version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 545
start: 4 23 119 1 8 45
data:
$ID,574
$MISSION,3
$DIVE,545
$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,30
$R_STBD_OVSHOOT,44
$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
$GPS1,230419,003107,-3416.2065,2540.4126,7,0.9,14,-27.8,1.1,171.2,10,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.21
$_SM_ANGLEo,0.3
$GPS2,230419,003107,-3416.2065,2540.4126,7,0.9,14,-27.8,1.1,171.2,10,10.0
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3421.606,2551.742
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.77,-272.5,2808,1799,2316,2228,0.0,0.0,0,107,0.00,0.00,-74.47,0.000,16390,0.000,0.000,2808,1801,3812,3835,3790,0,0,0,0,0,0,15.07,13.44,15.07
$GC,113,-0.77,-272.5,2808,1801,3835,3789,2.3,-8.6,15,121,1.33,2.38,0.00,0.000,4612,0.093,0.060,2528,404,3812,3835,3789,0,0,0,0,0,0,14.77,14.83,14.83
$GC,154,-0.77,-272.5,2528,404,3835,3790,8.5,-12.6,22,161,0.00,2.33,0.00,0.000,5126,0.000,0.035,2526,1817,3812,3835,3790,0,0,0,0,0,0,14.97,14.88,14.98
$GC,224,-0.77,-272.5,2525,1819,3835,3790,17.0,-13.2,35,231,0.00,2.35,0.00,0.000,4356,0.000,0.053,2526,3210,3812,3835,3789,0,0,0,0,0,0,15.09,14.84,15.09
$GC,264,-0.77,-272.5,2525,3210,3835,3790,21.8,-10.7,42,271,0.00,2.35,0.00,0.000,5126,0.000,0.041,2532,1805,3812,3835,3790,0,0,0,0,0,0,14.97,14.87,14.98
$GC,336,-0.77,-272.5,2525,1805,3835,3790,29.9,-11.2,55,343,0.00,2.40,0.00,0.000,4612,0.000,0.063,2526,408,3812,3835,3790,0,0,0,0,0,0,15.11,14.79,15.11
$GC,387,-0.77,-272.5,2525,408,3835,3790,35.1,-9.3,64,393,0.00,2.33,0.00,0.000,5126,0.000,0.034,2526,1817,3812,3835,3790,0,0,0,0,0,0,14.92,14.84,14.94
$GC,456,-0.77,-272.5,2525,1821,3835,3789,42.4,-10.9,77,463,0.00,2.35,0.00,0.000,4356,0.000,0.053,2526,3211,3812,3835,3790,0,0,0,0,0,0,15.11,14.75,15.11
$GC,510,-0.77,-272.5,2525,3211,3835,3790,48.5,-11.1,87,517,0.00,2.33,0.00,0.000,5126,0.000,0.038,2525,1809,3812,3835,3790,0,0,0,0,0,0,14.85,14.77,14.87
$GC,582,-0.77,-272.5,2525,1808,3835,3790,57.4,-12.7,100,589,0.00,2.40,0.00,0.000,4356,0.000,0.053,2526,3215,3812,3835,3790,0,0,0,0,0,0,15.11,14.85,15.11
$GC,602,-0.77,-272.5,2525,3216,3835,3790,59.9,-12.0,103,610,0.00,2.35,0.00,0.000,5126,0.000,0.040,2526,1812,3812,3835,3790,0,0,0,0,0,0,14.97,14.87,14.99
$GC,675,-0.77,-272.5,2525,1812,3835,3790,68.5,-12.1,116,682,0.00,2.40,0.00,0.000,4612,0.000,0.062,2526,408,3813,3836,3790,0,0,0,0,0,0,15.11,14.72,15.11
$GC,700,-0.77,-272.5,2525,408,3835,3789,71.8,-12.8,120,707,0.00,2.30,0.00,0.000,5126,0.000,0.033,2526,1816,3812,3835,3790,0,0,0,0,0,0,14.85,14.78,14.86
$GC,775,-0.77,-272.5,2525,1818,3834,3790,80.2,-12.6,133,782,0.00,2.35,0.00,0.000,4356,0.000,0.052,2526,3211,3811,3832,3790,0,0,0,0,0,0,15.11,14.72,15.12
$GC,835,-0.77,-272.5,2525,3212,3836,3790,87.6,-11.3,144,842,0.00,2.33,0.00,0.000,5126,0.000,0.037,2525,1809,3812,3835,3790,0,0,0,0,0,0,14.86,14.77,14.86
$STATE,878,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,878,begin apogee
