version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 540
start: 4 22 119 21 33 17
data:
$ID,574
$MISSION,3
$DIVE,540
$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,120
$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,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
$GPS1,220419,211955,-3415.5190,2542.3108,9,0.9,39,-27.8,0.5,297.7,9,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-67.1
$GPS2,220419,213249,-3415.5681,2542.0986,8,0.9,40,-27.8,0.6,269.3,9,4.2
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3420.968,2553.426
$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,147.8,20000,-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,24,-0.77,-272.5,52,1804,636,533,0.0,0.0,0,123,0.00,0.00,-96.47,0.000,16386,0.000,0.000,52,1804,3007,2974,3041,0,0,0,0,0,0,14.97,28.83,14.98
$GC,129,-0.77,-272.5,52,1804,2977,3041,3.4,-7.0,18,164,14.57,0.00,-13.43,0.000,19206,0.298,0.000,2502,1804,3815,3831,3799,0,0,0,0,0,0,14.52,13.90,14.79
$GC,229,-0.77,-272.5,2502,1804,3831,3799,30.2,-17.7,36,235,0.00,2.42,0.00,0.000,2564,0.000,0.067,2501,404,3816,3831,3801,0,0,0,0,0,0,15.03,14.76,15.04
$GC,259,-0.77,-272.5,2502,404,3831,3798,34.6,-16.0,41,266,0.00,2.35,0.00,0.000,3078,0.000,0.037,2501,1812,3814,3830,3798,0,0,0,0,0,0,14.79,14.71,14.80
$GC,331,-0.77,-272.5,2501,1814,3830,3798,43.9,-14.0,54,338,0.00,2.40,0.00,0.000,2308,0.000,0.057,2501,3218,3815,3831,3799,0,0,0,0,0,0,15.06,14.78,15.06
$GC,396,-0.77,-272.5,2501,3218,3830,3799,51.6,-10.4,66,403,0.00,2.38,0.00,0.000,3078,0.000,0.041,2501,1803,3814,3831,3798,0,0,0,0,0,0,14.92,14.82,14.94
$GC,468,-0.77,-272.5,2501,1803,3831,3799,59.5,-11.9,79,476,0.00,2.40,0.00,0.000,2564,0.000,0.063,2501,409,3814,3830,3798,0,0,0,0,0,0,15.06,14.79,15.06
$GC,514,-0.77,-272.5,2501,409,3830,3798,65.4,-12.3,87,521,0.00,2.33,0.00,0.000,3078,0.000,0.036,2501,1815,3814,3830,3798,0,0,0,0,0,0,14.82,14.72,14.83
$GC,588,-0.77,-272.5,2501,1817,3831,3797,73.0,-10.4,100,594,0.00,2.38,0.00,0.000,2308,0.000,0.056,2501,3219,3815,3831,3799,0,0,0,0,0,0,15.09,14.81,15.08
$GC,638,-0.77,-272.5,2501,3219,3830,3799,78.1,-8.5,109,645,0.00,2.35,0.00,0.000,3078,0.000,0.039,2500,1806,3814,3831,3798,0,0,0,0,0,0,14.95,14.85,14.96
$GC,712,-0.77,-272.5,2501,1806,3831,3802,84.7,-9.6,122,721,0.00,2.40,0.00,0.000,2564,0.000,0.063,2501,408,3814,3830,3799,0,0,0,0,0,0,15.09,14.81,15.09
$GC,739,-0.77,-272.5,2501,408,3830,3799,87.6,-9.5,126,746,0.00,2.33,0.00,0.000,3078,0.000,0.036,2501,1812,3814,3830,3799,0,0,0,0,0,0,14.82,14.73,14.83
$GC,815,-0.77,-272.5,2500,1815,3830,3799,94.7,-10.5,139,822,0.00,2.38,0.00,0.000,2308,0.000,0.055,2501,3212,3814,3830,3799,0,0,0,0,0,0,15.09,14.71,15.10
$GC,866,-0.77,-272.5,2501,3211,3830,3799,99.6,-8.4,148,872,0.00,2.35,0.00,0.000,3078,0.000,0.039,2501,1806,3814,3830,3799,0,0,0,0,0,0,14.90,14.79,14.91
$STATE,923,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,923,begin apogee
$GC,932,-0.17,0.0,2501,1807,3830,3799,105.6,-10.5,159,1143,0.98,0.00,200.73,1.040,10246,0.132,0.000,2697,1806,2700,2735,2665,0,0,0,0,0,0,14.64,14.42,13.92
