version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 558
start: 4 23 119 10 48 4
data:
$ID,574
$MISSION,3
$DIVE,558
$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,310
$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,58
$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
$GPS1,230419,103508,-3419.2986,2533.2720,6,1.1,46,-27.8,0.6,302.5,7,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-66.5
$GPS2,230419,104739,-3419.3347,2533.0415,8,0.9,16,-27.8,0.8,327.2,8,9.9
$SPEED_LIMITS,0.173,0.352
$TGT_NAME,HEADING
$TGT_LATLONG,-3412.393,2523.039
$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,337.8,20000,-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,-292.0,52,1805,636,534,0.0,0.0,0,123,0.00,0.00,-96.40,0.000,16386,0.000,0.000,52,1806,2996,2961,3031,0,0,0,0,0,0,14.96,28.83,14.97
$GC,129,-0.78,-292.0,52,1806,2962,3032,3.4,-6.8,18,166,14.57,2.40,-15.12,0.000,19204,0.298,0.070,2494,3199,3893,3910,3877,0,0,0,0,0,0,14.50,13.35,14.79
$GC,276,-0.78,-292.0,2493,3199,3911,3878,30.7,-11.0,45,283,0.00,2.35,0.00,0.000,3078,0.000,0.041,2493,1805,3894,3911,3877,0,0,0,0,0,0,14.85,14.75,14.88
$GC,348,-0.78,-292.0,2493,1805,3910,3877,40.5,-15.2,58,355,0.00,2.40,0.00,0.000,2564,0.000,0.064,2489,408,3894,3911,3877,0,0,0,0,0,0,15.03,14.78,15.03
$GC,368,-0.78,-292.0,2493,407,3911,3878,44.1,-15.8,61,375,0.00,2.30,0.00,0.000,3078,0.000,0.033,2493,1804,3895,3913,3877,0,0,0,0,0,0,14.92,14.84,14.94
$GC,440,-0.78,-292.0,2493,1807,3911,3878,52.9,-12.9,74,447,0.00,2.40,0.00,0.000,2308,0.000,0.054,2493,3214,3894,3910,3878,0,0,0,0,0,0,15.07,14.75,15.07
$GC,481,-0.78,-292.0,2493,3214,3911,3877,57.0,-8.8,81,488,0.00,2.38,0.00,0.000,3078,0.000,0.041,2494,1806,3894,3911,3878,0,0,0,0,0,0,14.88,14.78,14.90
$GC,553,-0.78,-292.0,2493,1807,3911,3878,64.1,-10.7,94,564,0.03,2.38,0.00,0.000,2564,0.467,0.059,2505,409,3893,3910,3877,0,0,0,0,0,0,14.71,14.81,14.86
$GC,577,-0.78,-292.0,2505,409,3911,3878,66.9,-11.1,97,584,0.00,2.33,0.00,0.000,3078,0.000,0.032,2505,1823,3894,3911,3877,0,0,0,0,0,0,14.95,14.86,14.96
$GC,649,-0.78,-292.0,2505,1825,3911,3878,73.9,-10.4,110,655,0.00,2.33,0.00,0.000,2308,0.000,0.052,2505,3207,3894,3911,3878,0,0,0,0,0,0,15.07,14.82,15.07
$GC,678,-0.78,-292.0,2505,3207,3910,3878,77.0,-10.5,115,685,0.00,2.33,0.00,0.000,3078,0.000,0.039,2505,1810,3893,3910,3877,0,0,0,0,0,0,14.95,14.85,14.96
$GC,753,-0.78,-292.0,2505,1810,3911,3878,85.3,-12.4,128,760,0.00,0.00,0.00,0.000,2054,0.000,0.000,2505,1810,3894,3910,3878,0,0,0,0,0,0,15.09,15.09,15.12
$GC,823,-0.78,-292.0,2504,1810,3911,3878,94.3,-12.3,141,829,0.00,0.00,0.00,0.000,2054,0.000,0.000,2505,1810,3894,3910,3878,0,0,0,0,0,0,15.09,15.09,15.09
$STATE,839,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,839,begin apogee
$GC,846,-0.17,0.0,2505,1810,3911,3878,96.4,-11.1,144,1069,0.95,0.00,214.35,1.033,10246,0.127,0.000,2698,1809,2700,2736,2664,0,0,0,0,0,0,14.57,14.40,13.91
