version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 466
start: 4 20 119 16 12 27
data:
$ID,574
$MISSION,3
$DIVE,466
$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,1
$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,54
$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
$GPS1,200419,155813,-3426.4292,2525.9719,8,1.0,20,-27.9,0.7,10.1,8,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-58.0
$GPS2,200419,161201,-3426.2615,2526.0425,7,1.0,34,-27.9,0.8,355.6,9,5.8
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3416.909,2532.577
$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,-272.5,54,1805,643,535,0.0,0.0,0,118,0.00,0.00,-92.25,0.000,16386,0.000,0.000,54,1805,2905,2865,2945,0,0,0,0,0,0,14.96,28.83,14.97
$GC,124,-0.77,-272.5,53,1805,2866,2945,3.0,-4.7,17,160,14.55,2.47,-15.40,0.000,18948,0.302,0.086,2501,404,3815,3831,3799,0,0,0,0,0,0,14.51,13.43,14.82
$GC,301,-0.77,-272.5,2501,404,3832,3799,39.5,-12.0,50,308,0.00,2.33,0.00,0.000,3078,0.000,0.034,2501,1805,3815,3831,3799,0,0,0,0,0,0,14.92,14.83,14.93
$GC,373,-0.77,-272.5,2501,1807,3831,3799,48.9,-15.0,63,380,0.00,2.38,0.00,0.000,2308,0.000,0.054,2501,3214,3814,3831,3798,0,0,0,0,0,0,15.03,14.81,15.02
$GC,446,-0.77,-272.5,2501,3214,3832,3799,57.7,-9.2,76,453,0.00,2.38,0.00,0.000,3078,0.000,0.040,2501,1796,3816,3833,3799,0,0,0,0,0,0,14.93,14.83,14.95
$GC,519,-0.77,-272.5,2501,1796,3832,3799,65.1,-11.9,89,525,0.00,2.38,0.00,0.000,2564,0.000,0.063,2501,411,3815,3832,3799,0,0,0,0,0,0,15.09,14.70,15.09
$GC,538,-0.77,-272.5,2501,410,3832,3799,68.3,-13.5,92,545,0.00,2.30,0.00,0.000,3078,0.000,0.033,2501,1813,3815,3832,3799,0,0,0,0,0,0,14.95,14.86,14.96
$GC,609,-0.77,-272.5,2501,1817,3832,3799,75.9,-11.7,105,615,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1816,3815,3831,3799,0,0,0,0,0,0,15.08,15.09,15.08
$GC,678,-0.77,-272.5,2501,1816,3832,3802,84.2,-12.0,118,684,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1816,3815,3832,3799,0,0,0,0,0,0,15.09,15.09,15.09
$GC,747,-0.77,-272.5,2501,1817,3831,3799,92.2,-12.5,131,754,0.00,2.35,0.00,0.000,2308,0.000,0.054,2501,3212,3815,3832,3799,0,0,0,0,0,0,15.09,14.81,15.09
$GC,776,-0.77,-272.5,2501,3210,3832,3799,95.5,-10.5,136,783,0.00,2.35,0.00,0.000,3078,0.000,0.040,2501,1805,3815,3831,3799,0,0,0,0,0,0,14.96,14.85,14.97
$GC,848,-0.77,-272.5,2501,1805,3832,3799,103.5,-11.8,149,853,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1805,3815,3832,3799,0,0,0,0,0,0,15.07,15.08,15.08
$GC,922,-0.77,-272.5,2501,1805,3832,3799,112.1,-11.6,162,928,0.00,2.40,0.00,0.000,2308,0.000,0.052,2498,3216,3814,3830,3799,0,0,0,0,0,0,15.09,14.83,15.09
$GC,966,-0.77,-272.5,2498,3215,3832,3798,117.2,-9.2,170,973,0.00,2.35,0.00,0.000,3078,0.000,0.040,2498,1809,3815,3832,3799,0,0,0,0,0,0,14.97,14.86,14.98
$GC,1038,-0.77,-272.5,2498,1808,3832,3797,125.2,-11.1,183,1045,0.00,2.40,0.00,0.000,2564,0.000,0.064,2498,408,3815,3831,3799,0,0,0,0,0,0,15.08,14.83,15.08
$GC,1063,-0.77,-272.5,2497,408,3831,3799,128.4,-11.8,187,1069,0.00,2.30,0.00,0.000,3078,0.000,0.033,2498,1815,3815,3831,3799,0,0,0,0,0,0,14.97,14.88,14.98
$STATE,1120,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1120,begin apogee
$GC,1128,-0.17,0.0,2498,1817,3830,3799,135.3,-13.8,198,1340,1.00,0.00,200.20,1.092,10246,0.137,0.000,2699,1818,2698,2730,2666,0,0,0,0,0,0,14.71,14.26,13.88
$STATE,1342,end apogee,CONTROL_FINISHED_OK
$STATE,1342,begin climb
$GC,1345,0.77,272.5,2699,1818,2729,2665,145.3,0.0,236,1570,1.40,2.58,209.07,1.081,10756,0.082,0.063,2996,399,1587,1629,1545,0,0,0,0,0,0,14.42,14.34,13.83
