version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 556
start: 4 23 119 9 15 3
data:
$ID,574
$MISSION,3
$DIVE,556
$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,30
$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
$GPS1,230419,090219,-3418.7234,2534.4907,7,0.7,40,-27.8,0.4,278.8,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-64.7
$GPS2,230419,091437,-3418.7935,2534.2866,8,0.7,18,-27.8,2.2,282.1,11,9.2
$SPEED_LIMITS,0.173,0.352
$TGT_NAME,HEADING
$TGT_LATLONG,-3429.593,2534.287
$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,-292.0,53,1795,635,533,0.0,0.0,0,124,0.00,0.00,-97.12,0.000,16386,0.000,0.000,53,1795,3013,2978,3049,0,0,0,0,0,0,14.96,28.83,14.97
$GC,130,-0.78,-292.0,52,1795,2978,3050,3.7,-7.7,18,166,14.55,2.40,-14.32,0.000,18948,0.299,0.084,2499,405,3893,3910,3876,0,0,0,0,0,0,14.50,13.88,14.78
$GC,226,-0.78,-292.0,2499,405,3911,3876,27.1,-12.2,35,233,0.00,2.35,0.00,0.000,3078,0.000,0.036,2494,1814,3893,3911,3876,0,0,0,0,0,0,14.85,14.74,14.85
$GC,298,-0.78,-292.0,2499,1816,3909,3876,35.0,-12.9,48,304,0.00,2.38,0.00,0.000,2308,0.000,0.057,2498,3213,3893,3911,3876,0,0,0,0,0,0,15.03,14.78,15.03
$GC,353,-0.78,-292.0,2498,3213,3911,3876,41.2,-9.9,58,360,0.00,2.38,0.00,0.000,3078,0.000,0.041,2498,1800,3893,3911,3876,0,0,0,0,0,0,14.92,14.82,14.93
$GC,426,-0.78,-292.0,2498,1799,3911,3876,50.1,-12.7,71,433,0.00,2.40,0.00,0.000,2564,0.000,0.063,2498,409,3893,3911,3875,0,0,0,0,0,0,15.07,14.79,15.08
$GC,461,-0.78,-292.0,2498,409,3910,3876,54.2,-11.5,77,468,0.00,2.35,0.00,0.000,3078,0.000,0.034,2505,1816,3893,3910,3876,0,0,0,0,0,0,14.88,14.80,14.90
$GC,533,-0.78,-292.0,2497,1819,3911,3876,62.2,-12.4,90,540,0.00,2.35,0.00,0.000,2308,0.000,0.055,2497,3216,3892,3909,3876,0,0,0,0,0,0,15.07,14.81,15.07
$GC,579,-0.78,-292.0,2497,3210,3911,3876,68.0,-10.4,98,586,0.00,2.33,0.00,0.000,3078,0.000,0.037,2497,1810,3893,3911,3876,0,0,0,0,0,0,14.83,14.76,14.85
$GC,653,-0.78,-292.0,2497,1811,3911,3876,75.1,-9.8,111,658,0.00,0.00,0.00,0.000,2054,0.000,0.000,2498,1810,3892,3911,3873,0,0,0,0,0,0,15.09,15.09,15.09
$GC,724,-0.78,-292.0,2497,1811,3911,3876,81.5,-9.0,124,731,0.00,2.42,0.00,0.000,2564,0.000,0.063,2498,402,3893,3911,3876,0,0,0,0,0,0,15.08,14.70,15.08
$GC,778,-0.78,-292.0,2496,402,3910,3875,86.8,-8.2,133,785,0.00,2.33,0.00,0.000,3078,0.000,0.034,2498,1815,3893,3910,3876,0,0,0,0,0,0,14.96,14.87,14.97
$GC,850,-0.78,-292.0,2497,1817,3910,3876,93.9,-10.1,146,857,0.00,2.38,0.00,0.000,2308,0.000,0.053,2497,3216,3892,3910,3875,0,0,0,0,0,0,15.09,14.76,15.10
$GC,881,-0.78,-292.0,2497,3215,3911,3876,96.7,-8.2,151,887,0.00,2.35,0.00,0.000,3078,0.000,0.041,2497,1812,3891,3910,3873,0,0,0,0,0,0,14.89,14.80,14.91
$STATE,923,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,923,begin apogee
$GC,930,-0.17,0.0,2498,1812,3910,3876,101.2,-10.0,159,1153,1.00,0.00,214.45,1.043,10246,0.132,0.000,2700,1812,2699,2735,2663,0,0,0,0,0,0,14.69,14.40,13.90
$STATE,1155,end apogee,CONTROL_FINISHED_OK
$STATE,1155,begin climb
