version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 543
start: 4 22 119 23 42 22
data:
$ID,574
$MISSION,3
$DIVE,543
$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,38
$R_STBD_OVSHOOT,54
$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
$GPS1,220419,230552,-3415.9321,2541.2661,7,1.2,16,-27.8,0.7,241.0,8,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.97
$_SM_ANGLEo,3.7
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.77,-272.5,2809,1806,2313,2233,0.0,0.0,0,32,0.00,0.00,-5.80,0.000,16386,0.000,0.000,2809,1806,2538,2578,2499,0,0,0,0,0,0,15.09,28.83,15.11
$GC,35,-0.77,-272.5,2808,1806,2579,2500,9.4,0.0,1,70,1.33,2.38,-25.17,0.000,20996,0.098,0.080,2528,410,3812,3832,3792,0,0,0,0,0,0,14.71,13.99,14.76
$GC,95,-0.77,-272.5,2527,409,3832,3793,15.5,-12.8,11,102,0.00,2.30,0.00,0.000,5126,0.000,0.033,2527,1808,3812,3832,3792,0,0,0,0,0,0,14.93,14.85,14.95
$GC,168,-0.77,-272.5,2527,1810,3832,3792,24.2,-12.7,24,174,0.00,2.35,0.00,0.000,4356,0.000,0.053,2525,3207,3812,3833,3792,0,0,0,0,0,0,15.09,14.85,15.10
$GC,208,-0.77,-272.5,2525,3207,3833,3792,28.5,-9.4,31,214,0.00,2.33,0.00,0.000,5126,0.000,0.041,2526,1810,3812,3833,3792,0,0,0,0,0,0,15.02,14.88,15.00
$GC,278,-0.77,-272.5,2525,1810,3833,3792,35.9,-10.7,44,285,0.00,2.40,0.00,0.000,4612,0.000,0.063,2525,408,3812,3833,3792,0,0,0,0,0,0,15.11,14.84,15.11
$GC,308,-0.77,-272.5,2525,408,3832,3792,39.5,-11.5,49,315,0.00,2.30,0.00,0.000,5126,0.000,0.033,2525,1812,3812,3833,3792,0,0,0,0,0,0,14.98,14.90,15.00
$GC,378,-0.77,-272.5,2525,1815,3833,3792,46.6,-10.5,62,384,0.00,2.35,0.00,0.000,4356,0.000,0.054,2525,3207,3813,3833,3793,0,0,0,0,0,0,15.11,14.85,15.11
$GC,423,-0.77,-272.5,2525,3207,3831,3792,50.4,-8.5,70,429,0.00,2.33,0.00,0.000,5126,0.000,0.039,2525,1807,3812,3833,3792,0,0,0,0,0,0,14.97,14.88,14.99
$GC,495,-0.77,-272.5,2525,1807,3833,3792,57.3,-10.6,83,500,0.00,0.00,0.00,0.000,4102,0.000,0.000,2523,1807,3812,3833,3792,0,0,0,0,0,0,15.11,15.11,15.11
$GC,566,-0.77,-272.5,2525,1807,3833,3792,65.4,-11.4,96,573,0.00,2.40,0.00,0.000,4612,0.000,0.062,2525,409,3812,3832,3792,0,0,0,0,0,0,15.11,14.83,15.11
$GC,591,-0.77,-272.5,2525,409,3832,3792,68.5,-11.1,100,598,0.00,2.33,0.00,0.000,5126,0.000,0.033,2525,1822,3812,3833,3792,0,0,0,0,0,0,14.98,14.89,14.99
$GC,664,-0.77,-272.5,2525,1824,3833,3792,77.0,-12.6,113,670,0.00,2.33,0.00,0.000,4356,0.000,0.054,2525,3207,3812,3833,3792,0,0,0,0,0,0,15.11,14.79,15.11
$GC,703,-0.77,-272.5,2526,3207,3833,3792,81.1,-9.9,120,710,0.00,2.33,0.00,0.000,5126,0.000,0.037,2524,1801,3812,3833,3791,0,0,0,0,0,0,14.97,14.88,14.99
$GC,776,-0.77,-272.5,2525,1800,3833,3792,88.5,-10.6,133,782,0.00,2.38,0.00,0.000,4612,0.000,0.061,2525,413,3812,3832,3792,0,0,0,0,0,0,15.11,14.78,15.12
$STATE,798,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,798,begin apogee
$GC,807,-0.17,0.0,2526,1807,3832,3792,91.2,-9.7,137,1015,0.85,0.00,200.18,1.051,10246,0.125,0.000,2699,1807,2700,2736,2665,0,0,0,0,0,0,14.67,14.42,13.90
$STATE,1017,end apogee,CONTROL_FINISHED_OK
$STATE,1017,begin climb
