,0,0,0,0,0,0,14.90,14.81,14.90
$GC,594,-0.77,-272.5,2501,1823,3829,3799,78.2,-13.0,103,601,0.00,2.35,0.00,0.000,2308,0.000,0.054,2501,3213,3814,3829,3799,0,0,0,0,0,0,15.08,14.71,15.09
$GC,624,-0.77,-272.5,2501,3214,3829,3799,82.3,-12.3,108,631,0.00,2.35,0.00,0.000,3078,0.000,0.040,2503,1806,3814,3829,3799,0,0,0,0,0,0,14.95,14.85,14.97
$GC,696,-0.77,-272.5,2501,1807,3829,3799,90.3,-11.4,121,702,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1806,3814,3829,3799,0,0,0,0,0,0,15.09,15.09,15.09
$GC,765,-0.77,-272.5,2501,1806,3829,3799,98.6,-12.0,134,772,0.00,2.40,0.00,0.000,2564,0.000,0.062,2501,406,3814,3829,3799,0,0,0,0,0,0,15.09,14.73,15.09
$GC,784,-0.77,-272.5,2501,406,3829,3799,101.0,-12.9,137,791,0.00,2.30,0.00,0.000,3078,0.000,0.033,2501,1808,3814,3829,3799,0,0,0,0,0,0,14.85,14.78,14.86
$GC,857,-0.77,-272.5,2501,1811,3829,3799,108.6,-10.8,150,863,0.00,2.38,0.00,0.000,2308,0.000,0.054,2501,3214,3814,3829,3799,0,0,0,0,0,0,15.10,14.83,15.10
$GC,925,-0.77,-272.5,2501,3214,3829,3798,115.1,-9.7,162,932,0.00,2.35,0.00,0.000,3078,0.000,0.040,2501,1805,3814,3829,3799,0,0,0,0,0,0,14.86,14.76,14.86
$GC,997,-0.77,-272.5,2501,1805,3828,3799,122.9,-11.4,175,1003,0.00,2.40,0.00,0.000,2564,0.000,0.063,2501,409,3813,3828,3799,0,0,0,0,0,0,15.11,14.83,15.11
$GC,1026,-0.77,-272.5,2501,409,3828,3799,126.7,-11.9,180,1033,0.00,2.33,0.00,0.000,3078,0.000,0.032,2501,1823,3813,3828,3799,0,0,0,0,0,0,14.92,14.83,14.93
$GC,1098,-0.77,-272.5,2500,1826,3828,3799,135.0,-12.3,193,1104,0.00,2.33,0.00,0.000,2308,0.000,0.054,2501,3204,3813,3828,3799,0,0,0,0,0,0,15.08,14.83,15.09
$STATE,1110,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1110,begin apogee
$GC,1118,-0.17,0.0,2501,1800,3828,3799,136.8,-12.2,195,1330,0.98,0.00,200.25,1.099,10246,0.130,0.000,2699,1799,2699,2732,2667,0,0,0,0,0,0,14.71,14.26,13.88
$STATE,1332,end apogee,CONTROL_FINISHED_OK
$STATE,1332,begin climb
$GC,1334,0.77,272.5,2700,1799,2732,2667,146.7,0.0,233,1560,1.40,2.53,210.15,1.088,10756,0.080,0.066,2995,395,1587,1629,1545,0,0,0,0,0,0,14.43,14.36,13.88
$GC,1598,0.77,272.5,2996,395,1621,1545,137.1,15.2,279,1604,0.00,2.35,0.00,0.000,3078,0.000,0.031,2996,1793,1583,1623,1544,0,0,0,0,0,0,14.62,14.55,14.63
$GC,1669,0.77,272.5,2996,1796,1622,1542,127.7,13.6,292,1676,0.00,2.40,0.00,0.000,2308,0.000,0.052,2995,3207,1582,1623,1542,0,0,0,0,0,0,14.84,14.57,14.85
$GC,1689,0.77,272.5,2996,3207,1631,1541,124.8,13.4,295,1696,0.00,2.42,0.00,0.000,3078,0.000,0.051,2996,1796,1581,1621,1541,0,0,0,0,0,0,14.76,14.66,14.78
$GC,1761,0.77,272.5,2996,1796,1621,1540,114.9,13.4,308,1766,0.00,0.00,0.00,0.000,2054,0.000,0.000,2996,1796,1581,1621,1541,0,0,0,0,0,0,14.95,14.95,14.95
$GC,1830,0.77,272.5,2996,1796,1621,1540,105.1,14.0,321,1836,0.00,2.38,0.00,0.000,2308,0.000,0.047,2996,3204,1580,1621,1540,0,0,0,0,0,0,14.99,14.67,14.99
$GC,1869,0.77,272.5,2996,3204,1620,1540,99.5,14.1,328,1876,0.00,2.40,0.00,0.000,3078,0.000,0.051,2996,1797,1580,1621,1540,0,0,0,0,0,0,14.88,14.77,14.90