$STATE,1145,end apogee,CONTROL_FINISHED_OK
$STATE,1145,begin climb
$GC,1148,0.77,272.5,2697,1806,2734,2664,119.2,0.0,197,1370,1.45,2.55,208.73,1.026,11012,0.063,0.069,3021,402,1587,1629,1545,0,0,0,0,0,0,14.45,14.36,13.87
$GC,1514,0.77,272.5,3016,402,1620,1545,77.6,15.7,263,1521,0.00,2.35,0.00,0.000,5126,0.000,0.034,3017,1812,1582,1621,1544,0,0,0,0,0,0,14.76,14.68,14.77
$GC,1586,0.77,272.5,3017,1815,1620,1542,67.5,14.2,276,1592,0.00,0.00,0.00,0.000,4102,0.000,0.000,3018,1814,1581,1621,1542,0,0,0,0,0,0,14.96,14.97,14.96
$GC,1655,0.77,272.5,3016,1815,1620,1541,57.5,13.4,289,1662,0.00,2.47,0.00,0.000,4612,0.000,0.068,3023,396,1580,1620,1541,0,0,0,0,0,0,15.00,14.74,15.01
$GC,1720,0.77,272.5,3022,396,1620,1541,48.8,13.4,301,1727,0.05,2.33,0.00,0.000,5126,0.314,0.034,3011,1803,1580,1620,1541,0,0,0,0,0,0,14.61,14.78,14.81
$GC,1792,0.77,272.5,3011,1805,1620,1540,40.2,12.1,314,1799,0.00,2.33,0.00,0.000,4356,0.000,0.047,3011,3201,1579,1620,1539,0,0,0,0,0,0,15.04,14.81,15.04
$GC,1832,0.77,272.5,3011,3201,1619,1539,35.5,11.9,321,1839,0.00,2.38,0.00,0.000,5126,0.000,0.050,3011,1800,1579,1620,1539,0,0,0,0,0,0,14.92,14.81,14.95
$GC,1904,0.77,272.5,3010,1800,1620,1538,27.5,11.2,334,1911,0.00,2.42,0.00,0.000,4612,0.000,0.070,3014,394,1579,1620,1538,0,0,0,0,0,0,15.07,14.75,15.07
$GC,1929,0.77,272.5,3014,390,1620,1539,24.2,11.8,338,1936,0.00,2.33,0.00,0.000,5126,0.000,0.032,3015,1805,1579,1620,1538,0,0,0,0,0,0,14.89,14.81,14.91
$GC,2002,0.86,343.9,3014,1808,1620,1538,17.6,8.2,351,2058,0.00,2.50,47.47,0.872,10756,0.000,0.069,3016,399,1295,1350,1241,0,0,0,0,0,0,15.07,14.66,14.23
$GC,2093,0.86,343.9,3016,399,1349,1239,7.5,11.0,367,2099,0.00,2.33,0.00,0.000,3078,0.000,0.033,3016,1808,1294,1349,1239,0,0,0,0,0,0,14.74,14.72,14.75
$STATE,2114,end climb,FINISH_DEPTH_REACHED
$STATE,2114,begin subsurface finish
$FINISH1,4.7,1.025432,106
$GC,2122,0.13,106.0,3017,1811,1349,1238,4.7,11.1,371,2168,1.08,2.33,-36.15,0.000,20740,0.150,0.070,2803,3198,2271,2317,2226,0,0,0,0,0,0,14.60,13.44,14.70
$FINISH2,1.9
$STATE,2169,end subsurface finish,CONTROL_FINISHED_OK
$STATE,2169,begin surface
$IRIDIUM_FIX,-3401.68,2542.60,220419,194916
$TT8_MAMPS,0.021721,0.924266
$HUMID,45.66
$INTERNAL_PRESSURE,9.47834
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.4,30.1
$SC_FREEKB,3639200
$24V_AH,13.44,158.100
$10V_AH,13.42,0.000
$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,18.125,54.750,456.925,0.000,0.000,23.202,38.666,381.474,2.750,0.000,41.171,690.688,278.591,538.544,1116.885,327.076,0.000,971.643,0.000,580.313,0.000,20.517,0.000
$DEVICE_MAMPS,314.415,70.380,1039.635,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2224.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.568,0.000,0.000,0.000
$MEM,340920
$DATA_FILE_SIZE,10118,379
$CAP_FILE_SIZE,75667,0
$CFSIZE,2097086464,1992818688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,220419,213249,-3415.568,2542.099,8,0.9,40,-27.8,0.6,269.3,9,4.2