version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 470
start: 4 20 119 20 0 21
data:
$ID,574
$MISSION,3
$DIVE,470
$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,28
$R_STBD_OVSHOOT,49
$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
$GPS1,200419,194608,-3424.8867,2529.1736,8,1.1,20,-27.9,0.0,176.8,8,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-62.9
$GPS2,200419,195955,-3424.8254,2529.2644,7,1.1,48,-27.9,0.4,165.7,7,4.2
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3417.189,2538.507
$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,-272.5,52,1818,632,538,0.0,0.0,0,118,0.00,0.00,-92.10,0.000,16386,0.000,0.000,53,1819,2974,2936,3012,0,0,0,0,0,0,14.98,28.83,14.98
$GC,124,-0.77,-272.5,52,1819,2935,3012,3.7,-7.9,17,159,14.52,2.42,-13.77,0.000,18948,0.300,0.080,2509,401,3812,3830,3795,0,0,0,0,0,0,14.52,13.90,14.81
$GC,263,-0.77,-272.5,2501,401,3831,3796,33.9,-12.5,43,270,0.00,2.33,0.00,0.000,3078,0.000,0.034,2500,1809,3813,3831,3796,0,0,0,0,0,0,14.92,14.83,14.94
$GC,335,-0.77,-272.5,2501,1812,3831,3796,43.3,-14.4,56,342,0.00,2.38,0.00,0.000,2308,0.000,0.054,2501,3216,3814,3832,3796,0,0,0,0,0,0,15.04,14.76,15.07
$GC,395,-0.77,-272.5,2501,3217,3831,3796,50.4,-9.5,67,402,0.00,2.38,0.00,0.000,3078,0.000,0.041,2501,1802,3813,3830,3796,0,0,0,0,0,0,14.89,14.78,14.90
$GC,468,-0.77,-272.5,2501,1802,3831,3796,58.0,-11.1,80,474,0.00,2.40,0.00,0.000,2308,0.000,0.054,2501,3216,3814,3832,3796,0,0,0,0,0,0,15.06,14.82,15.05
$GC,517,-0.77,-272.5,2500,3216,3830,3797,63.5,-9.3,89,524,0.00,2.35,0.00,0.000,3078,0.000,0.041,2501,1809,3813,3830,3796,0,0,0,0,0,0,14.95,14.85,14.97
$GC,588,-0.77,-272.5,2501,1809,3831,3796,70.9,-11.4,102,594,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1809,3813,3831,3796,0,0,0,0,0,0,15.08,15.08,15.08
$GC,657,-0.77,-272.5,2502,1809,3837,3796,79.0,-12.1,115,663,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1809,3813,3830,3796,0,0,0,0,0,0,15.09,15.09,15.09
$GC,726,-0.77,-272.5,2501,1809,3830,3796,86.7,-10.3,128,733,0.00,2.40,0.00,0.000,2308,0.000,0.052,2501,3215,3813,3830,3796,0,0,0,0,0,0,15.10,14.84,15.10
$GC,751,-0.77,-272.5,2501,3216,3830,3796,89.0,-9.0,132,758,0.00,2.35,0.00,0.000,3078,0.000,0.040,2501,1804,3813,3830,3796,0,0,0,0,0,0,14.97,14.86,14.98
$GC,825,-0.77,-272.5,2504,1803,3830,3796,96.5,-11.2,145,831,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1804,3813,3830,3796,0,0,0,0,0,0,15.10,15.10,15.10
$GC,894,-0.77,-272.5,2501,1804,3830,3796,103.9,-10.0,158,901,0.00,2.38,0.00,0.000,2308,0.000,0.051,2501,3209,3813,3830,3796,0,0,0,0,0,0,15.11,14.74,15.11
$GC,944,-0.77,-272.5,2501,3208,3830,3797,108.3,-7.7,167,951,0.00,2.33,0.00,0.000,3078,0.000,0.041,2501,1813,3813,3830,3796,0,0,0,0,0,0,14.87,14.76,14.88
$GC,1016,-0.77,-272.5,2501,1813,3830,3796,115.0,-12.7,180,1023,0.00,2.40,0.00,0.000,2564,0.000,0.058,2501,408,3812,3829,3796,0,0,0,0,0,0,15.11,14.84,15.11
$GC,1041,-0.77,-272.5,2501,408,3830,3796,118.7,-13.8,184,1048,0.00,2.33,0.00,0.000,3078,0.000,0.035,2501,1816,3812,3829,3796,0,0,0,0,0,0,14.98,14.88,14.99
$STATE,1068,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1068,begin apogee
$GC,1075,-0.17,0.0,2501,1818,3830,3796,121.7,-9.0,189,1281,0.98,0.00,198.55,1.064,10246,0.125,0.000,2700,1820,2700,2732,2669,0,0,0,0,0,0,14.73,14.39,13.90
$STATE,1283,end apogee,CONTROL_FINISHED_OK
$STATE,1283,begin climb
$GC,1286,0.77,272.5,2700,1819,2729,2667,132.1,0.0,226,1506,1.35,2.53,206.75,1.056,10756,0.061,0.064,3009,396,1587,1629,1545,0,0,0,0,0,0,14.45,14.28,13.89
