version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 538
start: 4 22 119 19 57 31
data:
$ID,574
$MISSION,3
$DIVE,538
$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,33
$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
$GPS1,220419,194435,-3415.7256,2542.9585,8,1.1,18,-27.8,1.1,358.1,8,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-65.6
$GPS2,220419,195703,-3415.8098,2542.7532,7,1.0,16,-27.8,0.4,252.1,8,8.8
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3406.458,2549.274
$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,-272.5,53,1807,637,534,0.0,0.0,0,123,0.00,0.00,-96.85,0.000,16386,0.000,0.000,53,1807,3046,3010,3082,0,0,0,0,0,0,14.95,28.83,14.97
$GC,129,-0.77,-272.5,52,1808,3012,3082,3.9,-9.2,18,165,14.55,2.40,-12.43,0.000,18692,0.298,0.073,2493,3224,3814,3829,3799,0,0,0,0,0,0,14.49,13.35,14.78
$GC,225,-0.77,-272.5,2492,3224,3829,3799,27.4,-12.0,35,232,0.08,2.40,0.00,0.000,3078,0.234,0.044,2510,1805,3814,3830,3799,0,0,0,0,0,0,14.62,14.71,14.78
$GC,298,-0.77,-272.5,2510,1804,3830,3799,36.2,-12.9,48,304,0.00,2.42,0.00,0.000,516,0.000,0.066,2510,401,3814,3830,3798,0,0,0,0,0,0,15.03,14.77,15.04
$GC,342,-0.77,-272.5,2510,400,3830,3799,42.1,-11.7,56,349,0.00,2.38,0.00,0.000,3078,0.000,0.037,2509,1828,3814,3830,3799,0,0,0,0,0,0,14.92,14.83,14.93
$GC,415,-0.77,-272.5,2510,1830,3830,3799,50.3,-12.1,69,422,0.00,2.35,0.00,0.000,2308,0.000,0.057,2508,3211,3814,3830,3799,0,0,0,0,0,0,15.07,14.74,15.07
$GC,455,-0.77,-272.5,2508,3211,3830,3799,55.0,-9.8,76,463,0.00,2.35,0.00,0.000,3078,0.000,0.040,2509,1811,3814,3830,3799,0,0,0,0,0,0,14.88,14.78,14.89
$GC,527,-0.77,-272.5,2508,1811,3830,3799,62.6,-10.6,89,533,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1811,3814,3830,3799,0,0,0,0,0,0,15.07,15.07,15.07
$GC,597,-0.77,-272.5,2508,1811,3830,3799,70.2,-10.6,102,604,0.00,2.42,0.00,0.000,2564,0.000,0.063,2509,404,3814,3830,3799,0,0,0,0,0,0,15.07,14.81,15.08
$GC,627,-0.77,-272.5,2508,404,3830,3799,73.5,-10.3,107,634,0.00,2.33,0.00,0.000,3078,0.000,0.035,2508,1816,3814,3830,3799,0,0,0,0,0,0,14.95,14.86,14.97
$GC,700,-0.77,-272.5,2508,1818,3830,3799,80.2,-9.9,120,707,0.00,2.38,0.00,0.000,2308,0.000,0.055,2508,3214,3814,3829,3799,0,0,0,0,0,0,15.09,14.76,15.09
$GC,751,-0.77,-272.5,2508,3214,3830,3799,84.9,-8.7,129,762,0.00,2.35,0.00,0.000,3078,0.000,0.038,2509,1806,3814,3830,3799,0,0,0,0,0,0,14.89,14.79,14.91
$GC,828,-0.77,-272.5,2508,1807,3830,3799,92.0,-9.8,142,835,0.00,2.40,0.00,0.000,2564,0.000,0.063,2509,405,3814,3830,3799,0,0,0,0,0,0,15.09,14.81,15.09
$GC,852,-0.77,-272.5,2508,405,3830,3799,94.8,-10.7,146,859,0.00,2.33,0.00,0.000,3078,0.000,0.034,2509,1817,3814,3830,3799,0,0,0,0,0,0,14.96,14.87,14.97
$GC,922,-0.77,-272.5,2508,1820,3830,3799,101.7,-10.2,159,929,0.00,2.35,0.00,0.000,2308,0.000,0.054,2509,3210,3814,3829,3799,0,0,0,0,0,0,15.09,14.83,15.09
$GC,962,-0.77,-272.5,2508,3208,3830,3799,105.5,-8.7,166,969,0.00,2.33,0.00,0.000,3078,0.000,0.039,2509,1813,3814,3830,3798,0,0,0,0,0,0,14.96,14.85,14.97
$STATE,974,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,974,begin apogee
$GC,980,-0.17,0.0,2505,1813,3830,3799,106.7,-8.4,168,1192,0.95,0.00,199.35,1.048,10246,0.130,0.000,2700,1813,2697,2733,2661,0,0,0,0,0,0,14.56,14.29,13.90
$STATE,1193,end apogee,CONTROL_FINISHED_OK
$STATE,1194,begin climb
$GC,1196,0.77,272.5,2700,1813,2731,2660,119.7,0.0,206,1417,1.42,2.47,207.88,1.034,11012,0.059,0.045,3017,3208,1587,1629,1546,0,0,0,0,0,0,14.45,14.37,13.92
