version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 472
start: 4 20 119 21 43 37
data:
$ID,574
$MISSION,3
$DIVE,472
$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,31
$R_STBD_OVSHOOT,47
$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,20
$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
$GPS1,200419,213025,-3424.1895,2530.7588,9,0.9,42,-27.9,0.5,323.1,9,8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-67.2
$GPS2,200419,214312,-3424.0698,2530.8486,8,1.0,18,-27.9,0.4,113.6,8,9.4
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3416.434,2540.089
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.77,-272.5,53,1801,633,538,0.0,0.0,0,118,0.00,0.00,-91.35,0.000,16386,0.000,0.000,53,1802,2968,2928,3009,0,0,0,0,0,0,14.95,28.83,14.97
$GC,123,-0.77,-272.5,53,1801,2929,3009,3.5,-6.7,17,159,14.57,2.40,-13.57,0.000,18948,0.302,0.083,2501,406,3814,3831,3797,0,0,0,0,0,0,14.49,13.87,14.76
$GC,233,-0.77,-272.5,2501,405,3832,3797,28.4,-12.6,37,240,0.00,2.33,0.00,0.000,3078,0.000,0.037,2501,1806,3815,3832,3798,0,0,0,0,0,0,14.90,14.83,14.92
$GC,305,-0.77,-272.5,2501,1809,3831,3797,38.0,-15.7,50,312,0.00,2.40,0.00,0.000,2308,0.000,0.056,2498,3217,3814,3831,3798,0,0,0,0,0,0,15.04,14.69,15.05
$GC,391,-0.77,-272.5,2501,3217,3831,3797,49.8,-12.1,66,400,0.00,2.38,0.00,0.000,3078,0.000,0.041,2501,1797,3814,3831,3797,0,0,0,0,0,0,14.89,14.78,14.90
$GC,465,-0.77,-272.5,2501,1797,3831,3797,59.3,-12.8,79,475,0.00,2.42,0.00,0.000,2308,0.000,0.053,2501,3217,3814,3831,3797,0,0,0,0,0,0,15.08,14.77,15.08
$GC,498,-0.77,-272.5,2501,3217,3831,3797,62.9,-10.9,84,504,0.00,2.35,0.00,0.000,3078,0.000,0.040,2501,1806,3814,3831,3797,0,0,0,0,0,0,14.95,14.85,14.96
$GC,569,-0.77,-272.5,2500,1806,3831,3797,69.8,-10.5,97,576,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1806,3812,3827,3797,0,0,0,0,0,0,15.08,15.08,15.08
$GC,639,-0.77,-272.5,2501,1806,3831,3797,77.8,-10.9,110,646,0.00,2.40,0.00,0.000,2564,0.000,0.063,2501,401,3814,3831,3797,0,0,0,0,0,0,15.09,14.71,15.10
$GC,669,-0.77,-272.5,2501,401,3831,3798,81.1,-12.1,115,676,0.00,2.33,0.00,0.000,3078,0.000,0.035,2501,1819,3813,3830,3797,0,0,0,0,0,0,14.97,14.88,14.97
$GC,742,-0.77,-272.5,2501,1822,3831,3798,88.1,-10.2,128,749,0.00,2.35,0.00,0.000,2308,0.000,0.054,2501,3213,3814,3831,3797,0,0,0,0,0,0,15.10,14.84,15.10
$GC,794,-0.77,-272.5,2501,3213,3831,3797,93.2,-8.5,137,800,0.00,2.33,0.00,0.000,3078,0.000,0.039,2501,1810,3814,3831,3797,0,0,0,0,0,0,14.97,14.87,14.98
$GC,864,-0.77,-272.5,2501,1809,3831,3798,100.6,-11.6,150,869,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1809,3814,3831,3797,0,0,0,0,0,0,15.10,15.11,15.11
$STATE,895,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,895,begin apogee
$GC,901,-0.17,0.0,2499,1809,3831,3797,104.0,-11.1,156,1108,1.00,0.00,198.55,1.035,10246,0.130,0.000,2703,1812,2700,2732,2668,0,0,0,0,0,0,14.62,14.42,13.94
$STATE,1109,end apogee,CONTROL_FINISHED_OK
$STATE,1109,begin climb
$GC,1112,0.77,272.5,2703,1809,2728,2667,118.6,0.0,193,1332,1.40,2.50,206.98,1.033,10756,0.054,0.068,3027,402,1588,1629,1547,0,0,0,0,0,0,14.47,14.29,13.92