$GC,1941,0.77,272.5,2996,1798,1620,1539,90.1,14.0,341,1947,0.00,2.45,0.00,0.000,2564,0.000,0.071,2999,386,1580,1621,1540,0,0,0,0,0,0,15.03,14.73,15.03
$GC,1971,0.77,272.5,2999,385,1621,1539,85.2,14.9,346,1977,0.00,2.35,0.00,0.000,3078,0.000,0.031,2999,1814,1580,1620,1540,0,0,0,0,0,0,14.88,14.81,14.89
$GC,2042,0.77,272.5,2999,1817,1621,1539,74.5,16.0,359,2049,0.00,2.47,0.00,0.000,2564,0.000,0.070,3003,395,1580,1621,1539,0,0,0,0,0,0,15.04,14.79,15.05
$GC,2067,0.77,272.5,3002,395,1620,1539,70.0,17.6,363,2074,0.00,2.33,0.00,0.000,1030,0.000,0.032,3003,1809,1579,1620,1539,0,0,0,0,0,0,14.92,14.86,14.94
$GC,2138,0.77,272.5,3002,1812,1620,1538,59.4,15.3,376,2145,0.00,2.30,0.00,0.000,260,0.000,0.045,3003,3199,1579,1620,1538,0,0,0,0,0,0,15.04,14.83,15.04
$GC,2153,0.77,272.5,3002,3200,1620,1538,56.9,15.4,378,2159,0.00,2.38,0.00,0.000,1030,0.000,0.050,3002,1799,1579,1621,1538,0,0,0,0,0,0,14.92,14.83,14.95
$GC,2224,0.77,272.5,3003,1799,1620,1538,47.8,11.0,391,2231,0.00,2.42,0.00,0.000,516,0.000,0.070,3002,390,1579,1620,1538,0,0,0,0,0,0,15.05,14.81,15.06
$GC,2284,0.81,303.5,3002,390,1620,1538,41.6,9.2,402,2318,0.00,2.33,25.65,1.016,11270,0.000,0.032,3003,1822,1459,1506,1412,0,0,0,0,0,0,14.96,14.87,14.20
$GC,2383,0.90,377.6,3002,1822,1505,1411,33.6,8.2,420,2451,0.08,2.38,61.22,1.014,10500,0.187,0.047,3046,3184,1158,1218,1099,0,0,0,0,0,0,14.72,14.50,14.07
$GC,2476,0.90,377.6,3045,3187,1217,1096,22.8,14.5,436,2482,0.00,2.40,0.00,0.000,1030,0.000,0.049,3046,1797,1156,1218,1095,0,0,0,0,0,0,14.66,14.57,14.67
$GC,2547,0.90,377.6,3046,1797,1217,1094,13.4,14.6,449,2553,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1797,1155,1217,1094,0,0,0,0,0,0,14.89,14.90,14.90
$STATE,2608,end climb,FINISH_DEPTH_REACHED
$STATE,2608,begin subsurface finish
$FINISH1,4.7,1.025175,119
$GC,2616,0.15,119.2,3046,1796,1216,1093,4.7,11.9,461,2657,1.20,2.40,-33.85,0.000,21252,0.151,0.068,2810,3186,2219,2266,2172,0,0,0,0,0,0,14.54,13.49,14.64
$FINISH2,4.9
$STATE,2658,end subsurface finish,CONTROL_FINISHED_OK
$STATE,2658,begin surface
$IRIDIUM_FIX,-3412.10,2522.63,200419,122028
$TT8_MAMPS,0.021721,0.936999
$HUMID,45.90
$INTERNAL_PRESSURE,9.45881
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,110.1,36.3
$SC_FREEKB,3678144
$24V_AH,13.43,143.650
$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,18.225,78.425,497.275,0.000,0.000,25.312,38.151,432.565,3.500,0.000,16.509,877.911,360.188,603.368,1283.419,336.492,0.000,1119.647,0.000,702.263,0.000,25.675,0.000
$DEVICE_MAMPS,302.175,88.740,1099.305,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2717.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.522,0.000,0.000,0.000
$MEM,340920
$DATA_FILE_SIZE,13452,468
$CAP_FILE_SIZE,94936,0
$CFSIZE,2097086464,2005270528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,200419,142007,-3427.080,2524.460,7,1.0,15,-27.9,0.0,355.2,8,9.7