version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 564
start: 4 23 119 15 8 28
data:
$ID,574
$MISSION,3
$DIVE,564
$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,32
$R_STBD_OVSHOOT,60
$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
$GPS1,230419,145601,-3418.1807,2527.9580,8,0.9,33,-27.7,1.5,282.3,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-62.0
$GPS2,230419,150803,-3418.1707,2527.6670,8,0.9,14,-27.7,0.4,174.3,10,9.7
$SPEED_LIMITS,0.173,0.352
$TGT_NAME,HEADING
$TGT_LATLONG,-3411.229,2517.666
$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,337.7,20000,-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,-292.0,53,1792,636,533,0.0,0.0,0,124,0.00,0.00,-96.93,0.000,16386,0.000,0.000,53,1792,3009,2975,3044,0,0,0,0,0,0,14.97,28.83,14.97
$GC,130,-0.78,-292.0,53,1792,2973,3044,3.6,-7.9,18,166,14.45,2.45,-14.80,0.000,18692,0.292,0.075,2491,3200,3894,3912,3877,0,0,0,0,0,0,14.50,13.35,14.80
$GC,291,-0.78,-292.0,2491,3200,3913,3877,35.5,-13.1,48,298,0.05,2.35,0.00,0.000,3078,0.290,0.042,2505,1804,3895,3913,3877,0,0,0,0,0,0,14.62,14.76,14.80
$GC,365,-0.78,-292.0,2504,1804,3913,3877,45.4,-14.5,61,371,0.00,2.40,0.00,0.000,2564,0.000,0.062,2506,409,3895,3913,3877,0,0,0,0,0,0,15.07,14.72,15.08
$GC,406,-0.78,-292.0,2505,408,3913,3877,51.8,-12.8,68,413,0.00,2.30,0.00,0.000,3078,0.000,0.032,2505,1804,3895,3913,3877,0,0,0,0,0,0,14.95,14.85,14.96
$GC,480,-0.78,-292.0,2504,1806,3913,3877,61.6,-14.2,81,487,0.00,2.38,0.00,0.000,2308,0.000,0.053,2505,3210,3895,3913,3877,0,0,0,0,0,0,15.09,14.77,15.09
$GC,525,-0.78,-292.0,2505,3210,3913,3877,67.8,-12.0,89,532,0.00,2.35,0.00,0.000,3078,0.000,0.039,2504,1802,3895,3913,3877,0,0,0,0,0,0,14.87,14.75,14.89
$GC,599,-0.78,-292.0,2505,1802,3913,3877,76.1,-11.3,102,606,0.00,2.38,0.00,0.000,2564,0.000,0.061,2505,411,3894,3912,3877,0,0,0,0,0,0,15.10,14.70,15.10
$GC,630,-0.78,-292.0,2504,411,3912,3877,79.5,-10.2,107,636,0.00,2.30,0.00,0.000,3078,0.000,0.032,2505,1811,3895,3913,3877,0,0,0,0,0,0,14.83,14.75,14.84
$GC,702,-0.78,-292.0,2505,1814,3913,3877,84.7,-6.8,120,712,0.00,2.38,0.00,0.000,2308,0.000,0.053,2505,3214,3895,3913,3877,0,0,0,0,0,0,15.09,14.83,15.10
$GC,730,-0.78,-292.0,2505,3214,3913,3877,86.3,-5.5,124,737,0.00,2.35,0.00,0.000,3078,0.000,0.037,2505,1802,3895,3913,3877,0,0,0,0,0,0,14.85,14.76,14.86
$GC,803,-0.78,-292.0,2504,1802,3914,3877,89.8,-5.1,137,809,0.00,2.40,0.00,0.000,2308,0.000,0.053,2505,3216,3894,3912,3877,0,0,0,0,0,0,15.09,14.84,15.11
$GC,833,-0.78,-292.0,2505,3216,3913,3877,91.7,-5.7,142,840,0.00,2.33,0.00,0.000,3078,0.000,0.036,2505,1806,3895,3913,3877,0,0,0,0,0,0,14.97,14.87,14.98
$GC,906,-0.78,-292.0,2504,1806,3912,3877,97.5,-9.8,155,912,0.00,2.40,0.00,0.000,2564,0.000,0.061,2509,407,3895,3913,3877,0,0,0,0,0,0,15.11,14.77,15.11
$STATE,923,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,923,begin apogee
$GC,932,-0.17,0.0,2505,1801,3912,3877,99.7,-9.8,158,1155,0.95,0.00,213.93,1.034,10246,0.110,0.000,2702,1803,2698,2737,2660,0,0,0,0,0,0,14.69,14.43,13.93
