version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 548
start: 4 23 119 3 25 15
data:
$ID,574
$MISSION,3
$DIVE,548
$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,61
$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
$GPS1,230419,030959,-3416.7761,2538.7556,8,1.0,18,-27.8,0.8,156.6,9,9.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-67.9
$GPS2,230419,032447,-3416.8345,2538.4658,7,1.1,19,-27.8,0.8,295.2,9,9.7
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3422.234,2549.796
$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,-272.5,52,1808,635,536,0.0,0.0,0,118,0.00,0.00,-91.55,0.000,16386,0.000,0.000,52,1809,2885,2845,2926,0,0,0,0,0,0,14.98,28.83,14.99
$GC,124,-0.77,-272.5,52,1808,2846,2924,3.0,-5.0,17,165,14.45,2.45,-16.60,0.000,18948,0.291,0.084,2504,401,3813,3833,3793,0,0,0,0,0,0,14.51,13.35,14.80
$GC,195,-0.77,-272.5,2503,401,3834,3793,20.8,-17.1,29,202,0.00,2.33,0.00,0.000,3078,0.000,0.037,2503,1798,3813,3834,3792,0,0,0,0,0,0,14.85,14.73,14.86
$GC,267,-0.77,-272.5,2503,1800,3834,3793,29.7,-13.7,42,273,0.00,0.00,0.00,0.000,2054,0.000,0.000,2504,1800,3813,3834,3793,0,0,0,0,0,0,15.04,15.04,15.04
$GC,336,-0.77,-272.5,2503,1800,3833,3793,38.7,-12.3,55,343,0.00,2.40,0.00,0.000,2308,0.000,0.054,2498,3216,3813,3833,3793,0,0,0,0,0,0,15.07,14.81,15.07
$GC,391,-0.77,-272.5,2497,3216,3834,3793,44.9,-10.9,65,398,0.00,2.38,0.00,0.000,3078,0.000,0.040,2498,1798,3813,3834,3793,0,0,0,0,0,0,14.95,14.84,14.95
$GC,465,-0.77,-272.5,2497,1798,3833,3793,53.9,-13.5,78,474,0.00,2.38,0.00,0.000,2564,0.000,0.062,2497,409,3813,3833,3793,0,0,0,0,0,0,15.09,14.72,15.09
$GC,487,-0.77,-272.5,2497,409,3833,3793,57.4,-13.3,81,494,0.00,2.33,0.00,0.000,3078,0.000,0.035,2497,1819,3813,3834,3792,0,0,0,0,0,0,14.96,14.86,14.97
$GC,561,-0.77,-272.5,2497,1824,3833,3793,67.7,-14.8,94,567,0.00,2.38,0.00,0.000,2308,0.000,0.055,2497,3219,3813,3833,3793,0,0,0,0,0,0,15.09,14.82,15.09
$GC,611,-0.77,-272.5,2497,3219,3833,3793,74.0,-11.4,103,618,0.00,2.35,0.00,0.000,3078,0.000,0.039,2497,1805,3813,3834,3793,0,0,0,0,0,0,14.96,14.85,14.97
$GC,684,-0.77,-272.5,2497,1810,3833,3793,83.4,-13.6,116,691,0.00,2.40,0.00,0.000,2564,0.000,0.062,2497,408,3813,3833,3793,0,0,0,0,0,0,15.11,14.71,15.11
$GC,734,-0.77,-272.5,2497,408,3833,3793,89.9,-11.9,125,742,0.05,2.33,0.00,0.000,3078,0.308,0.035,2508,1818,3813,3833,3793,0,0,0,0,0,0,14.57,14.75,14.76
$STATE,787,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,789,begin apogee
$GC,796,-0.17,0.0,2508,1821,3833,3793,96.0,-11.0,135,1003,0.90,0.00,199.88,1.024,10246,0.126,0.000,2693,1821,2702,2737,2667,0,0,0,0,0,0,14.61,14.45,13.95
$STATE,1005,end apogee,CONTROL_FINISHED_OK
$STATE,1005,begin climb
