version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 553
start: 4 23 119 6 54 44
data:
$ID,574
$MISSION,3
$DIVE,553
$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,31
$R_STBD_OVSHOOT,47
$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
$GPS1,230419,062028,-3417.6833,2536.4641,8,0.9,17,-27.8,0.0,138.9,9,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.24
$_SM_ANGLEo,1.8
$GPS2,230419,062028,-3417.6833,2536.4641,8,0.9,17,-27.8,0.0,138.9,9,9.6
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3423.083,2547.797
$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,-272.5,2808,1801,2313,2219,0.0,0.0,0,31,0.00,0.00,-5.82,0.000,16386,0.000,0.000,2807,1801,2487,2530,2445,0,0,0,0,0,0,15.11,28.83,15.11
$GC,35,-0.77,-272.5,2807,1801,2532,2446,6.2,0.0,1,75,1.33,2.42,-29.83,0.000,20996,0.088,0.080,2522,397,3814,3832,3796,0,0,0,0,0,0,14.72,13.33,14.81
$GC,96,-0.77,-272.5,2522,397,3832,3796,14.0,-16.4,11,102,0.00,2.33,0.00,0.000,5126,0.000,0.034,2522,1809,3815,3833,3797,0,0,0,0,0,0,14.98,14.88,15.00
$GC,167,-0.77,-272.5,2522,1811,3833,3796,25.3,-17.1,24,174,0.00,2.38,0.00,0.000,4356,0.000,0.055,2522,3216,3814,3833,3795,0,0,0,0,0,0,15.09,14.86,15.11
$GC,227,-0.77,-272.5,2522,3216,3834,3796,34.0,-11.9,35,234,0.00,2.35,0.00,0.000,5126,0.000,0.038,2522,1799,3815,3834,3796,0,0,0,0,0,0,14.99,14.89,15.00
$GC,299,-0.77,-272.5,2522,1799,3833,3796,42.2,-11.4,48,305,0.00,0.00,0.00,0.000,4102,0.000,0.000,2522,1799,3815,3834,3796,0,0,0,0,0,0,15.12,15.12,15.12
$GC,369,-0.77,-272.5,2522,1799,3833,3796,50.2,-10.7,61,375,0.00,0.00,0.00,0.000,4102,0.000,0.000,2522,1799,3814,3833,3796,0,0,0,0,0,0,15.13,15.14,15.13
$GC,438,-0.77,-272.5,2522,1799,3833,3796,57.7,-11.8,74,444,0.00,0.00,0.00,0.000,4102,0.000,0.000,2522,1799,3814,3833,3796,0,0,0,0,0,0,15.12,15.13,15.12
$GC,511,-0.77,-272.5,2522,1799,3833,3796,65.6,-11.7,87,517,0.00,2.42,0.00,0.000,4356,0.000,0.054,2522,3217,3814,3833,3796,0,0,0,0,0,0,15.13,14.85,15.13
$GC,535,-0.77,-272.5,2522,3217,3833,3797,68.5,-10.5,91,542,0.00,2.35,0.00,0.000,5126,0.000,0.041,2527,1813,3814,3833,3796,0,0,0,0,0,0,14.92,14.83,14.94
$GC,609,-0.77,-272.5,2524,1812,3833,3796,77.4,-12.9,104,615,0.00,2.40,0.00,0.000,4612,0.000,0.063,2522,410,3814,3833,3796,0,0,0,0,0,0,15.12,14.72,15.12
$GC,656,-0.77,-272.5,2522,411,3833,3796,83.7,-12.2,112,663,0.00,2.33,0.00,0.000,5126,0.000,0.032,2522,1823,3815,3834,3797,0,0,0,0,0,0,14.99,14.90,15.00
$GC,729,-0.77,-272.5,2522,1825,3833,3796,91.8,-11.0,125,735,0.00,2.33,0.00,0.000,4356,0.000,0.054,2521,3203,3814,3833,3796,0,0,0,0,0,0,15.10,14.73,15.11
$STATE,756,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,756,begin apogee
$GC,765,-0.17,0.0,2522,1792,3833,3796,95.2,-10.4,130,972,0.85,0.00,199.00,1.063,10246,0.115,0.000,2699,1791,2700,2737,2664,0,0,0,0,0,0,14.64,14.42,13.92
$STATE,974,end apogee,CONTROL_FINISHED_OK
$STATE,974,begin climb
$GC,977,0.77,272.5,2699,1792,2733,2660,113.1,0.0,167,1203,1.40,2.53,209.95,1.028,11012,0.094,0.067,2988,398,1586,1629,1544,0,0,0,0,0,0,14.42,14.38,13.91
$GC,1217,0.77,272.5,2988,397,1627,1544,93.0,12.5,208,1224,0.00,2.35,0.00,0.000,3078,0.000,0.031,2988,1794,1584,1626,1543,0,0,0,0,0,0,14.59,14.52,14.61