$GC,1350,0.77,272.5,3023,402,1624,1548,97.2,18.5,234,1358,0.08,2.35,0.00,0.000,5126,0.265,0.032,3012,1805,1584,1623,1546,0,0,0,0,0,0,14.38,14.51,14.53
$GC,1423,0.77,272.5,3011,1808,1622,1542,84.8,17.1,247,1429,0.00,2.38,0.00,0.000,4356,0.000,0.046,3011,3205,1581,1622,1541,0,0,0,0,0,0,14.85,14.56,14.85
$GC,1473,0.77,272.5,3011,3205,1621,1542,76.3,15.7,256,1479,0.00,2.40,0.00,0.000,5126,0.000,0.050,3018,1806,1581,1621,1541,0,0,0,0,0,0,14.72,14.62,14.73
$GC,1544,0.77,272.5,3017,1806,1619,1541,65.5,16.9,269,1551,0.00,2.45,0.00,0.000,4612,0.000,0.069,3026,395,1581,1621,1541,0,0,0,0,0,0,14.97,14.72,14.97
$GC,1589,0.77,272.5,3026,395,1621,1541,56.9,17.1,277,1596,0.08,2.33,0.00,0.000,5126,0.266,0.031,3011,1810,1580,1620,1541,0,0,0,0,0,0,14.62,14.77,14.82
$GC,1661,0.77,272.5,3010,1813,1621,1540,47.3,11.4,290,1668,0.00,2.30,0.00,0.000,4356,0.000,0.046,3011,3197,1580,1620,1540,0,0,0,0,0,0,15.02,14.80,15.02
$GC,1711,0.77,272.5,3010,3197,1620,1539,41.7,11.5,299,1718,0.00,2.38,0.00,0.000,5126,0.000,0.049,3011,1793,1580,1620,1540,0,0,0,0,0,0,14.92,14.81,14.93
$GC,1783,0.77,272.5,3010,1793,1620,1539,33.4,11.4,312,1789,0.00,2.42,0.00,0.000,4612,0.000,0.070,3010,388,1579,1620,1538,0,0,0,0,0,0,15.05,14.76,15.06
$GC,1802,0.77,272.5,3009,388,1620,1539,31.0,10.7,315,1809,0.00,2.30,0.00,0.000,5126,0.000,0.031,3011,1804,1579,1620,1539,0,0,0,0,0,0,14.84,14.76,14.85
$GC,1874,0.77,272.5,3010,1807,1620,1539,23.3,11.2,328,1881,0.00,2.30,0.00,0.000,4356,0.000,0.045,3011,3192,1579,1620,1538,0,0,0,0,0,0,15.07,14.84,15.08
$GC,1904,0.77,272.5,3010,3192,1620,1538,19.6,11.3,333,1911,0.00,2.38,0.00,0.000,5126,0.000,0.050,3010,1796,1578,1619,1538,0,0,0,0,0,0,14.90,14.80,14.92
$GC,1976,0.85,333.5,3010,1796,1618,1538,13.0,8.5,346,2021,0.00,2.47,39.03,0.844,10756,0.000,0.070,3010,398,1337,1389,1285,0,0,0,0,0,0,15.07,14.71,14.26
$STATE,2063,end climb,FINISH_DEPTH_REACHED
$STATE,2063,begin subsurface finish
$FINISH1,4.6,1.024562,151
$GC,2073,0.19,150.7,3010,1800,1388,1282,4.6,8.3,362,2108,0.95,2.50,-24.38,0.000,20996,0.130,0.083,2816,384,2089,2133,2045,0,0,0,0,0,0,14.64,13.53,14.73
$FINISH2,4.4
$STATE,2109,end subsurface finish,CONTROL_FINISHED_OK
$STATE,2109,begin surface
$IRIDIUM_FIX,-3409.50,2528.47,200419,195050
$TT8_MAMPS,0.021721,0.873334
$HUMID,44.95
$INTERNAL_PRESSURE,9.47834
$TCM_TEMP,20.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.1,33.5
$SC_FREEKB,3674048
$24V_AH,13.53,145.378
$10V_AH,13.42,0.000
$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,18.075,59.475,444.550,0.000,0.000,25.197,15.830,423.551,2.500,0.000,19.332,676.727,274.736,524.876,1097.686,307.363,0.000,947.284,0.000,562.202,0.000,17.668,0.000
$DEVICE_MAMPS,302.175,83.385,1035.045,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2165.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.333,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,10139,368
$CAP_FILE_SIZE,76473,0
$CFSIZE,2097086464,2003959808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,200419,214312,-3424.070,2530.849,8,1.0,18,-27.9,0.4,113.6,8,9.4