$GC,1440,0.77,272.5,3016,3208,1626,1545,100.1,15.8,248,1447,0.00,2.45,0.00,0.000,5126,0.000,0.051,3020,1803,1585,1626,1544,0,0,0,0,0,0,14.59,14.49,14.60
$GC,1514,0.77,272.5,3019,1803,1625,1542,88.9,16.3,261,1520,0.00,2.50,0.00,0.000,4612,0.000,0.070,3020,388,1582,1623,1542,0,0,0,0,0,0,14.85,14.61,14.85
$GC,1534,0.77,272.5,3019,388,1623,1542,84.9,17.0,264,1540,0.00,2.38,0.00,0.000,5126,0.000,0.031,3020,1812,1582,1623,1542,0,0,0,0,0,0,14.77,14.69,14.78
$GC,1605,0.77,272.5,3020,1815,1623,1541,73.1,16.1,277,1612,0.00,2.33,0.00,0.000,4356,0.000,0.045,3020,3196,1582,1623,1541,0,0,0,0,0,0,14.92,14.75,14.92
$GC,1625,0.77,272.5,3019,3197,1622,1540,69.4,16.8,280,1632,0.05,2.40,0.00,0.000,5126,0.342,0.051,3011,1793,1581,1621,1541,0,0,0,0,0,0,14.57,14.73,14.79
$GC,1698,0.77,272.5,3011,1793,1622,1540,59.2,14.9,293,1704,0.00,2.42,0.00,0.000,4612,0.000,0.070,3015,400,1581,1622,1540,0,0,0,0,0,0,15.00,14.71,15.00
$GC,1748,0.77,272.5,3015,394,1621,1540,50.8,15.3,302,1754,0.00,2.33,0.00,0.000,5126,0.000,0.032,3015,1803,1580,1621,1540,0,0,0,0,0,0,14.85,14.76,14.86
$GC,1820,0.77,272.5,3015,1806,1617,1539,41.2,12.9,315,1826,0.00,2.33,0.00,0.000,4356,0.000,0.046,3015,3197,1580,1622,1539,0,0,0,0,0,0,15.02,14.81,15.03
$GC,1840,0.77,272.5,3015,3197,1621,1539,38.3,13.0,318,1846,0.00,2.38,0.00,0.000,5126,0.000,0.050,3017,1799,1580,1621,1539,0,0,0,0,0,0,14.91,14.81,14.93
$GC,1912,0.77,272.5,3016,1799,1621,1539,30.1,11.7,331,1918,0.00,2.42,0.00,0.000,4612,0.000,0.069,3016,393,1580,1621,1540,0,0,0,0,0,0,15.05,14.69,15.05
$GC,1936,0.77,272.5,3017,393,1621,1539,27.1,11.1,335,1943,0.00,2.33,0.00,0.000,5126,0.000,0.031,3017,1802,1580,1621,1539,0,0,0,0,0,0,14.95,14.87,14.96
$GC,2008,0.77,272.5,3016,1805,1621,1538,18.7,11.6,348,2014,0.00,0.00,0.00,0.000,4102,0.000,0.000,3017,1805,1579,1621,1538,0,0,0,0,0,0,15.07,15.08,15.08
$GC,2077,0.77,272.5,3016,1805,1621,1537,10.9,10.2,361,2084,0.00,2.45,0.00,0.000,4612,0.000,0.067,3017,395,1579,1621,1538,0,0,0,0,0,0,15.09,14.72,15.09
$GC,2112,0.77,272.5,3017,395,1621,1538,7.0,11.8,367,2119,0.00,2.30,0.00,0.000,5126,0.000,0.033,3017,1799,1579,1621,1538,0,0,0,0,0,0,14.86,14.81,14.88
$STATE,2134,end climb,FINISH_DEPTH_REACHED
$STATE,2134,begin subsurface finish
$FINISH1,4.7,1.025396,108
$GC,2142,0.13,107.8,3017,1802,1621,1536,4.7,8.9,371,2177,1.05,2.38,-23.65,0.000,20740,0.152,0.070,2807,3197,2264,2306,2222,0,0,0,0,0,0,14.69,13.40,14.78
$FINISH2,3.3
$STATE,2178,end subsurface finish,CONTROL_FINISHED_OK
$STATE,2178,begin surface
$IRIDIUM_FIX,-3404.29,2542.60,220419,181238
$TT8_MAMPS,0.020972,0.915278
$HUMID,46.69
$INTERNAL_PRESSURE,9.46858
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.5,35.3
$SC_FREEKB,3640224
$24V_AH,13.35,157.696
$10V_AH,13.40,0.000
$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,18.100,69.025,407.225,0.000,0.000,23.589,38.512,376.171,2.250,0.000,17.375,710.946,283.916,518.473,1082.484,336.628,0.000,954.189,0.000,575.842,0.000,18.241,0.000
$DEVICE_MAMPS,341.955,72.675,1048.050,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2238.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.134,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,10126,377
$CAP_FILE_SIZE,80408,0
$CFSIZE,2097086464,1993146368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,220419,195703,-3415.810,2542.753,7,1.0,16,-27.8,0.4,252.1,8,8.8