version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 530
start: 4 22 119 13 28 53
data:
$ID,574
$MISSION,3
$DIVE,530
$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,28
$R_STBD_OVSHOOT,48
$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
$GPS1,220419,131254,-3417.3921,2545.5305,9,1.2,49,-27.9,1.0,281.6,7,5.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-60.9
$GPS2,220419,132827,-3417.3335,2545.3408,8,1.2,48,-27.9,0.3,239.2,7,4.8
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3406.698,2543.076
$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,20,begin dive
$GC,24,-0.77,-272.5,52,1805,636,531,0.0,0.0,0,123,0.00,0.00,-96.70,0.000,16386,0.000,0.000,52,1806,3046,3014,3079,0,0,0,0,0,0,15.01,28.83,15.02
$GC,129,-0.77,-272.5,52,1805,3014,3080,3.6,-7.8,18,165,14.52,2.35,-12.48,0.000,18692,0.300,0.068,2493,3211,3813,3830,3797,0,0,0,0,0,0,14.55,13.38,14.83
$GC,284,-0.77,-272.5,2493,3211,3830,3798,33.6,-11.4,47,292,0.05,2.35,0.00,0.000,3078,0.291,0.041,2506,1805,3813,3830,3797,0,0,0,0,0,0,14.60,14.72,14.78
$GC,357,-0.77,-272.5,2507,1805,3830,3797,42.1,-12.8,60,363,0.00,0.00,0.00,0.000,2054,0.000,0.000,2507,1805,3814,3831,3797,0,0,0,0,0,0,15.07,15.08,15.07
$GC,426,-0.77,-272.5,2507,1805,3830,3797,50.7,-11.9,73,432,0.00,0.00,0.00,0.000,2054,0.000,0.000,2507,1805,3814,3830,3798,0,0,0,0,0,0,15.09,15.09,15.09
$GC,495,-0.77,-272.5,2507,1805,3831,3798,58.8,-11.6,86,501,0.00,0.00,0.00,0.000,2054,0.000,0.000,2507,1805,3814,3831,3797,0,0,0,0,0,0,15.10,15.11,15.11
$GC,565,-0.77,-272.5,2505,1805,3830,3797,66.7,-11.1,99,570,0.00,0.00,0.00,0.000,2054,0.000,0.000,2507,1805,3814,3831,3798,0,0,0,0,0,0,15.11,15.11,15.11
$GC,633,-0.77,-272.5,2507,1805,3830,3797,74.6,-10.8,112,639,0.00,0.00,0.00,0.000,2054,0.000,0.000,2507,1805,3814,3831,3797,0,0,0,0,0,0,15.11,15.11,15.11
$GC,705,-0.77,-272.5,2507,1805,3831,3797,82.8,-12.0,125,711,0.00,0.00,0.00,0.000,2054,0.000,0.000,2507,1804,3814,3831,3797,0,0,0,0,0,0,15.11,15.11,15.11
$GC,775,-0.77,-272.5,2506,1805,3831,3797,89.7,-9.9,138,780,0.00,0.00,0.00,0.000,2054,0.000,0.000,2507,1805,3814,3831,3797,0,0,0,0,0,0,15.12,15.13,15.13
$GC,844,-0.77,-272.5,2507,1805,3830,3798,96.7,-9.8,151,850,0.00,0.00,0.00,0.000,2054,0.000,0.000,2507,1805,3814,3831,3797,0,0,0,0,0,0,15.13,15.14,15.16
$GC,913,-0.77,-272.5,2507,1805,3830,3797,103.8,-10.4,164,920,0.00,2.38,0.00,0.000,2308,0.000,0.053,2507,3206,3813,3829,3797,0,0,0,0,0,0,15.12,14.85,15.12
$STATE,925,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,925,begin apogee
$GC,934,-0.17,0.0,2507,1792,3830,3797,104.9,-8.4,166,1141,0.93,0.00,199.25,1.034,10246,0.119,0.000,2699,1789,2701,2737,2665,0,0,0,0,0,0,14.74,14.42,13.94
$STATE,1143,end apogee,CONTROL_FINISHED_OK
$STATE,1143,begin climb
$GC,1145,0.77,272.5,2700,1789,2733,2662,114.8,0.0,203,1367,1.38,2.42,208.18,1.017,10500,0.071,0.044,2996,3197,1587,1630,1545,0,0,0,0,0,0,14.46,14.32,13.93
$GC,1442,0.77,272.5,2996,3196,1624,1542,91.0,15.2,255,1449,0.00,2.40,0.00,0.000,3078,0.000,0.050,2997,1803,1583,1624,1542,0,0,0,0,0,0,14.70,14.60,14.71
