version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 468
start: 4 20 119 18 13 21
data:
$ID,574
$MISSION,3
$DIVE,468
$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,45
$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,62
$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
$GPS1,200419,174938,-3425.6555,2527.5237,8,1.4,21,-27.9,1.0,298.4,8,10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-63.7
$GPS2,200419,181255,-3425.3877,2527.5518,8,0.9,42,-27.9,0.6,324.3,10,5.9
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3417.752,2536.795
$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,72.9,20000,-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,-272.5,52,1818,633,536,0.0,0.0,0,116,0.00,0.00,-89.80,0.000,16386,0.000,0.000,52,1819,2922,2883,2961,0,0,0,0,0,0,14.98,28.83,14.99
$GC,120,-0.77,-272.5,52,1819,2883,2961,3.3,-5.0,16,156,14.57,2.50,-15.40,0.000,18948,0.301,0.083,2501,399,3815,3832,3798,0,0,0,0,0,0,14.52,13.43,14.81
$GC,302,-0.77,-272.5,2501,399,3832,3797,38.6,-13.4,50,309,0.00,2.30,0.00,0.000,3078,0.000,0.034,2501,1792,3815,3832,3798,0,0,0,0,0,0,14.93,14.83,14.95
$GC,374,-0.77,-272.5,2501,1795,3832,3798,49.4,-16.4,63,381,0.00,2.40,0.00,0.000,2308,0.000,0.054,2501,3217,3814,3831,3798,0,0,0,0,0,0,15.05,14.81,15.03
$GC,447,-0.77,-272.5,2502,3218,3832,3796,58.2,-9.8,76,453,0.00,2.35,0.00,0.000,3078,0.000,0.040,2501,1805,3815,3832,3798,0,0,0,0,0,0,14.95,14.84,14.96
$GC,520,-0.77,-272.5,2501,1805,3832,3797,65.5,-10.5,89,526,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1804,3814,3832,3797,0,0,0,0,0,0,15.09,15.10,15.09
$GC,590,-0.77,-272.5,2501,1805,3832,3798,73.1,-10.3,102,596,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1805,3814,3831,3798,0,0,0,0,0,0,15.09,15.09,15.09
$GC,660,-0.77,-272.5,2501,1804,3832,3798,80.3,-10.3,115,666,0.00,2.38,0.00,0.000,2564,0.000,0.062,2501,409,3814,3831,3798,0,0,0,0,0,0,15.10,14.71,15.11
$GC,689,-0.77,-272.5,2501,409,3831,3798,83.3,-10.8,120,696,0.00,2.30,0.00,0.000,3078,0.000,0.032,2501,1817,3814,3831,3797,0,0,0,0,0,0,14.86,14.80,14.88
$GC,763,-0.77,-272.5,2501,1819,3832,3797,90.1,-9.7,133,770,0.00,2.35,0.00,0.000,2308,0.000,0.053,2501,3217,3814,3831,3797,0,0,0,0,0,0,15.11,14.84,15.11
$GC,803,-0.77,-272.5,2501,3217,3831,3798,93.8,-8.4,140,810,0.00,2.33,0.00,0.000,3078,0.000,0.039,2501,1810,3814,3831,3797,0,0,0,0,0,0,14.97,14.87,14.98
$GC,878,-0.77,-272.5,2502,1810,3831,3798,101.3,-9.9,153,884,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1810,3818,3831,3805,0,0,0,0,0,0,15.11,15.11,15.11
$GC,946,-0.77,-272.5,2501,1810,3831,3797,108.9,-11.0,166,953,0.00,2.38,0.00,0.000,2308,0.000,0.052,2501,3210,3814,3831,3798,0,0,0,0,0,0,15.11,14.84,15.11
$GC,1001,-0.77,-272.5,2501,3211,3830,3797,114.1,-9.7,176,1008,0.00,2.33,0.00,0.000,3078,0.000,0.039,2501,1813,3814,3830,3798,0,0,0,0,0,0,14.95,14.83,14.97
$GC,1072,-0.77,-272.5,2501,1812,3830,3798,122.3,-12.6,189,1079,0.00,2.40,0.00,0.000,2564,0.000,0.062,2501,409,3814,3830,3798,0,0,0,0,0,0,15.11,14.84,15.11
$STATE,1104,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1104,begin apogee
$GC,1112,-0.17,0.0,2501,1801,3830,3797,126.6,-11.4,195,1323,0.98,0.00,198.93,1.062,10246,0.132,0.000,2698,1804,2698,2731,2666,0,0,0,0,0,0,14.67,14.31,13.94
$STATE,1324,end apogee,CONTROL_FINISHED_OK
$STATE,1324,begin climb
$GC,1327,0.77,272.5,2699,1804,2731,2666,136.4,0.0,233,1547,1.38,2.58,207.68,1.049,11012,0.064,0.071,2999,400,1587,1630,1545,0,0,0,0,0,0,14.45,14.33,13.90
