version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 554
start: 4 23 119 7 42 28
data:
$ID,574
$MISSION,3
$DIVE,554
$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,300
$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,180
$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,55
$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
$GPS1,230419,073039,-3418.0776,2535.7542,8,1.0,16,-27.8,0.9,342.6,8,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-59.6
$GPS2,230419,074203,-3418.1377,2535.5508,7,1.0,17,-27.8,0.7,204.4,8,9.1
$SPEED_LIMITS,0.173,0.352
$TGT_NAME,HEADING
$TGT_LATLONG,-3428.937,2535.551
$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,207.8,20000,-12.6,-10.010,-15.87,4448
$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,-0.78,-292.0,54,1797,636,532,0.0,0.0,0,123,0.00,0.00,-96.30,0.000,16386,0.000,0.000,53,1798,3002,2964,3040,0,0,0,0,0,0,14.97,28.83,14.98
$GC,129,-0.78,-292.0,53,1798,2964,3039,3.5,-7.2,18,165,14.57,2.40,-14.50,0.000,18948,0.300,0.082,2500,397,3893,3911,3876,0,0,0,0,0,0,14.51,13.89,14.80
$GC,225,-0.78,-292.0,2499,397,3912,3876,29.0,-14.2,35,232,0.00,2.33,0.00,0.000,3078,0.000,0.034,2500,1799,3894,3912,3876,0,0,0,0,0,0,14.81,14.73,14.82
$GC,297,-0.78,-292.0,2499,1802,3908,3876,37.1,-11.7,48,303,0.00,2.40,0.00,0.000,2308,0.000,0.054,2500,3214,3894,3912,3876,0,0,0,0,0,0,15.06,14.80,15.06
$GC,342,-0.78,-292.0,2499,3215,3912,3876,41.9,-9.6,56,349,0.00,2.35,0.00,0.000,3078,0.000,0.039,2500,1804,3894,3912,3876,0,0,0,0,0,0,14.93,14.83,14.95
$GC,414,-0.78,-292.0,2500,1804,3912,3876,49.9,-12.1,69,421,0.00,2.40,0.00,0.000,2564,0.000,0.063,2500,401,3894,3912,3876,0,0,0,0,0,0,15.06,14.70,15.07
$GC,449,-0.78,-292.0,2499,406,3912,3876,54.6,-10.9,75,457,0.00,2.33,0.00,0.000,3078,0.000,0.034,2500,1816,3893,3911,3876,0,0,0,0,0,0,14.84,14.75,14.85
$GC,522,-0.78,-292.0,2499,1817,3912,3876,62.4,-11.8,88,528,0.00,2.35,0.00,0.000,2308,0.000,0.054,2500,3207,3894,3912,3876,0,0,0,0,0,0,15.08,14.82,15.09
$GC,572,-0.78,-292.0,2503,3208,3912,3876,68.1,-10.4,97,579,0.00,2.33,0.00,0.000,3078,0.000,0.037,2500,1805,3894,3912,3876,0,0,0,0,0,0,14.95,14.86,14.97
$GC,644,-0.78,-292.0,2499,1805,3912,3876,75.7,-11.5,110,651,0.00,2.38,0.00,0.000,2564,0.000,0.062,2500,415,3892,3909,3876,0,0,0,0,0,0,15.09,14.70,15.10
$GC,674,-0.78,-292.0,2500,415,3912,3876,79.3,-11.3,115,681,0.00,2.30,0.00,0.000,3078,0.000,0.032,2500,1820,3894,3912,3876,0,0,0,0,0,0,14.96,14.90,14.96
$GC,747,-0.78,-292.0,2500,1823,3912,3876,86.6,-9.8,128,754,0.00,2.33,0.00,0.000,2308,0.000,0.052,2500,3208,3894,3912,3876,0,0,0,0,0,0,15.09,14.82,15.09
$GC,822,-0.78,-292.0,2500,3208,3912,3876,91.6,-7.4,141,829,0.00,2.33,0.00,0.000,3078,0.000,0.036,2500,1805,3894,3912,3876,0,0,0,0,0,0,14.97,14.87,14.98
$GC,894,-0.78,-292.0,2500,1805,3912,3876,97.1,-8.5,154,901,0.00,2.38,0.00,0.000,2564,0.000,0.062,2495,412,3893,3911,3876,0,0,0,0,0,0,15.09,14.72,15.10
$GC,924,-0.78,-292.0,2499,412,3910,3876,100.7,-11.7,159,931,0.00,2.30,0.00,0.000,3078,0.000,0.033,2500,1815,3894,3912,3876,0,0,0,0,0,0,14.97,14.88,15.00
$STATE,951,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,952,begin apogee
