version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 542
start: 4 22 119 23 6 18
data:
$ID,574
$MISSION,3
$DIVE,542
$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,29
$R_STBD_OVSHOOT,52
$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,20
$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
$GPS1,220419,225358,-3415.8604,2541.4951,8,1.2,16,-27.8,0.0,322.7,8,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-63.1
$GPS2,220419,230552,-3415.9321,2541.2661,7,1.2,16,-27.8,0.7,241.0,8,9.8
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3421.332,2552.595
$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,23,-0.77,-272.5,53,1814,638,533,0.0,0.0,0,123,0.00,0.00,-96.82,0.000,16386,0.000,0.000,53,1815,3037,3001,3074,0,0,0,0,0,0,14.96,28.83,14.97
$GC,129,-0.77,-272.5,52,1815,3003,3074,3.8,-8.1,18,165,14.52,2.45,-12.65,0.000,18948,0.295,0.088,2501,399,3814,3830,3799,0,0,0,0,0,0,14.50,13.35,14.78
$GC,235,-0.77,-272.5,2501,398,3830,3799,29.2,-13.2,37,241,0.00,2.35,0.00,0.000,3078,0.000,0.037,2501,1804,3814,3830,3798,0,0,0,0,0,0,14.80,14.71,14.81
$GC,307,-0.77,-272.5,2501,1806,3830,3799,38.7,-14.4,50,313,0.00,2.40,0.00,0.000,2308,0.000,0.057,2502,3216,3814,3830,3799,0,0,0,0,0,0,15.03,14.78,15.03
$GC,367,-0.77,-272.5,2501,3216,3830,3799,46.1,-10.7,61,374,0.00,2.38,0.00,0.000,3078,0.000,0.039,2501,1805,3814,3830,3798,0,0,0,0,0,0,14.92,14.82,14.94
$GC,439,-0.77,-272.5,2501,1804,3830,3798,54.2,-11.6,74,448,0.00,2.40,0.00,0.000,2308,0.000,0.054,2501,3213,3814,3830,3799,0,0,0,0,0,0,15.06,14.70,15.06
$GC,466,-0.77,-272.5,2501,3213,3830,3799,57.5,-11.2,78,473,0.00,2.35,0.00,0.000,3078,0.000,0.041,2501,1814,3814,3830,3799,0,0,0,0,0,0,14.94,14.83,14.95
$GC,539,-0.77,-272.5,2501,1813,3830,3798,65.0,-10.8,91,546,0.00,2.42,0.00,0.000,2564,0.000,0.063,2501,398,3814,3830,3798,0,0,0,0,0,0,15.07,14.69,15.07
$GC,580,-0.77,-272.5,2501,399,3830,3799,70.1,-11.3,98,587,0.00,2.35,0.00,0.000,3078,0.000,0.036,2501,1815,3814,3830,3798,0,0,0,0,0,0,14.89,14.80,14.90
$GC,652,-0.77,-272.5,2501,1817,3830,3798,78.0,-10.8,111,659,0.00,2.38,0.00,0.000,2308,0.000,0.055,2501,3216,3814,3829,3799,0,0,0,0,0,0,15.07,14.82,15.07
$GC,713,-0.77,-272.5,2501,3216,3830,3799,84.2,-9.4,121,720,0.00,2.35,0.00,0.000,3078,0.000,0.040,2501,1802,3814,3830,3799,0,0,0,0,0,0,14.95,14.85,14.97
$GC,784,-0.77,-272.5,2501,1804,3830,3798,91.8,-11.1,134,791,0.00,2.40,0.00,0.000,2564,0.000,0.062,2501,406,3814,3830,3798,0,0,0,0,0,0,15.09,14.71,15.09
$STATE,796,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,796,begin apogee
$GC,805,-0.17,0.0,2502,1805,3830,3799,93.9,-11.7,136,1018,0.98,0.00,200.48,1.027,10246,0.123,0.000,2700,1808,2697,2732,2663,0,0,0,0,0,0,14.59,14.31,13.92
$STATE,1020,end apogee,CONTROL_FINISHED_OK
$STATE,1020,begin climb
$GC,1023,0.77,272.5,2700,1808,2730,2661,110.0,0.0,174,1244,1.45,2.40,208.35,1.016,10500,0.060,0.047,3020,3202,1587,1629,1545,0,0,0,0,0,0,14.47,14.27,13.87