$GC,1570,0.77,272.5,2999,399,1624,1545,116.9,12.9,275,1577,0.00,2.38,0.00,0.000,3078,0.000,0.034,2999,1805,1585,1626,1544,0,0,0,0,0,0,14.59,14.52,14.61
$GC,1642,0.77,272.5,2999,1807,1624,1541,107.2,15.3,288,1648,0.00,0.00,0.00,0.000,2054,0.000,0.000,2999,1807,1583,1625,1541,0,0,0,0,0,0,14.83,14.84,14.84
$GC,1711,0.77,272.5,2999,1808,1624,1541,96.9,15.3,301,1718,0.00,2.35,0.00,0.000,2308,0.000,0.046,2999,3206,1581,1623,1540,0,0,0,0,0,0,14.92,14.71,14.92
$GC,1771,0.77,272.5,2999,3205,1621,1540,87.7,14.9,312,1778,0.00,2.38,0.00,0.000,3078,0.000,0.050,2999,1808,1580,1621,1540,0,0,0,0,0,0,14.85,14.75,14.87
$GC,1843,0.77,272.5,2999,1808,1621,1539,77.2,14.8,325,1849,0.00,2.45,0.00,0.000,2564,0.000,0.070,3002,391,1580,1621,1539,0,0,0,0,0,0,15.00,14.67,15.00
$GC,1892,0.77,272.5,3002,390,1621,1539,70.0,14.1,334,1899,0.00,2.33,0.00,0.000,1030,0.000,0.031,3003,1816,1580,1621,1539,0,0,0,0,0,0,14.82,14.77,14.83
$GC,1965,0.77,272.5,3002,1819,1621,1538,60.5,14.0,347,1972,0.00,2.28,0.00,0.000,260,0.000,0.045,3003,3193,1579,1621,1538,0,0,0,0,0,0,15.04,14.82,15.05
$GC,2005,0.77,272.5,3002,3193,1620,1537,54.7,11.7,354,2012,0.00,2.38,0.00,0.000,1030,0.000,0.052,3003,1800,1579,1620,1538,0,0,0,0,0,0,14.92,14.82,14.94
$GC,2077,0.79,284.6,3002,1800,1620,1537,47.9,9.7,367,2095,0.00,2.40,10.02,0.878,10500,0.000,0.047,3000,3202,1538,1583,1494,0,0,0,0,0,0,15.05,14.82,14.26
$GC,2113,0.79,284.6,3002,3196,1582,1494,43.8,10.8,373,2120,0.00,2.38,0.00,0.000,3078,0.000,0.048,3000,1796,1538,1582,1494,0,0,0,0,0,0,14.84,14.75,14.85
$GC,2185,0.79,284.6,3002,1793,1582,1494,36.2,11.0,386,2191,0.00,2.38,0.00,0.000,2308,0.000,0.047,3003,3193,1538,1582,1494,0,0,0,0,0,0,15.05,14.83,15.06
$GC,2229,0.79,284.6,3002,3193,1581,1494,30.7,11.3,394,2236,0.00,2.38,0.00,0.000,3078,0.000,0.047,3003,1796,1537,1581,1494,0,0,0,0,0,0,14.90,14.79,14.90
$GC,2301,0.79,284.6,3003,1796,1581,1494,23.4,10.9,407,2306,0.00,0.00,0.00,0.000,2054,0.000,0.000,3003,1796,1537,1581,1493,0,0,0,0,0,0,15.06,15.06,15.06
$GC,2369,0.79,284.6,3002,1796,1582,1493,16.1,10.6,420,2376,0.00,0.00,0.00,0.000,2054,0.000,0.000,3003,1796,1537,1581,1493,0,0,0,0,0,0,15.08,15.09,15.09
$GC,2439,0.79,286.8,3002,1796,1581,1492,9.1,10.0,433,2444,0.00,0.00,0.00,0.000,2054,0.000,0.000,3002,1796,1536,1581,1492,0,0,0,0,0,0,15.09,15.09,15.09
$STATE,2480,end climb,FINISH_DEPTH_REACHED
$STATE,2480,begin subsurface finish
$FINISH1,4.7,1.025184,119
$GC,2487,0.15,118.7,3003,1796,1581,1492,4.7,10.3,441,2522,0.98,2.42,-24.33,0.000,20996,0.156,0.086,2809,399,2219,2264,2175,0,0,0,0,0,0,14.71,13.46,14.81
$FINISH2,3.2
$STATE,2523,end subsurface finish,CONTROL_FINISHED_OK
$STATE,2523,begin surface
$IRIDIUM_FIX,-3412.10,2528.47,200419,175510
$TT8_MAMPS,0.020972,0.845621
$HUMID,45.55
$INTERNAL_PRESSURE,9.46858
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.6,35.6
$SC_FREEKB,3676096
$24V_AH,13.43,144.550
$10V_AH,13.47,0.000
$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,17.900,59.375,416.625,0.000,0.000,48.103,33.630,844.174,3.000,0.000,43.943,866.052,431.280,519.149,1686.775,422.624,0.000,996.458,0.000,675.685,0.000,26.268,0.000
$DEVICE_MAMPS,301.410,85.680,1061.820,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2584.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.228,0.000,0.000,0.000
$MEM,340888
$DATA_FILE_SIZE,10115,447
$CAP_FILE_SIZE,94649,0
$CFSIZE,2097086464,2004615168
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,4398.58,0x2131c2,7,24
$GPS,200419,181255,-3425.388,2527.552,8,0.9,42,-27.9,0.6,324.3,10,5.9