version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 527
start: 4 22 119 10 59 30
data:
$ID,574
$MISSION,3
$DIVE,527
$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,350
$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,40
$R_STBD_OVSHOOT,50
$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
$GPS1,220419,102336,-3418.5547,2546.6072,7,1.2,47,-27.9,0.9,244.2,7,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.54
$_SM_ANGLEo,4.1
$GPS2,220419,102336,-3418.5547,2546.6072,7,1.2,47,-27.9,0.9,244.2,7,4.6
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3407.920,2544.342
$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,17.9,20000,-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,24,-0.77,-272.5,2805,1800,2294,2211,0.0,0.0,0,74,0.00,0.00,-48.35,0.000,16386,0.000,0.000,2805,1800,3550,3577,3523,0,0,0,0,0,0,15.10,28.83,15.11
$GC,78,-0.77,-272.5,2804,1800,3577,3524,3.2,-6.6,9,97,1.30,2.38,-7.62,0.000,20996,0.094,0.078,2527,409,3813,3834,3792,0,0,0,0,0,0,14.81,13.43,14.87
$GC,110,-0.77,-272.5,2526,409,3833,3792,6.8,-11.1,14,117,0.00,2.30,0.00,0.000,5126,0.000,0.032,2525,1814,3813,3834,3792,0,0,0,0,0,0,14.95,14.87,14.96
$GC,182,-0.77,-272.5,2525,1815,3834,3792,15.8,-13.7,27,189,0.00,2.35,0.00,0.000,4356,0.000,0.052,2525,3216,3813,3834,3793,0,0,0,0,0,0,15.10,14.87,15.11
$GC,222,-0.77,-272.5,2525,3215,3834,3792,20.6,-9.5,34,229,0.00,2.33,0.00,0.000,5126,0.000,0.041,2525,1815,3813,3834,3792,0,0,0,0,0,0,15.00,14.89,15.01
$GC,294,-0.77,-272.5,2525,1815,3834,3792,29.1,-13.7,47,301,0.00,2.40,0.00,0.000,4612,0.000,0.062,2525,411,3811,3834,3789,0,0,0,0,0,0,15.12,14.79,15.13
$GC,344,-0.77,-272.5,2525,411,3834,3792,35.7,-10.4,56,351,0.00,2.30,0.00,0.000,5126,0.000,0.032,2525,1815,3813,3834,3792,0,0,0,0,0,0,14.90,14.81,14.91
$GC,416,-0.77,-272.5,2525,1818,3834,3792,43.3,-11.5,69,423,0.00,2.35,0.00,0.000,4356,0.000,0.052,2525,3209,3813,3834,3792,0,0,0,0,0,0,15.12,14.87,15.13
$GC,467,-0.77,-272.5,2526,3210,3834,3792,48.6,-9.4,78,474,0.00,2.33,0.00,0.000,5126,0.000,0.037,2525,1806,3812,3833,3792,0,0,0,0,0,0,15.00,14.90,15.01
$GC,539,-0.77,-272.5,2525,1805,3834,3792,56.5,-10.9,91,546,0.00,2.40,0.00,0.000,4612,0.000,0.062,2525,407,3813,3834,3792,0,0,0,0,0,0,15.13,14.75,15.14
$GC,579,-0.77,-272.5,2525,406,3834,3792,61.3,-10.7,98,586,0.00,2.30,0.00,0.000,5126,0.000,0.032,2525,1814,3813,3834,3792,0,0,0,0,0,0,14.89,14.80,14.90
$GC,655,-0.77,-272.5,2525,1816,3834,3792,69.0,-10.3,111,661,0.00,2.35,0.00,0.000,4356,0.000,0.053,2525,3208,3813,3834,3792,0,0,0,0,0,0,15.13,14.79,15.14
$GC,710,-0.77,-272.5,2525,3208,3834,3792,74.0,-9.1,121,716,0.00,2.33,0.00,0.000,5126,0.000,0.037,2525,1813,3813,3834,3792,0,0,0,0,0,0,14.93,14.82,14.95
$GC,782,-0.77,-272.5,2525,1813,3834,3792,80.5,-9.2,134,789,0.00,2.40,0.00,0.000,4612,0.000,0.063,2525,408,3813,3834,3792,0,0,0,0,0,0,15.11,14.85,15.11
$GC,812,-0.77,-272.5,2524,408,3834,3792,83.8,-9.6,139,819,0.00,2.30,0.00,0.000,5126,0.000,0.032,2525,1816,3813,3834,3792,0,0,0,0,0,0,15.00,14.92,15.01
$STATE,859,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,859,begin apogee
