version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 532
start: 4 22 119 15 3 13
data:
$ID,574
$MISSION,3
$DIVE,532
$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,30
$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,61
$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
$GPS1,220419,145019,-3416.6816,2544.6702,8,0.9,41,-27.9,0.9,262.0,9,4.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-61.4
$GPS2,220419,150247,-3416.6377,2544.4631,7,0.9,14,-27.9,0.9,331.2,10,9.7
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3407.285,2550.986
$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,57.9,20000,-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,-272.5,53,1816,634,534,0.0,0.0,0,123,0.00,0.00,-97.38,0.000,16386,0.000,0.000,52,1816,3054,3015,3093,0,0,0,0,0,0,14.97,28.83,14.98
$GC,129,-0.77,-272.5,52,1816,3019,3088,3.9,-8.7,18,165,14.52,2.33,-12.43,0.000,18692,0.297,0.075,2494,3193,3813,3829,3797,0,0,0,0,0,0,14.52,13.38,14.81
$GC,259,-0.77,-272.5,2494,3193,3829,3796,32.5,-13.3,42,267,0.05,2.35,0.00,0.000,3078,0.289,0.044,2507,1798,3811,3829,3794,0,0,0,0,0,0,14.57,14.71,14.75
$GC,331,-0.77,-272.5,2507,1798,3830,3798,41.7,-13.3,55,337,0.00,0.00,0.00,0.000,2054,0.000,0.000,2507,1798,3814,3830,3798,0,0,0,0,0,0,15.06,15.07,15.06
$GC,400,-0.77,-272.5,2507,1798,3830,3798,50.8,-13.0,68,406,0.00,0.00,0.00,0.000,2054,0.000,0.000,2507,1798,3813,3829,3798,0,0,0,0,0,0,15.08,15.08,15.08
$GC,468,-0.77,-272.5,2507,1798,3830,3798,59.6,-12.3,81,475,0.00,0.00,0.00,0.000,2054,0.000,0.000,2507,1798,3814,3830,3798,0,0,0,0,0,0,15.09,15.09,15.09
$GC,538,-0.77,-272.5,2507,1798,3830,3798,67.8,-11.9,94,544,0.00,0.00,0.00,0.000,2054,0.000,0.000,2507,1798,3814,3830,3798,0,0,0,0,0,0,15.09,15.09,15.09
$GC,607,-0.77,-272.5,2507,1798,3830,3798,75.0,-10.6,107,615,0.00,2.38,0.00,0.000,2308,0.000,0.054,2508,3193,3813,3829,3798,0,0,0,0,0,0,15.10,14.83,15.10
$GC,643,-0.77,-272.5,2507,3194,3829,3798,78.7,-10.2,113,650,0.00,2.30,0.00,0.000,3078,0.000,0.041,2508,1808,3813,3829,3798,0,0,0,0,0,0,14.97,14.86,14.98
$GC,715,-0.77,-272.5,2507,1809,3830,3798,85.5,-10.7,126,722,0.00,2.40,0.00,0.000,2564,0.000,0.062,2508,410,3813,3829,3798,0,0,0,0,0,0,15.10,14.78,15.11
$GC,745,-0.77,-272.5,2507,410,3829,3798,88.6,-10.5,131,752,0.00,2.28,0.00,0.000,3078,0.000,0.034,2507,1798,3813,3829,3798,0,0,0,0,0,0,14.91,14.83,14.92
$GC,819,-0.77,-272.5,2505,1800,3829,3798,95.7,-8.7,144,826,0.00,2.38,0.00,0.000,2308,0.000,0.054,2508,3207,3813,3829,3798,0,0,0,0,0,0,15.11,14.73,15.11
$GC,865,-0.77,-272.5,2506,3207,3829,3798,100.2,-8.4,152,871,0.00,2.33,0.00,0.000,3078,0.000,0.040,2508,1810,3813,3829,3798,0,0,0,0,0,0,14.88,14.76,14.90
$GC,937,-0.77,-272.5,2508,1811,3829,3799,107.1,-8.6,165,944,0.00,2.40,0.00,0.000,2564,0.000,0.063,2508,409,3814,3829,3799,0,0,0,0,0,0,15.11,14.83,15.11
$GC,957,-0.77,-272.5,2508,409,3829,3798,109.1,-8.6,168,964,0.00,2.30,0.00,0.000,3078,0.000,0.034,2508,1812,3813,3829,3798,0,0,0,0,0,0,14.98,14.89,14.99
$STATE,980,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,980,begin apogee
$GC,986,-0.17,0.0,2508,1815,3829,3798,111.8,-10.3,172,1197,0.95,0.00,199.48,1.047,10246,0.128,0.000,2700,1816,2700,2736,2664,0,0,0,0,0,0,14.66,14.32,13.94
$STATE,1199,end apogee,CONTROL_FINISHED_OK
$STATE,1199,begin climb
$GC,1202,0.77,272.5,2700,1816,2734,2663,121.5,0.0,210,1423,1.38,2.38,208.27,1.031,10500,0.079,0.044,2992,3202,1587,1631,1544,0,0,0,0,0,0,14.45,14.30,13.93