$GC,1020,0.77,272.5,2698,1807,2732,2662,110.8,0.0,174,1241,1.38,2.53,208.32,1.030,11012,0.067,0.068,2998,405,1586,1629,1544,0,0,0,0,0,0,14.45,14.28,13.90
$GC,1269,0.77,272.5,2998,404,1626,1545,91.5,15.8,217,1276,0.00,2.35,0.00,0.000,3078,0.000,0.034,2999,1798,1585,1626,1544,0,0,0,0,0,0,14.62,14.54,14.62
$GC,1343,0.77,272.5,2999,1802,1625,1541,81.6,14.3,230,1349,0.00,2.38,0.00,0.000,2308,0.000,0.045,2998,3201,1583,1625,1541,0,0,0,0,0,0,14.85,14.65,14.85
$GC,1363,0.77,272.5,2998,3202,1623,1538,77.7,15.8,233,1369,0.00,2.40,0.00,0.000,3078,0.000,0.049,2999,1805,1582,1623,1541,0,0,0,0,0,0,14.77,14.66,14.78
$GC,1434,0.77,272.5,2998,1804,1623,1540,68.1,14.8,246,1441,0.00,2.45,0.00,0.000,2564,0.000,0.070,2999,393,1581,1623,1540,0,0,0,0,0,0,14.93,14.70,14.94
$GC,1494,0.77,272.5,2999,392,1621,1540,58.8,15.1,257,1501,0.00,2.33,0.00,0.000,3078,0.000,0.031,2999,1807,1581,1622,1540,0,0,0,0,0,0,14.88,14.81,14.89
$GC,1566,0.77,272.5,2999,1810,1621,1539,49.0,13.3,270,1572,0.00,2.33,0.00,0.000,2308,0.000,0.047,2999,3201,1580,1622,1539,0,0,0,0,0,0,15.02,14.71,15.02
$GC,1610,0.77,272.5,2999,3201,1621,1539,42.8,13.2,278,1617,0.00,2.38,0.00,0.000,3078,0.000,0.048,2999,1798,1580,1622,1539,0,0,0,0,0,0,14.83,14.72,14.84
$GC,1683,0.77,272.5,2998,1799,1622,1539,34.2,12.7,291,1689,0.00,2.42,0.00,0.000,2564,0.000,0.069,2999,397,1581,1619,1544,0,0,0,0,0,0,15.04,14.78,15.05
$GC,1697,0.77,272.5,2999,396,1622,1539,31.9,13.0,293,1704,0.00,2.33,0.00,0.000,3078,0.000,0.032,2999,1807,1578,1618,1539,0,0,0,0,0,0,14.94,14.85,14.95
$GC,1771,0.77,272.5,2999,1809,1621,1539,23.4,11.8,306,1777,0.00,2.33,0.00,0.000,2308,0.000,0.047,2999,3205,1579,1621,1538,0,0,0,0,0,0,15.07,14.78,15.07
$GC,1795,0.79,287.5,2999,3205,1621,1538,20.7,9.6,310,1814,0.00,2.38,11.32,0.812,11270,0.000,0.047,2999,1800,1526,1571,1482,0,0,0,0,0,0,14.85,14.75,14.26
$GC,1879,0.90,377.5,2999,1800,1571,1481,13.5,7.8,325,1947,0.10,2.55,60.72,0.835,10756,0.148,0.072,3053,392,1156,1215,1097,0,0,0,0,0,0,14.81,14.57,14.17
$STATE,1960,end climb,SURFACE_DEPTH_REACHED
$STATE,1960,begin surface coast
$FINISH,0.2,1.025518
$STATE,1981,end surface coast,CONTROL_FINISHED_OK
$STATE,1981,begin surface
$SM_CCo,2010,90.53,0.776,0,0,597,515.37
$SM_GC,0.89,14.00,2.40,90.53,0.050,0.031,0.776,111,1805,597,-8.22,-1.41,515.37,0,0,0,0,0,0,14.71,14.73,14.09
$IRIDIUM_FIX,-3401.68,2542.60,220419,212431
$TT8_MAMPS,0.021721,0.92127
$HUMID,44.95
$INTERNAL_PRESSURE,9.32209
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,75.3,35.5
$SC_FREEKB,3637664
$24V_AH,13.90,158.674
$10V_AH,13.29,0.000
$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,17.650,68.675,480.550,90.525,0.000,0.000,0.000,0.000,1.750,0.000,0.000,659.269,254.313,574.740,609.478,151.986,0.000,967.597,0.000,518.769,0.000,13.139,0.000
$DEVICE_MAMPS,147.645,80.325,1051.110,776.475,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2033.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.878,0.000,0.000,0.000
$MEM,341056
$DATA_FILE_SIZE,10096,343
$CAP_FILE_SIZE,68702,0
$CFSIZE,2097086464,1992327168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230419,001849,-3416.138,2540.643,12,0.8,42,-27.8,0.5,280.6,11,7.1