$GC,866,-0.17,0.0,2525,1818,3834,3792,88.6,-8.9,148,1077,0.85,0.00,198.88,1.037,10246,0.126,0.000,2699,1818,2701,2737,2665,0,0,0,0,0,0,14.65,14.46,13.96
$STATE,1079,end apogee,CONTROL_FINISHED_OK
$STATE,1079,begin climb
$GC,1082,0.77,272.5,2700,1818,2737,2664,101.6,0.0,186,1303,1.35,2.42,209.07,1.018,10500,0.060,0.045,2998,3202,1588,1631,1546,0,0,0,0,0,0,14.50,14.40,13.92
$GC,1398,0.77,272.5,2998,3203,1626,1543,74.8,13.9,242,1405,0.00,2.40,0.00,0.000,3078,0.000,0.047,3000,1800,1584,1626,1543,0,0,0,0,0,0,14.69,14.60,14.71
$GC,1470,0.77,272.5,2998,1800,1626,1542,65.8,13.1,255,1476,0.00,2.45,0.00,0.000,2564,0.000,0.068,3008,386,1584,1627,1542,0,0,0,0,0,0,14.95,14.71,14.95
$GC,1500,0.77,272.5,3008,391,1626,1542,61.6,13.9,260,1507,0.00,2.33,0.00,0.000,5126,0.000,0.033,3008,1801,1583,1625,1542,0,0,0,0,0,0,14.87,14.79,14.88
$GC,1572,0.77,272.5,3008,1803,1625,1541,52.2,12.5,273,1578,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1803,1582,1625,1540,0,0,0,0,0,0,15.00,15.01,15.00
$GC,1641,0.77,272.5,3008,1803,1625,1540,43.6,11.8,286,1647,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1803,1583,1626,1540,0,0,0,0,0,0,15.03,15.04,15.04
$GC,1710,0.77,272.5,3008,1804,1625,1540,35.3,11.8,299,1716,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1803,1582,1625,1540,0,0,0,0,0,0,15.05,15.07,15.06
$GC,1779,0.77,272.5,3008,1803,1625,1540,28.0,10.4,312,1784,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,1803,1582,1625,1540,0,0,0,0,0,0,15.07,15.09,15.08
$GC,1847,0.78,282.4,3008,1803,1625,1540,21.1,9.8,325,1860,0.00,2.47,8.07,0.742,8708,0.000,0.067,3017,398,1547,1592,1502,0,0,0,0,0,0,15.09,14.83,14.25
$GC,1920,0.78,282.4,3017,398,1591,1502,12.7,11.9,338,1927,0.00,2.30,0.00,0.000,5126,0.000,0.033,3017,1800,1547,1591,1503,0,0,0,0,0,0,14.96,14.88,14.97
$GC,1992,0.78,282.4,3017,1803,1591,1501,5.7,10.3,351,1999,0.00,2.33,0.00,0.000,4356,0.000,0.046,3017,3198,1546,1591,1501,0,0,0,0,0,0,15.08,14.76,15.09
$STATE,2014,end climb,SURFACE_DEPTH_REACHED
$STATE,2014,begin surface coast
$FINISH,1.8,1.025350
$STATE,2025,end surface coast,CONTROL_FINISHED_OK
$STATE,2025,begin surface
$SM_CCo,2053,151.50,0.776,0,0,597,515.37
$SM_GC,0.98,13.55,2.35,151.50,0.045,0.040,0.776,127,1810,597,-8.17,1.10,515.37,0,0,0,0,0,0,14.88,14.88,14.14
$IRIDIUM_FIX,-3404.29,2546.08,220419,085822
$TT8_MAMPS,0.021721,0.95123
$HUMID,44.72
$INTERNAL_PRESSURE,9.35139
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.4,33.0
$SC_FREEKB,3645856
$24V_AH,13.43,155.507
$10V_AH,13.44,0.000
$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,17.050,54.200,416.025,151.500,0.000,0.000,0.000,0.000,1.250,0.000,0.000,692.033,291.659,601.429,627.905,141.859,0.000,989.866,0.000,543.661,0.000,10.092,0.000
$DEVICE_MAMPS,126.225,78.030,1036.575,776.475,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2075.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.998,0.000,0.000,0.000
$MEM,341064
$DATA_FILE_SIZE,10140,357
$CAP_FILE_SIZE,67594,0
$CFSIZE,2097086464,1994948608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220419,113731,-3418.041,2546.190,9,0.8,31,-27.9,0.3,180.0,9,5.5