$GC,1309,0.77,272.5,3019,3202,1622,1543,84.0,16.0,224,1317,0.05,2.42,0.00,0.000,5126,0.346,0.050,3012,1804,1582,1622,1542,0,0,0,0,0,0,14.41,14.55,14.60
$GC,1382,0.77,272.5,3011,1804,1622,1541,72.8,14.7,237,1388,0.00,0.00,0.00,0.000,4102,0.000,0.000,3012,1804,1581,1621,1541,0,0,0,0,0,0,14.90,14.90,14.90
$GC,1451,0.77,272.5,3011,1804,1622,1540,62.6,14.4,250,1458,0.00,2.45,0.00,0.000,4612,0.000,0.069,3013,391,1581,1622,1540,0,0,0,0,0,0,14.96,14.71,14.96
$GC,1491,0.77,272.5,3012,391,1621,1540,56.6,15.5,257,1498,0.00,2.35,0.00,0.000,5126,0.000,0.034,3013,1810,1580,1621,1540,0,0,0,0,0,0,14.88,14.81,14.89
$GC,1564,0.77,272.5,3012,1812,1621,1539,46.9,13.8,270,1570,0.00,2.33,0.00,0.000,4356,0.000,0.047,3013,3201,1580,1621,1539,0,0,0,0,0,0,15.02,14.71,15.02
$GC,1603,0.77,272.5,3013,3201,1620,1538,41.1,14.3,277,1610,0.00,2.40,0.00,0.000,5126,0.000,0.049,3013,1790,1579,1621,1538,0,0,0,0,0,0,14.82,14.71,14.83
$GC,1675,0.77,272.5,3013,1790,1621,1538,32.3,12.4,290,1682,0.00,2.42,0.00,0.000,4612,0.000,0.069,3014,384,1579,1620,1538,0,0,0,0,0,0,15.05,14.78,15.05
$GC,1695,0.77,272.5,3016,384,1620,1538,29.5,12.9,293,1702,0.00,2.35,0.00,0.000,5126,0.000,0.034,3023,1803,1579,1621,1537,0,0,0,0,0,0,14.93,14.85,14.95
$GC,1768,0.77,272.5,3015,1807,1620,1537,20.8,12.2,306,1774,0.00,2.33,0.00,0.000,4356,0.000,0.045,3015,3205,1579,1621,1537,0,0,0,0,0,0,15.06,14.73,15.06
$GC,1782,0.77,272.5,3015,3205,1616,1537,19.3,10.4,308,1789,0.00,2.40,0.00,0.000,5126,0.000,0.047,3016,1788,1578,1620,1537,0,0,0,0,0,0,14.94,14.83,14.95
$GC,1855,0.77,272.5,3016,1787,1620,1537,12.4,10.3,321,1861,0.00,2.40,0.00,0.000,4612,0.000,0.068,3017,397,1578,1620,1536,0,0,0,0,0,0,15.08,14.79,15.08
$GC,1922,0.77,274.2,3016,396,1620,1537,5.0,10.0,333,1929,0.00,2.30,0.00,0.000,5126,0.000,0.031,3017,1809,1578,1620,1537,0,0,0,0,0,0,14.97,14.89,14.96
$STATE,1934,end climb,FINISH_DEPTH_REACHED
$STATE,1934,begin subsurface finish
$FINISH1,3.4,1.025437,106
$GC,1942,0.13,105.8,3016,1813,1620,1536,3.4,9.9,335,1977,1.05,2.33,-26.95,0.000,20740,0.159,0.072,2809,3194,2271,2314,2228,0,0,0,0,0,0,14.68,13.96,14.79
$FINISH2,2.1
$STATE,1978,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1978,begin surface
$IRIDIUM_FIX,-3401.68,2542.60,220419,212431
$TT8_MAMPS,0.021721,0.894306
$HUMID,45.66
$INTERNAL_PRESSURE,9.48811
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.5,32.9
$SC_FREEKB,3638176
$24V_AH,13.35,158.482
$10V_AH,13.39,0.000
$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,18.050,59.450,408.825,0.000,0.000,24.337,15.830,367.321,2.000,0.000,17.478,627.980,248.183,499.614,993.486,328.898,0.000,899.915,0.000,516.929,0.000,14.637,0.000
$DEVICE_MAMPS,345.780,87.975,1026.630,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2034.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.875,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,10121,341
$CAP_FILE_SIZE,71719,0
$CFSIZE,2097086464,1992491008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,220419,230552,-3415.932,2541.266,7,1.2,16,-27.8,0.7,241.0,8,9.8