version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 534
start: 4 22 119 16 43 36
data:
$ID,574
$MISSION,3
$DIVE,534
$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,31
$R_STBD_OVSHOOT,38
$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,15
$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
$GPS1,220419,163002,-3416.2107,2544.1404,8,1.0,17,-27.8,1.5,304.7,8,8.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-68.1
$GPS2,220419,164307,-3416.2224,2543.9341,7,1.0,17,-27.8,0.5,327.1,8,9.3
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3406.870,2550.456
$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,57.8,20000,-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,-272.5,52,1816,633,537,0.0,0.0,0,123,0.00,0.00,-96.85,0.000,16386,0.000,0.000,52,1816,3034,2995,3073,0,0,0,0,0,0,14.97,28.83,14.97
$GC,129,-0.77,-272.5,51,1814,2996,3072,3.5,-7.6,18,165,14.65,2.38,-12.73,0.000,18692,0.304,0.073,2495,3223,3814,3829,3799,0,0,0,0,0,0,14.51,13.38,14.80
$GC,204,-0.77,-272.5,2495,3224,3830,3799,25.2,-14.8,31,212,0.05,2.40,0.00,0.000,3078,0.293,0.043,2507,1800,3814,3830,3798,0,0,0,0,0,0,14.55,14.70,14.73
$GC,277,-0.77,-272.5,2507,1801,3831,3799,35.1,-14.5,44,283,0.00,0.00,0.00,0.000,2054,0.000,0.000,2507,1800,3818,3831,3806,0,0,0,0,0,0,15.04,15.04,15.04
$GC,346,-0.77,-272.5,2507,1800,3831,3798,44.8,-13.2,57,352,0.00,0.00,0.00,0.000,2054,0.000,0.000,2507,1800,3814,3831,3798,0,0,0,0,0,0,15.07,15.07,15.07
$GC,415,-0.77,-272.5,2507,1800,3831,3798,53.7,-12.1,70,421,0.00,0.00,0.00,0.000,2054,0.000,0.000,2507,1800,3813,3828,3798,0,0,0,0,0,0,15.07,15.08,15.08
$GC,484,-0.77,-272.5,2506,1800,3830,3799,62.4,-10.8,83,491,0.00,2.42,0.00,0.000,2308,0.000,0.054,2507,3215,3818,3839,3798,0,0,0,0,0,0,15.09,14.70,15.09
$GC,519,-0.77,-272.5,2507,3216,3830,3799,65.9,-9.2,89,526,0.00,2.35,0.00,0.000,3078,0.000,0.041,2508,1810,3818,3837,3799,0,0,0,0,0,0,14.82,14.73,14.83
$GC,591,-0.77,-272.5,2507,1810,3831,3798,73.0,-10.6,102,597,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1810,3814,3831,3798,0,0,0,0,0,0,15.09,15.10,15.09
$GC,661,-0.77,-272.5,2508,1809,3830,3797,80.1,-10.1,115,667,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1810,3814,3830,3799,0,0,0,0,0,0,15.09,15.10,15.10
$GC,735,-0.77,-272.5,2507,1810,3830,3799,87.2,-10.0,128,740,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1810,3815,3831,3799,0,0,0,0,0,0,15.10,15.10,15.10
$GC,804,-0.77,-272.5,2507,1810,3831,3799,94.7,-9.8,141,810,0.00,2.40,0.00,0.000,2308,0.000,0.053,2508,3220,3814,3830,3799,0,0,0,0,0,0,15.11,14.71,15.11
$GC,828,-0.77,-272.5,2507,3220,3830,3799,97.1,-10.0,145,835,0.00,2.35,0.00,0.000,3078,0.000,0.041,2508,1809,3814,3830,3799,0,0,0,0,0,0,14.97,14.87,14.98
$GC,901,-0.77,-272.5,2507,1809,3831,3799,103.9,-9.7,158,908,0.00,2.42,0.00,0.000,2564,0.000,0.063,2507,405,3814,3830,3798,0,0,0,0,0,0,15.10,14.83,15.11
$GC,926,-0.77,-272.5,2508,405,3830,3797,106.5,-8.9,162,933,0.00,2.33,0.00,0.000,3078,0.000,0.034,2508,1819,3814,3830,3798,0,0,0,0,0,0,14.97,14.88,14.99
$STATE,938,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,938,begin apogee
$GC,945,-0.17,0.0,2508,1822,3830,3798,107.8,-10.4,164,1156,0.93,0.00,199.80,1.048,10246,0.128,0.000,2697,1823,2700,2735,2665,0,0,0,0,0,0,14.62,14.31,13.93