$GC,1008,0.77,272.5,2693,1822,2734,2664,110.5,0.0,172,1229,1.42,2.58,208.38,1.005,11012,0.072,0.067,3006,406,1587,1629,1545,0,0,0,0,0,0,14.45,14.40,13.92
$GC,1295,0.77,272.5,3005,406,1622,1544,74.7,17.5,222,1302,0.00,2.33,0.00,0.000,1030,0.000,0.033,3006,1795,1582,1622,1543,0,0,0,0,0,0,14.67,14.61,14.69
$GC,1367,0.77,272.5,3006,1798,1622,1541,62.3,16.6,235,1372,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1798,1581,1622,1541,0,0,0,0,0,0,14.90,14.91,14.91
$GC,1435,0.77,272.5,3005,1798,1622,1540,50.9,15.9,248,1441,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1798,1581,1622,1540,0,0,0,0,0,0,14.97,14.98,14.98
$GC,1504,0.77,272.5,3005,1798,1622,1540,40.2,14.8,261,1510,0.00,2.42,0.00,0.000,516,0.000,0.067,3014,400,1581,1622,1540,0,0,0,0,0,0,15.02,14.69,15.02
$GC,1528,0.77,272.5,3014,400,1621,1540,36.9,13.0,265,1535,0.00,2.33,0.00,0.000,5126,0.000,0.034,3015,1813,1580,1621,1540,0,0,0,0,0,0,14.82,14.76,14.83
$GC,1600,0.77,272.5,3014,1816,1621,1539,28.5,11.2,278,1607,0.00,2.30,0.00,0.000,4356,0.000,0.044,3014,3201,1580,1621,1539,0,0,0,0,0,0,15.05,14.82,15.05
$GC,1630,0.77,272.5,3014,3201,1621,1538,24.3,13.6,283,1637,0.00,2.35,0.00,0.000,5126,0.000,0.047,3017,1810,1579,1620,1538,0,0,0,0,0,0,14.93,14.83,14.95
$GC,1704,0.85,337.6,3016,1810,1621,1537,17.5,8.4,296,1754,0.00,0.00,42.83,0.853,10246,0.000,0.000,3017,1810,1320,1373,1268,0,0,0,0,0,0,15.07,14.71,14.23
$GC,1819,0.85,337.6,3016,1810,1372,1265,6.0,10.6,317,1825,0.00,2.47,0.00,0.000,2564,0.000,0.070,3017,391,1318,1372,1264,0,0,0,0,0,0,14.97,14.64,14.97
$STATE,1830,end climb,FINISH_DEPTH_REACHED
$STATE,1830,begin subsurface finish
$FINISH1,4.2,1.025401,108
$GC,1841,0.13,107.6,3017,1803,1371,1263,4.2,12.7,319,1886,1.05,0.00,-37.40,0.000,20998,0.145,0.000,2808,1805,2264,2311,2218,0,0,0,0,0,0,14.60,14.02,14.69
$FINISH2,1.7
$STATE,1887,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1887,begin surface
$IRIDIUM_FIX,-3401.68,2536.77,230419,031438
$TT8_MAMPS,0.020972,0.932505
$HUMID,44.92
$INTERNAL_PRESSURE,9.50764
$TCM_TEMP,20.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.2,35.6
$SC_FREEKB,3635104
$24V_AH,13.35,159.656
$10V_AH,13.48,0.000
$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,17.875,42.850,451.075,0.000,0.000,48.883,90.929,367.596,2.250,0.000,20.290,575.910,278.836,522.998,1088.778,315.623,0.000,914.676,0.000,498.275,0.000,14.655,0.000
$DEVICE_MAMPS,308.295,84.150,1024.335,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1943.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.168,0.000,0.000,0.000
$MEM,340920
$DATA_FILE_SIZE,6806,327
$CAP_FILE_SIZE,67605,0
$CFSIZE,2097086464,1991507968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,230419,032447,-3416.834,2538.466,7,1.1,19,-27.8,0.8,295.2,9,9.7