$GC,1499,0.77,272.5,2992,3202,1625,1542,97.6,14.3,262,1506,0.00,2.40,0.00,0.000,3078,0.000,0.050,2999,1810,1583,1625,1542,0,0,0,0,0,0,14.69,14.59,14.70
$GC,1571,0.77,272.5,2999,1809,1625,1541,86.8,14.8,275,1578,0.00,2.47,0.00,0.000,2564,0.000,0.070,2998,391,1582,1625,1540,0,0,0,0,0,0,14.91,14.69,14.91
$GC,1596,0.77,272.5,2999,391,1624,1541,83.1,13.2,279,1603,0.00,2.35,0.00,0.000,3078,0.000,0.032,2999,1817,1582,1624,1541,0,0,0,0,0,0,14.84,14.76,14.85
$GC,1668,0.77,272.5,2999,1819,1624,1540,73.2,14.3,292,1675,0.00,2.33,0.00,0.000,2308,0.000,0.048,2999,3197,1582,1624,1540,0,0,0,0,0,0,15.00,14.73,15.00
$GC,1718,0.77,272.5,2999,3197,1622,1540,65.7,12.9,301,1725,0.00,2.40,0.00,0.000,3078,0.000,0.050,3000,1789,1580,1622,1539,0,0,0,0,0,0,14.85,14.74,14.87
$GC,1790,0.77,272.5,2999,1789,1622,1540,57.6,11.2,314,1796,0.00,0.00,0.00,0.000,2054,0.000,0.000,2999,1789,1581,1623,1539,0,0,0,0,0,0,15.02,15.04,15.04
$GC,1859,0.77,272.5,2999,1789,1623,1539,49.7,11.0,327,1865,0.00,0.00,0.00,0.000,2054,0.000,0.000,3000,1789,1580,1622,1539,0,0,0,0,0,0,15.07,15.07,15.07
$GC,1929,0.77,272.5,2999,1789,1622,1538,42.0,11.1,340,1935,0.00,2.40,0.00,0.000,2564,0.000,0.070,3000,396,1580,1622,1539,0,0,0,0,0,0,15.08,14.76,15.08
$GC,1953,0.77,272.5,2999,396,1622,1538,39.3,11.1,344,1960,0.00,2.30,0.00,0.000,3078,0.000,0.032,2999,1802,1580,1622,1539,0,0,0,0,0,0,14.87,14.79,14.88
$GC,2025,0.77,272.5,2999,1805,1622,1537,31.7,10.3,357,2031,0.00,0.00,0.00,0.000,2054,0.000,0.000,3000,1805,1580,1622,1538,0,0,0,0,0,0,15.09,15.09,15.09
$GC,2094,0.84,330.3,2999,1805,1622,1537,25.0,8.6,370,2145,0.00,2.35,42.15,0.929,10500,0.000,0.047,3000,3186,1351,1403,1300,0,0,0,0,0,0,15.09,14.66,14.22
$GC,2170,0.84,330.3,2999,3186,1402,1299,17.8,10.4,383,2177,0.00,2.38,0.00,0.000,3078,0.000,0.049,3000,1796,1350,1402,1299,0,0,0,0,0,0,14.83,14.72,14.83
$GC,2243,0.86,341.4,2999,1796,1402,1297,11.0,9.7,396,2256,0.05,2.47,6.65,0.723,10756,0.253,0.070,3037,395,1306,1361,1252,0,0,0,0,0,0,14.71,14.73,14.15
$GC,2284,0.86,341.4,3037,394,1360,1251,6.1,12.2,403,2291,0.00,2.33,0.00,0.000,5126,0.000,0.031,3037,1801,1305,1360,1251,0,0,0,0,0,0,14.88,14.81,14.89
$STATE,2296,end climb,FINISH_DEPTH_REACHED
$STATE,2296,begin subsurface finish
$FINISH1,4.0,1.025365,109
$GC,2304,0.13,109.4,3037,1804,1361,1250,4.0,13.9,405,2350,1.17,2.35,-37.62,0.000,20740,0.152,0.065,2805,3208,2257,2301,2213,0,0,0,0,0,0,14.56,13.98,14.66
$FINISH2,1.7
$STATE,2351,end subsurface finish,CONTROL_FINISHED_OK
$STATE,2351,begin surface
$IRIDIUM_FIX,-3401.68,2542.60,220419,132202
$TT8_MAMPS,0.021721,0.737016
$HUMID,46.22
$INTERNAL_PRESSURE,9.48811
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.1,31.4
$SC_FREEKB,3643296
$24V_AH,13.38,156.509
$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,18.125,54.325,456.550,0.000,0.000,25.782,52.436,370.180,2.500,0.000,15.725,763.180,312.087,555.713,1149.080,326.016,0.000,1019.620,0.000,626.862,0.000,17.677,0.000
$DEVICE_MAMPS,296.820,74.970,1047.285,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2406.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.394,0.000,0.000,0.000
$MEM,340920
$DATA_FILE_SIZE,10127,413
$CAP_FILE_SIZE,82293,0
$CFSIZE,2097086464,1994129408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,220419,150247,-3416.638,2544.463,7,0.9,14,-27.9,0.9,331.2,10,9.7