$GC,1289,0.77,272.5,2988,1796,1626,1541,83.5,13.1,221,1296,0.00,2.45,0.00,0.000,2564,0.000,0.067,2996,404,1583,1626,1541,0,0,0,0,0,0,14.85,14.59,14.85
$GC,1314,0.77,272.5,2996,405,1625,1541,79.6,13.9,225,1321,0.00,2.33,0.00,0.000,3078,0.000,0.031,2996,1806,1583,1625,1541,0,0,0,0,0,0,14.74,14.66,14.76
$GC,1386,0.77,272.5,2996,1809,1624,1540,70.1,14.2,238,1392,0.00,0.00,0.00,0.000,2054,0.000,0.000,2996,1810,1582,1624,1540,0,0,0,0,0,0,14.93,14.94,14.94
$GC,1455,0.77,272.5,2996,1809,1624,1540,60.4,13.6,251,1461,0.00,2.47,0.00,0.000,2564,0.000,0.067,3005,395,1582,1624,1540,0,0,0,0,0,0,15.00,14.75,15.00
$GC,1475,0.77,272.5,3005,395,1623,1540,57.6,13.6,254,1482,0.00,2.33,0.00,0.000,1030,0.000,0.032,3005,1809,1581,1623,1540,0,0,0,0,0,0,14.88,14.81,14.90
$GC,1547,0.77,272.5,3005,1811,1623,1539,47.8,13.6,267,1554,0.00,2.30,0.00,0.000,260,0.000,0.046,3005,3194,1581,1623,1539,0,0,0,0,0,0,15.01,14.71,15.02
$GC,1572,0.77,272.5,3005,3194,1621,1539,44.2,13.0,271,1579,0.00,2.38,0.00,0.000,1030,0.000,0.050,3006,1800,1580,1622,1539,0,0,0,0,0,0,14.89,14.81,14.89
$GC,1645,0.77,272.5,3005,1801,1622,1538,34.4,14.0,284,1651,0.00,2.42,0.00,0.000,516,0.000,0.069,3012,395,1580,1622,1539,0,0,0,0,0,0,15.05,14.79,15.07
$GC,1669,0.77,272.5,3013,395,1622,1538,30.4,15.1,288,1676,0.00,2.30,0.00,0.000,5126,0.000,0.031,3013,1798,1580,1622,1538,0,0,0,0,0,0,14.94,14.85,14.95
$GC,1742,0.77,272.5,3013,1800,1622,1538,22.0,11.2,301,1748,0.00,2.42,0.00,0.000,4612,0.000,0.068,3012,396,1579,1622,1537,0,0,0,0,0,0,15.05,14.81,15.06
$GC,1766,0.82,315.0,3013,396,1621,1537,19.5,9.0,305,1801,0.00,2.30,29.10,0.899,11270,0.000,0.033,3013,1808,1413,1462,1364,0,0,0,0,0,0,14.95,14.88,14.26
$GC,1866,0.84,325.5,3013,1806,1460,1361,10.5,9.8,323,1879,0.00,2.33,6.60,0.719,10500,0.000,0.045,3013,3198,1369,1420,1319,0,0,0,0,0,0,14.99,14.60,14.18
$GC,1887,0.88,361.3,3013,3198,1420,1318,8.7,9.1,326,1917,0.00,2.38,23.75,0.799,11270,0.000,0.049,3015,1802,1227,1286,1168,0,0,0,0,0,0,14.77,14.68,14.20
$STATE,1937,end climb,SURFACE_DEPTH_REACHED
$STATE,1937,begin surface coast
$FINISH,0.5,1.025182
$STATE,1965,end surface coast,CONTROL_FINISHED_OK
$STATE,1965,begin surface
$SM_CCo,1991,103.05,0.783,0,0,596,515.37
$SM_GC,0.89,13.50,0.00,103.05,0.035,0.000,0.783,121,1802,596,-8.17,-0.28,515.37,0,0,0,0,0,0,14.81,14.97,14.11
$IRIDIUM_FIX,-3404.29,2536.77,230419,044618
$TT8_MAMPS,0.021721,0.934752
$HUMID,45.11
$INTERNAL_PRESSURE,9.31233
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.6,34.5
$SC_FREEKB,3632544
$24V_AH,13.33,160.603
$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,17.075,56.950,468.400,103.050,0.000,0.000,0.000,0.000,2.000,0.000,0.000,650.444,253.470,579.349,602.186,153.752,0.000,970.209,0.000,514.514,0.000,14.664,0.000
$DEVICE_MAMPS,114.750,80.325,1062.585,782.595,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2014.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.317,0.000,0.000,0.000
$MEM,341064
$DATA_FILE_SIZE,6817,340
$CAP_FILE_SIZE,67775,0
$CFSIZE,2097086464,1990688768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230419,073039,-3418.078,2535.754,8,1.0,16,-27.8,0.9,342.6,8,9.2