$STATE,1071,end apogee,CONTROL_FINISHED_OK
$STATE,1071,begin climb
$GC,1074,0.78,292.0,2698,1809,2734,2663,106.9,0.0,184,1310,1.42,2.42,223.82,1.014,11012,0.037,0.044,3042,3196,1506,1550,1462,0,0,0,0,0,0,14.48,14.24,13.87
$GC,1349,0.78,292.0,3036,3195,1547,1460,77.0,16.5,232,1356,0.15,2.40,0.00,0.000,5126,0.227,0.050,3008,1807,1503,1547,1459,0,0,0,0,0,0,14.36,14.46,14.50
$GC,1422,0.78,292.0,3011,1807,1547,1457,66.4,14.6,245,1428,0.00,0.00,0.00,0.000,4102,0.000,0.000,3012,1807,1502,1547,1457,0,0,0,0,0,0,14.86,14.87,14.87
$GC,1491,0.78,292.0,3011,1807,1552,1456,55.6,15.3,258,1497,0.00,0.00,0.00,0.000,4102,0.000,0.000,3012,1807,1501,1547,1456,0,0,0,0,0,0,14.94,14.95,14.95
$GC,1560,0.78,292.0,3012,1807,1546,1455,45.3,14.6,271,1566,0.00,0.00,0.00,0.000,4102,0.000,0.000,3012,1807,1501,1546,1456,0,0,0,0,0,0,14.99,15.00,14.99
$GC,1629,0.78,292.0,3011,1807,1546,1454,36.2,12.5,284,1635,0.00,0.00,0.00,0.000,4102,0.000,0.000,3012,1807,1501,1546,1456,0,0,0,0,0,0,15.02,15.02,15.02
$GC,1698,0.78,292.0,3011,1807,1546,1455,27.8,11.8,297,1704,0.00,0.00,0.00,0.000,4102,0.000,0.000,3012,1807,1500,1546,1455,0,0,0,0,0,0,15.03,15.04,15.04
$GC,1767,0.78,292.0,3011,1807,1546,1455,20.3,10.6,310,1774,0.00,2.45,0.00,0.000,4612,0.000,0.070,3017,388,1500,1546,1455,0,0,0,0,0,0,15.04,14.78,15.04
$GC,1807,0.78,292.0,3017,388,1545,1454,16.0,10.2,317,1814,0.00,2.33,0.00,0.000,5126,0.000,0.031,3017,1813,1499,1544,1455,0,0,0,0,0,0,14.94,14.85,14.95
$GC,1880,0.78,292.0,3017,1814,1544,1454,9.3,10.5,330,1886,0.00,2.28,0.00,0.000,4356,0.000,0.045,3017,3187,1499,1544,1454,0,0,0,0,0,0,15.07,14.74,15.07
$STATE,1917,end climb,FINISH_DEPTH_REACHED
$STATE,1917,begin subsurface finish
$FINISH1,4.3,1.025406,107
$GC,1927,0.13,107.3,3017,1799,1544,1453,4.3,11.9,337,1968,1.05,2.45,-29.92,0.000,20996,0.156,0.083,2809,389,2263,2305,2222,0,0,0,0,0,0,14.64,13.40,14.74
$FINISH2,2.0
$STATE,1969,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1969,begin surface
$IRIDIUM_FIX,-3406.89,2532.06,230419,090705
$TT8_MAMPS,0.021721,0.940744
$HUMID,46.25
$INTERNAL_PRESSURE,9.45881
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.1,35.9
$SC_FREEKB,3629984
$24V_AH,13.35,161.631
$10V_AH,13.41,0.000
$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,18.175,40.300,438.175,0.000,0.000,24.818,19.675,394.355,2.000,0.000,17.251,614.451,248.931,513.429,1034.389,313.338,0.000,916.562,0.000,523.240,0.000,14.655,0.000
$DEVICE_MAMPS,466.650,83.385,1032.750,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2024.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.622,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,6793,344
$CAP_FILE_SIZE,68639,0
$CFSIZE,2097086464,1989869568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,230419,104739,-3419.335,2533.042,8,0.9,16,-27.8,0.8,327.2,8,9.9