$GC,1539,0.77,272.5,3009,396,1624,1546,117.7,14.4,270,1545,0.00,2.38,0.00,0.000,5126,0.000,0.034,3010,1806,1584,1624,1545,0,0,0,0,0,0,14.62,14.54,14.64
$GC,1611,0.77,272.5,3009,1809,1623,1541,106.6,17.2,283,1617,0.00,2.35,0.00,0.000,4356,0.000,0.047,3009,3204,1581,1622,1541,0,0,0,0,0,0,14.85,14.57,14.85
$GC,1635,0.77,272.5,3010,3204,1621,1541,102.8,14.1,287,1642,0.00,2.40,0.00,0.000,5126,0.000,0.048,3010,1794,1581,1622,1541,0,0,0,0,0,0,14.78,14.68,14.79
$GC,1707,0.77,272.5,3009,1795,1622,1540,92.1,16.8,300,1714,0.00,2.38,0.00,0.000,4356,0.000,0.045,3010,3205,1581,1622,1540,0,0,0,0,0,0,14.95,14.70,14.96
$GC,1741,0.77,272.5,3009,3205,1621,1540,86.0,16.0,306,1748,0.00,2.40,0.00,0.000,5126,0.000,0.051,3010,1802,1580,1621,1540,0,0,0,0,0,0,14.78,14.69,14.79
$GC,1813,0.77,272.5,3010,1802,1620,1540,75.8,14.2,319,1820,0.00,2.45,0.00,0.000,4612,0.000,0.070,3010,391,1580,1621,1540,0,0,0,0,0,0,15.02,14.76,15.02
$GC,1842,0.77,272.5,3009,386,1621,1540,71.4,14.4,324,1849,0.00,2.35,0.00,0.000,5126,0.000,0.032,3010,1814,1580,1621,1540,0,0,0,0,0,0,14.86,14.78,14.88
$GC,1914,0.77,272.5,3010,1817,1621,1539,61.1,14.3,337,1921,0.00,2.30,0.00,0.000,4356,0.000,0.046,3010,3204,1580,1621,1539,0,0,0,0,0,0,15.03,14.81,15.04
$GC,1995,0.77,272.5,3009,3204,1620,1538,50.3,12.6,352,2002,0.00,2.38,0.00,0.000,5126,0.000,0.050,3010,1799,1579,1620,1538,0,0,0,0,0,0,14.85,14.76,14.85
$GC,2067,0.77,272.5,3010,1799,1620,1538,42.0,12.2,365,2074,0.00,2.42,0.00,0.000,4612,0.000,0.069,3010,392,1579,1620,1538,0,0,0,0,0,0,15.07,14.77,15.08
$GC,2101,0.77,272.5,3010,391,1620,1538,37.4,12.6,371,2108,0.00,2.30,0.00,0.000,5126,0.000,0.031,3010,1805,1579,1621,1538,0,0,0,0,0,0,14.85,14.78,14.87
$GC,2173,0.77,272.5,3010,1808,1621,1537,29.0,11.0,384,2179,0.00,2.30,0.00,0.000,4356,0.000,0.046,3010,3193,1578,1620,1537,0,0,0,0,0,0,15.09,14.85,15.09
$GC,2217,0.77,272.5,3010,3193,1625,1537,23.1,12.2,392,2224,0.00,2.38,0.00,0.000,5126,0.000,0.048,3017,1787,1578,1619,1537,0,0,0,0,0,0,14.92,14.81,14.93
$GC,2289,0.77,272.5,3009,1788,1620,1537,15.4,10.3,405,2296,0.00,2.40,0.00,0.000,4612,0.000,0.070,3010,391,1578,1620,1537,0,0,0,0,0,0,15.07,14.83,15.07
$GC,2361,0.79,286.5,3010,391,1619,1537,8.5,9.7,418,2374,0.00,2.33,8.07,0.777,9222,0.000,0.032,3010,1805,1530,1573,1487,0,0,0,0,0,0,14.85,14.80,14.32
$STATE,2414,end climb,FINISH_DEPTH_REACHED
$STATE,2415,begin subsurface finish
$FINISH1,4.8,1.024618,148
$GC,2424,0.18,147.8,3010,1805,1573,1484,4.8,5.6,428,2453,0.93,2.35,-18.60,0.000,20740,0.140,0.068,2823,3198,2101,2143,2060,0,0,0,0,0,0,14.69,13.51,14.78
$FINISH2,4.1
$STATE,2454,end subsurface finish,CONTROL_FINISHED_OK
$STATE,2454,begin surface
$IRIDIUM_FIX,-3412.10,2528.47,200419,180824
$TT8_MAMPS,0.021721,0.925764
$HUMID,46.57
$INTERNAL_PRESSURE,9.45881
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.4,36.1
$SC_FREEKB,3675072
$24V_AH,13.51,144.970
$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,17.775,68.800,413.375,0.000,0.000,26.324,41.553,422.455,2.750,0.000,49.142,839.470,349.712,513.097,1252.062,331.939,0.000,981.759,0.000,653.393,0.000,21.034,0.000
$DEVICE_MAMPS,299.880,80.325,1064.115,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2513.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.311,0.000,0.000,0.000
$MEM,340920
$DATA_FILE_SIZE,10106,433
$CAP_FILE_SIZE,88211,0
$CFSIZE,2097086464,2004287488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,200419,195955,-3424.825,2529.264,7,1.1,48,-27.9,0.4,165.7,7,4.2