$GC,1603,0.77,272.5,2995,399,1624,1545,134.7,14.7,281,1610,0.00,2.38,0.00,0.000,3078,0.000,0.034,2996,1808,1583,1623,1544,0,0,0,0,0,0,14.61,14.53,14.62
$GC,1675,0.77,272.5,2996,1810,1623,1541,125.2,13.7,294,1681,0.00,0.00,0.00,0.000,2054,0.000,0.000,2996,1810,1581,1621,1542,0,0,0,0,0,0,14.83,14.85,14.86
$GC,1744,0.77,272.5,2996,1810,1629,1541,114.8,15.4,307,1749,0.00,0.00,0.00,0.000,2054,0.000,0.000,2996,1810,1581,1622,1541,0,0,0,0,0,0,14.92,14.92,14.92
$GC,1812,0.77,272.5,2996,1810,1622,1541,103.5,16.0,320,1818,0.00,0.00,0.00,0.000,2054,0.000,0.000,2996,1810,1581,1622,1541,0,0,0,0,0,0,14.97,14.97,14.97
$GC,1881,0.77,272.5,2996,1810,1621,1540,93.4,14.1,333,1888,0.00,2.33,0.00,0.000,2308,0.000,0.047,2996,3199,1580,1621,1540,0,0,0,0,0,0,15.00,14.74,15.01
$GC,1926,0.77,272.5,2996,3200,1620,1539,87.2,13.3,341,1933,0.00,2.38,0.00,0.000,3078,0.000,0.050,2996,1807,1580,1621,1539,0,0,0,0,0,0,14.85,14.76,14.87
$GC,1999,0.77,272.5,2993,1807,1621,1539,78.1,13.3,354,2006,0.00,2.45,0.00,0.000,2564,0.000,0.071,2998,388,1580,1621,1539,0,0,0,0,0,0,15.04,14.78,15.04
$GC,2064,0.77,272.5,2998,388,1620,1539,68.9,14.5,366,2071,0.00,2.33,0.00,0.000,3078,0.000,0.034,2998,1803,1579,1620,1539,0,0,0,0,0,0,14.94,14.85,14.95
$GC,2136,0.77,272.5,2998,1806,1620,1540,59.3,14.5,379,2142,0.00,2.33,0.00,0.000,2308,0.000,0.047,2998,3198,1579,1620,1538,0,0,0,0,0,0,15.07,14.80,15.07
$GC,2185,0.77,272.5,2998,3198,1620,1538,51.9,12.4,388,2192,0.00,2.38,0.00,0.000,3078,0.000,0.050,2999,1798,1579,1620,1539,0,0,0,0,0,0,14.86,14.76,14.88
$GC,2257,0.81,305.0,2999,1798,1620,1537,45.1,9.2,401,2291,0.00,0.00,26.73,1.011,10758,0.000,0.000,2999,1798,1453,1501,1406,0,0,0,0,0,0,15.08,14.76,14.24
$GC,2355,0.81,305.0,2999,1798,1500,1405,35.7,10.2,419,2361,0.00,0.00,0.00,0.000,2054,0.000,0.000,2999,1798,1452,1500,1405,0,0,0,0,0,0,14.99,15.00,15.00
$GC,2424,0.86,344.2,2999,1798,1499,1405,29.8,9.0,432,2465,0.08,2.40,32.40,0.988,10500,0.187,0.046,3041,3206,1295,1350,1240,0,0,0,0,0,0,14.78,14.53,14.14
$GC,2493,0.86,344.2,3041,3207,1349,1239,21.4,11.8,444,2500,0.00,2.42,0.00,0.000,5126,0.000,0.050,3044,1790,1293,1349,1238,0,0,0,0,0,0,14.79,14.69,14.81
$GC,2565,0.86,344.2,3043,1792,1349,1237,11.4,15.5,457,2570,0.00,0.00,0.00,0.000,4102,0.000,0.000,3044,1792,1293,1349,1237,0,0,0,0,0,0,14.95,14.96,14.95
$STATE,2615,end climb,FINISH_DEPTH_REACHED
$STATE,2615,begin subsurface finish
$FINISH1,4.5,1.025025,127
$GC,2623,0.16,126.9,3044,1792,1348,1236,4.5,11.2,467,2663,1.17,2.38,-32.00,0.000,20740,0.166,0.067,2815,3197,2185,2231,2139,0,0,0,0,0,0,14.59,13.99,14.71
$FINISH2,3.0
$STATE,2664,end subsurface finish,CONTROL_FINISHED_OK
$STATE,2664,begin surface
$IRIDIUM_FIX,-3414.71,2523.75,200419,141125
$TT8_MAMPS,0.020972,0.932505
$HUMID,45.98
$INTERNAL_PRESSURE,9.45881
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,110.5,34.7
$SC_FREEKB,3677120
$24V_AH,13.43,144.096
$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,18.200,54.700,468.400,0.000,0.000,41.379,19.589,438.239,3.500,0.000,35.130,895.231,382.271,566.688,1320.804,332.040,0.000,1073.213,0.000,714.800,0.000,25.691,0.000
$DEVICE_MAMPS,302.175,86.445,1092.420,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2725.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.243,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,13442,474
$CAP_FILE_SIZE,91134,0
$CFSIZE,2097086464,2004942848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,200419,161201,-3426.261,2526.042,7,1.0,34,-27.9,0.8,355.6,9,5.8