$GC,958,-0.17,0.0,2500,1817,3912,3876,103.1,-8.9,164,1181,0.98,0.00,213.98,1.044,10246,0.134,0.000,2698,1817,2700,2736,2664,0,0,0,0,0,0,14.69,14.42,13.92
$STATE,1183,end apogee,CONTROL_FINISHED_OK
$STATE,1183,begin climb
$GC,1186,0.78,292.0,2698,1818,2733,2662,117.9,0.0,204,1423,1.45,2.53,223.43,1.037,10756,0.071,0.069,3010,410,1509,1552,1466,0,0,0,0,0,0,14.44,14.26,13.88
$GC,1508,0.78,292.0,3009,410,1547,1461,89.3,16.3,261,1515,0.00,2.33,0.00,0.000,1030,0.000,0.033,3010,1801,1504,1547,1461,0,0,0,0,0,0,14.73,14.67,14.75
$GC,1581,0.78,292.0,3009,1804,1547,1459,77.8,15.8,274,1586,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1804,1503,1547,1459,0,0,0,0,0,0,14.90,14.94,14.92
$GC,1650,0.78,292.0,3009,1804,1546,1458,67.4,14.2,287,1656,0.00,2.33,0.00,0.000,260,0.000,0.046,3010,3201,1502,1547,1458,0,0,0,0,0,0,14.97,14.76,14.98
$GC,1669,0.78,292.0,3009,3201,1546,1457,64.6,13.9,290,1676,0.00,2.38,0.00,0.000,1030,0.000,0.050,3010,1805,1501,1545,1457,0,0,0,0,0,0,14.86,14.76,14.88
$GC,1742,0.78,292.0,3009,1804,1546,1457,55.9,12.4,303,1748,0.00,2.45,0.00,0.000,516,0.000,0.070,3010,391,1501,1546,1456,0,0,0,0,0,0,15.02,14.71,15.02
$GC,1777,0.78,292.0,3009,391,1546,1456,51.2,13.5,309,1783,0.00,2.33,0.00,0.000,1030,0.000,0.033,3010,1802,1500,1545,1456,0,0,0,0,0,0,14.82,14.76,14.84
$GC,1850,0.78,292.0,3010,1804,1546,1456,41.1,14.7,322,1856,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1804,1501,1546,1456,0,0,0,0,0,0,15.04,15.05,15.05
$GC,1919,0.78,292.0,3009,1804,1546,1456,28.9,17.6,335,1925,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1804,1500,1546,1455,0,0,0,0,0,0,15.05,15.07,15.06
$GC,1988,0.78,292.0,3009,1804,1546,1455,19.2,12.2,348,1994,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,1804,1501,1547,1455,0,0,0,0,0,0,15.07,15.08,15.08
$GC,2058,0.78,292.0,3009,1804,1546,1455,12.0,11.4,361,2063,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1804,1500,1546,1455,0,0,0,0,0,0,15.08,15.09,15.09
$STATE,2124,end climb,FINISH_DEPTH_REACHED
$STATE,2124,begin subsurface finish
$FINISH1,5.0,1.025412,107
$GC,2134,0.13,107.0,3009,1804,1546,1455,5.0,8.7,374,2169,1.02,2.42,-25.77,0.000,20996,0.142,0.087,2804,391,2267,2314,2221,0,0,0,0,0,0,14.71,13.40,14.81
$FINISH2,3.7
$STATE,2170,end subsurface finish,CONTROL_FINISHED_OK
$STATE,2170,begin surface
$IRIDIUM_FIX,-3404.29,2534.42,230419,061311
$TT8_MAMPS,0.020972,0.948234
$HUMID,46.18
$INTERNAL_PRESSURE,9.45881
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.4,32.7
$SC_FREEKB,3632032
$24V_AH,13.40,160.798
$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,18.025,49.625,437.400,0.000,0.000,23.084,14.814,342.850,2.500,0.000,18.472,701.333,284.041,518.231,1027.178,329.204,0.000,950.848,0.000,577.688,0.000,17.682,0.000
$DEVICE_MAMPS,299.880,87.210,1044.225,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2223.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.633,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,10121,380
$CAP_FILE_SIZE,75316,0
$CFSIZE,2097086464,1990524928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,230419,074203,-3418.138,2535.551,7,1.0,17,-27.8,0.7,204.4,8,9.1