$GC,1516,0.77,272.5,2996,1803,1624,1540,80.0,14.7,268,1522,0.00,2.47,0.00,0.000,2564,0.000,0.070,2999,386,1582,1624,1540,0,0,0,0,0,0,14.94,14.62,14.95
$GC,1571,0.77,272.5,2999,386,1622,1540,72.2,13.8,278,1577,0.00,2.33,0.00,0.000,3078,0.000,0.031,2999,1803,1581,1623,1540,0,0,0,0,0,0,14.79,14.72,14.80
$GC,1642,0.77,272.5,2999,1805,1622,1539,63.2,12.4,291,1649,0.00,2.35,0.00,0.000,2308,0.000,0.045,2999,3207,1580,1622,1539,0,0,0,0,0,0,15.02,14.78,15.04
$GC,1673,0.77,272.5,2999,3207,1621,1539,58.7,13.5,296,1679,0.00,2.40,0.00,0.000,3078,0.000,0.050,2999,1799,1580,1621,1539,0,0,0,0,0,0,14.90,14.79,14.92
$GC,1744,0.77,272.5,2999,1798,1621,1537,50.3,11.9,309,1751,0.00,2.42,0.00,0.000,2564,0.000,0.070,2999,395,1580,1622,1538,0,0,0,0,0,0,15.03,14.80,15.04
$GC,1779,0.77,272.5,2999,395,1621,1538,45.8,12.8,315,1785,0.00,2.30,0.00,0.000,3078,0.000,0.031,2999,1803,1580,1622,1538,0,0,0,0,0,0,14.95,14.88,14.96
$GC,1851,0.77,272.5,2999,1806,1620,1537,37.9,10.7,328,1857,0.00,2.30,0.00,0.000,2308,0.000,0.045,2999,3195,1579,1621,1537,0,0,0,0,0,0,15.07,14.74,15.07
$GC,1895,0.77,272.5,2999,3196,1621,1537,33.0,11.3,336,1902,0.00,2.35,0.00,0.000,3078,0.000,0.047,2999,1798,1579,1621,1537,0,0,0,0,0,0,14.95,14.85,14.95
$GC,1968,0.78,278.0,3005,1798,1621,1537,25.8,9.9,349,1974,0.00,0.00,4.32,0.588,10758,0.000,0.000,2999,1798,1566,1610,1522,0,0,0,0,0,0,15.09,14.83,14.17
$GC,2039,0.79,291.4,2999,1798,1609,1522,18.7,9.7,362,2057,0.00,2.42,9.40,0.825,10756,0.000,0.067,3000,399,1509,1555,1464,0,0,0,0,0,0,15.08,14.80,14.26
$GC,2075,0.83,319.1,2999,399,1554,1464,15.4,9.3,368,2099,0.00,2.30,18.35,0.832,11270,0.000,0.031,3000,1808,1398,1448,1348,0,0,0,0,0,0,14.95,14.88,14.27
$GC,2163,0.88,362.6,2999,1808,1445,1343,6.0,8.9,384,2187,0.08,0.00,21.15,0.780,10498,0.184,0.000,3049,1808,1261,1318,1204,0,0,0,0,0,0,14.72,28.83,14.76
$STATE,2188,end climb,FINISH_DEPTH_REACHED
$STATE,2188,begin subsurface finish
$FINISH1,4.4,1.025360,110
$GC,2196,0.13,109.7,3049,1808,1316,1202,4.4,6.9,388,2242,1.23,0.00,-40.08,0.000,20742,0.148,0.000,2805,1808,2253,2300,2206,0,0,0,0,0,0,14.64,13.52,14.73
$FINISH2,2.1
$STATE,2243,end subsurface finish,CONTROL_FINISHED_OK
$STATE,2243,begin surface
$IRIDIUM_FIX,-3404.29,2546.08,220419,131729
$TT8_MAMPS,0.021721,0.956473
$HUMID,46.37
$INTERNAL_PRESSURE,9.49787
$TCM_TEMP,20.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.1,34.1
$SC_FREEKB,3644320
$24V_AH,13.38,156.105
$10V_AH,13.64,0.000
$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,18.175,37.950,460.650,0.000,0.000,50.053,57.826,396.840,2.250,0.000,50.052,724.420,361.931,536.016,1235.827,323.625,0.000,976.910,0.000,597.569,0.000,14.649,0.000
$DEVICE_MAMPS,299.880,70.380,1033.515,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2301.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.393,0.000,0.000,0.000
$MEM,340888
$DATA_FILE_SIZE,10137,396
$CAP_FILE_SIZE,78536,0
$CFSIZE,2097086464,1994457088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,220419,132827,-3417.333,2545.341,8,1.2,48,-27.9,0.3,239.2,7,4.8