$GC,885,-0.17,0.0,2526,1809,3836,3790,92.5,-10.9,152,1093,0.82,0.00,199.93,1.035,10246,0.095,0.000,2704,1808,2698,2735,2661,0,0,0,0,0,0,14.78,14.28,13.91
$STATE,1095,end apogee,CONTROL_FINISHED_OK
$STATE,1095,begin climb
$GC,1098,0.77,272.5,2704,1808,2734,2660,109.7,0.0,189,1319,1.33,2.53,207.70,1.021,11012,0.049,0.072,3023,401,1590,1633,1547,0,0,0,0,0,0,14.48,14.30,13.92
$GC,1385,0.77,272.5,3023,400,1627,1547,83.7,18.2,239,1392,0.05,2.35,0.00,0.000,5126,0.314,0.031,3012,1817,1587,1628,1546,0,0,0,0,0,0,14.44,14.59,14.62
$GC,1458,0.77,272.5,3011,1819,1627,1544,72.1,14.9,252,1464,0.00,0.00,0.00,0.000,4102,0.000,0.000,3011,1819,1585,1627,1544,0,0,0,0,0,0,14.90,14.91,14.91
$GC,1527,0.77,272.5,3010,1819,1627,1543,60.6,16.5,265,1533,0.00,2.47,0.00,0.000,4612,0.000,0.067,3019,405,1584,1627,1542,0,0,0,0,0,0,14.97,14.73,14.97
$GC,1571,0.77,272.5,3019,405,1626,1543,53.7,15.3,273,1578,0.00,2.30,0.00,0.000,5126,0.000,0.031,3020,1800,1584,1626,1543,0,0,0,0,0,0,14.88,14.82,14.90
$GC,1643,0.77,272.5,3019,1803,1626,1542,43.6,14.5,286,1650,0.00,2.38,0.00,0.000,4356,0.000,0.046,3019,3208,1584,1626,1542,0,0,0,0,0,0,15.02,14.71,15.02
$GC,1694,0.77,272.5,3019,3208,1624,1542,37.0,12.2,295,1701,0.00,2.38,0.00,0.000,5126,0.000,0.049,3020,1810,1583,1624,1542,0,0,0,0,0,0,14.83,14.73,14.84
$GC,1766,0.77,272.5,3020,1809,1625,1541,28.3,13.0,308,1773,0.00,2.45,0.00,0.000,4612,0.000,0.069,3027,395,1583,1625,1542,0,0,0,0,0,0,15.06,14.80,15.06
$GC,1796,0.77,272.5,3026,394,1625,1542,24.3,13.3,313,1803,0.08,2.33,0.00,0.000,5126,0.256,0.031,3010,1813,1583,1624,1542,0,0,0,0,0,0,14.71,14.87,14.88
$GC,1869,0.82,311.1,3009,1816,1624,1541,17.7,9.1,326,1904,0.00,2.50,26.15,0.871,10756,0.000,0.070,3010,387,1429,1478,1380,0,0,0,0,0,0,15.08,14.73,14.22
$GC,1953,1.00,462.2,3010,386,1476,1379,11.1,6.3,341,2011,0.25,2.35,50.97,0.809,11266,0.080,0.033,3085,1806,1115,1174,1057,0,0,0,0,0,0,14.72,14.72,14.78
$STATE,2014,end climb,SURFACE_DEPTH_REACHED
$STATE,2014,begin surface coast
$FINISH,0.5,1.025426
$STATE,2020,end surface coast,CONTROL_FINISHED_OK
$STATE,2020,begin surface
$SM_CCo,2046,82.93,0.769,0,0,600,515.37
$SM_GC,0.97,14.12,0.00,82.93,0.049,0.000,0.769,125,1806,600,-8.18,-0.17,515.37,0,0,0,0,0,0,14.68,14.88,14.09
$IRIDIUM_FIX,-3401.68,2542.60,220419,225837
$TT8_MAMPS,0.021721,0.844872
$HUMID,44.29
$INTERNAL_PRESSURE,9.33186
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,32.2
$SC_FREEKB,3636640
$24V_AH,13.44,159.072
$10V_AH,13.55,0.000
$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,17.975,56.950,484.750,82.925,0.000,0.000,0.000,0.000,2.000,0.000,0.000,650.003,261.182,593.822,624.707,146.930,0.000,999.760,0.000,535.544,0.000,16.751,0.000
$DEVICE_MAMPS,314.415,71.910,1035.045,768.825,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2072.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.105,0.000,0.000,0.000
$MEM,341064
$DATA_FILE_SIZE,10106,352
$CAP_FILE_SIZE,67676,0
$CFSIZE,2097086464,1991999488
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,1055.17,0x236098,2,24
$GPS,230419,014516,-3416.465,2539.703,8,1.0,18,-27.8,1.7,294.6,9,9.7