$STATE,1158,end apogee,CONTROL_FINISHED_OK
$STATE,1158,begin climb
$GC,1161,0.77,272.5,2697,1823,2734,2664,122.2,0.0,202,1383,1.42,2.42,209.00,1.034,10500,0.056,0.047,3014,3204,1587,1630,1545,0,0,0,0,0,0,14.47,14.39,13.90
$GC,1492,0.77,272.5,3014,3204,1622,1542,93.0,14.4,261,1499,0.00,2.40,0.00,0.000,5126,0.000,0.049,3020,1805,1582,1622,1542,0,0,0,0,0,0,14.69,14.59,14.71
$GC,1564,0.77,272.5,3019,1805,1623,1541,82.1,15.3,274,1570,0.00,0.00,0.00,0.000,4102,0.000,0.000,3020,1805,1581,1622,1541,0,0,0,0,0,0,14.95,14.95,14.95
$GC,1632,0.77,272.5,3019,1805,1622,1540,70.8,16.8,287,1639,0.00,2.45,0.00,0.000,4612,0.000,0.070,3025,393,1581,1622,1540,0,0,0,0,0,0,15.00,14.71,15.00
$GC,1672,0.77,272.5,3025,393,1621,1540,64.1,16.4,294,1679,0.08,2.33,0.00,0.000,5126,0.262,0.033,3011,1801,1581,1622,1540,0,0,0,0,0,0,14.62,14.74,14.80
$GC,1745,0.77,272.5,3010,1803,1621,1539,53.9,13.1,307,1751,0.00,2.33,0.00,0.000,4356,0.000,0.046,3010,3202,1580,1621,1539,0,0,0,0,0,0,15.03,14.81,15.04
$GC,1789,0.77,272.5,3010,3202,1621,1538,48.4,11.6,315,1796,0.00,2.38,0.00,0.000,5126,0.000,0.050,3010,1799,1579,1621,1538,0,0,0,0,0,0,14.92,14.81,14.95
$GC,1861,0.77,272.5,3010,1799,1621,1538,40.8,11.5,328,1868,0.00,2.42,0.00,0.000,4612,0.000,0.070,3012,393,1579,1621,1538,0,0,0,0,0,0,15.05,14.71,15.06
$GC,1906,0.77,272.5,3010,393,1621,1538,35.7,11.0,336,1913,0.00,2.33,0.00,0.000,5126,0.000,0.031,3010,1820,1579,1621,1538,0,0,0,0,0,0,14.86,14.79,14.87
$GC,1979,0.77,272.5,3009,1823,1621,1537,28.2,11.4,349,1985,0.00,2.30,0.00,0.000,4356,0.000,0.047,3010,3198,1578,1621,1535,0,0,0,0,0,0,15.09,14.85,15.09
$GC,2029,0.77,272.5,3010,3199,1621,1537,22.5,10.4,358,2036,0.00,2.38,0.00,0.000,5126,0.000,0.050,3010,1798,1578,1620,1536,0,0,0,0,0,0,14.96,14.85,14.97
$GC,2101,0.81,308.2,3010,1797,1620,1537,15.9,9.1,371,2130,0.00,2.47,22.98,0.861,10756,0.000,0.070,3010,393,1440,1487,1393,0,0,0,0,0,0,15.09,14.78,14.28
$GC,2154,0.81,308.2,3010,392,1487,1392,10.3,11.0,380,2161,0.00,2.30,0.00,0.000,3078,0.000,0.031,3010,1793,1439,1487,1392,0,0,0,0,0,0,14.90,14.83,14.91
$STATE,2211,end climb,FINISH_DEPTH_REACHED
$STATE,2211,begin subsurface finish
$FINISH1,4.5,1.025377,109
$GC,2221,0.13,108.8,3010,1796,1486,1390,4.5,9.1,391,2261,1.00,2.38,-29.42,0.000,20740,0.147,0.070,2809,3191,2259,2304,2215,0,0,0,0,0,0,14.67,13.45,14.76
$FINISH2,2.7
$STATE,2262,end subsurface finish,CONTROL_FINISHED_OK
$STATE,2262,begin surface
$IRIDIUM_FIX,-3404.29,2425.56,220419,145507
$TT8_MAMPS,0.021721,0.925015
$HUMID,46.22
$INTERNAL_PRESSURE,9.47834
$TCM_TEMP,19.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,85.0,37.1
$SC_FREEKB,3642272
$24V_AH,13.38,156.913
$10V_AH,13.48,0.000
$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,18.125,49.925,431.775,0.000,0.000,24.834,63.425,381.711,2.500,0.000,18.434,740.821,305.093,524.880,1155.590,328.436,0.000,967.568,0.000,603.736,0.000,16.191,0.000
$DEVICE_MAMPS,304.470,72.675,1048.050,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2320.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.294,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,10094,398
$CAP_FILE_SIZE,79216,0
$CFSIZE,2097086464,1993801728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,220419,164307,-3416.222,2543.934,7,1.0,17,-27.8,0.5,327.1,8,9.3