$GC,1158,0.78,292.0,2700,1812,2733,2662,119.9,0.0,199,1396,1.38,2.55,223.70,1.037,10756,0.048,0.067,3030,400,1507,1552,1463,0,0,0,0,0,0,14.47,14.35,13.87
$GC,1470,0.78,292.0,3030,400,1547,1463,91.3,18.3,254,1478,0.08,2.35,0.00,0.000,5126,0.256,0.033,3014,1805,1504,1547,1462,0,0,0,0,0,0,14.50,14.64,14.65
$GC,1545,0.78,292.0,3014,1808,1547,1460,80.4,14.9,267,1550,0.00,0.00,0.00,0.000,4102,0.000,0.000,3014,1808,1503,1547,1460,0,0,0,0,0,0,14.92,14.92,14.92
$GC,1614,0.78,292.0,3014,1808,1547,1459,69.8,15.3,280,1620,0.00,2.33,0.00,0.000,4356,0.000,0.045,3014,3199,1503,1547,1459,0,0,0,0,0,0,14.97,14.66,14.97
$GC,1628,0.78,292.0,3015,3200,1546,1458,67.8,15.3,282,1635,0.00,2.38,0.00,0.000,5126,0.000,0.050,3017,1806,1502,1546,1458,0,0,0,0,0,0,14.85,14.75,14.84
$GC,1700,0.78,292.0,3017,1806,1546,1458,57.6,14.6,295,1706,0.00,0.00,0.00,0.000,4102,0.000,0.000,3017,1806,1504,1551,1458,0,0,0,0,0,0,15.02,15.02,15.02
$GC,1769,0.78,292.0,3017,1806,1546,1457,46.8,14.9,308,1776,0.00,2.45,0.00,0.000,4612,0.000,0.070,3017,394,1501,1546,1457,0,0,0,0,0,0,15.03,14.73,15.04
$GC,1795,0.78,292.0,3017,394,1546,1457,43.2,13.9,312,1801,0.00,2.33,0.00,0.000,5126,0.000,0.031,3017,1816,1501,1546,1457,0,0,0,0,0,0,14.88,14.79,14.92
$GC,1866,0.78,292.0,3015,1819,1546,1456,34.7,11.3,325,1873,0.00,2.28,0.00,0.000,4356,0.000,0.045,3017,3189,1501,1546,1456,0,0,0,0,0,0,15.04,14.82,15.05
$GC,1902,0.78,292.0,3017,3188,1545,1456,30.7,10.2,331,1908,0.00,2.35,0.00,0.000,5126,0.000,0.047,3017,1796,1500,1545,1456,0,0,0,0,0,0,14.94,14.83,14.95
$GC,1974,0.96,440.8,3017,1796,1545,1456,25.4,6.6,344,2093,0.10,2.50,106.03,0.909,11012,0.145,0.075,3067,404,900,963,837,0,0,0,0,0,0,14.84,14.47,14.07
$GC,2101,0.96,440.8,3067,405,963,836,8.9,16.4,366,2108,0.00,2.33,0.00,0.000,1030,0.000,0.031,3067,1804,899,963,836,0,0,0,0,0,0,14.65,14.57,14.66
$STATE,2122,end climb,FINISH_DEPTH_REACHED
$STATE,2123,begin subsurface finish
$FINISH1,4.6,1.025411,107
$GC,2131,0.13,107.0,3067,1807,963,835,4.6,18.2,370,2192,1.35,0.00,-55.58,0.000,21254,0.158,0.000,2808,1808,2266,2306,2227,0,0,0,0,0,0,14.45,13.48,14.55
$FINISH2,1.0
$STATE,2193,end subsurface finish,CONTROL_FINISHED_OK
$STATE,2193,begin surface
$IRIDIUM_FIX,-3404.29,2534.42,230419,073512
$TT8_MAMPS,0.021721,0.925764
$HUMID,45.55
$INTERNAL_PRESSURE,9.44905
$TCM_TEMP,19.60
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,85.3,35.7
$SC_FREEKB,3631008
$24V_AH,13.48,161.232
$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,18.450,52.225,544.175,0.000,0.000,23.243,46.249,360.038,2.500,0.000,19.654,653.438,255.892,615.856,1079.956,332.277,0.000,1074.789,0.000,575.900,0.000,16.186,0.000
$DEVICE_MAMPS,299.115,84.150,1042.695,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2251.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.796,0.000,0.000,0.000
$MEM,340920
$DATA_FILE_SIZE,10124,381
$CAP_FILE_SIZE,76003,0
$CFSIZE,2097086464,1990197248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,230419,091437,-3418.793,2534.287,8,0.7,18,-27.8,2.2,282.1,11,9.2