$STATE,1156,end apogee,CONTROL_FINISHED_OK
$STATE,1157,begin climb
$GC,1160,0.78,292.0,2702,1804,2734,2659,115.4,0.0,198,1391,1.42,0.00,223.43,1.028,10758,0.054,0.000,3021,1803,1507,1553,1462,0,0,0,0,0,0,14.46,14.26,13.90
$GC,1457,0.78,292.0,3021,1803,1549,1458,88.8,17.8,250,1464,0.00,2.40,0.00,0.000,4356,0.000,0.047,3021,3210,1503,1549,1457,0,0,0,0,0,0,14.81,14.59,14.81
$GC,1507,0.78,292.0,3021,3209,1545,1457,79.3,17.1,259,1514,0.03,2.40,0.00,0.000,5126,0.513,0.050,3014,1813,1502,1548,1457,0,0,0,0,0,0,14.51,14.66,14.72
$GC,1580,0.78,292.0,3013,1812,1548,1456,69.2,13.5,272,1587,0.00,2.47,0.00,0.000,4612,0.000,0.068,3021,384,1501,1548,1455,0,0,0,0,0,0,14.96,14.64,14.96
$GC,1620,0.78,292.0,3021,384,1547,1456,63.7,13.0,279,1627,0.00,2.35,0.00,0.000,5126,0.000,0.032,3021,1809,1501,1547,1456,0,0,0,0,0,0,14.79,14.71,14.80
$GC,1693,0.78,292.0,3021,1810,1548,1456,54.2,14.2,292,1699,0.00,2.30,0.00,0.000,4356,0.000,0.046,3021,3195,1501,1547,1455,0,0,0,0,0,0,15.00,14.78,15.01
$GC,1723,0.78,292.0,3021,3194,1546,1455,49.2,16.0,297,1730,0.05,2.38,0.00,0.000,5126,0.345,0.049,3012,1796,1501,1547,1455,0,0,0,0,0,0,14.63,14.80,14.85
$GC,1796,0.78,292.0,3012,1796,1547,1455,40.3,11.5,310,1803,0.00,2.42,0.00,0.000,4612,0.000,0.067,3020,389,1500,1546,1455,0,0,0,0,0,0,15.05,14.75,15.05
$GC,1820,0.78,292.0,3020,389,1546,1455,37.3,11.7,314,1827,0.00,2.33,0.00,0.000,5126,0.000,0.031,3020,1814,1500,1545,1455,0,0,0,0,0,0,14.85,14.78,14.86
$GC,1893,0.78,292.0,3020,1816,1546,1455,27.9,14.6,327,1899,0.00,2.30,0.00,0.000,4356,0.000,0.046,3020,3201,1500,1546,1455,0,0,0,0,0,0,15.06,14.83,15.07
$GC,1953,0.78,292.0,3020,3201,1545,1454,18.5,13.9,338,1959,0.00,2.38,0.00,0.000,5126,0.000,0.047,3019,1793,1500,1546,1454,0,0,0,0,0,0,14.95,14.84,14.97
$GC,2025,0.78,294.0,3019,1793,1546,1454,10.5,10.0,351,2030,0.00,0.00,0.00,0.000,4102,0.000,0.000,3020,1793,1500,1546,1454,0,0,0,0,0,0,15.08,15.08,15.08
$STATE,2076,end climb,FINISH_DEPTH_REACHED
$STATE,2076,begin subsurface finish
$FINISH1,4.9,1.025438,106
$GC,2084,0.13,105.7,3020,1793,1546,1453,4.9,9.7,361,2113,1.08,0.00,-25.48,0.000,20998,0.160,0.000,2808,1793,2271,2315,2228,0,0,0,0,0,0,14.69,13.49,14.80
$FINISH2,3.6
$STATE,2114,end subsurface finish,CONTROL_FINISHED_OK
$STATE,2114,begin surface
$IRIDIUM_FIX,-3404.29,2528.59,230419,133154
$TT8_MAMPS,0.021721,0.907039
$HUMID,46.22
$INTERNAL_PRESSURE,9.47834
$TCM_TEMP,19.90
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,85.4,34.2
$SC_FREEKB,3626912
$24V_AH,13.35,162.839
$10V_AH,13.40,0.000
$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,18.025,56.800,437.350,0.000,0.000,23.955,18.417,367.814,3.000,0.000,15.147,681.736,273.377,513.417,1039.616,331.792,0.000,935.672,0.000,558.210,0.000,16.170,0.000
$DEVICE_MAMPS,512.550,74.970,1034.280,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2170.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.408,0.000,0.000,0.000
$MEM,340920
$DATA_FILE_SIZE,10090,366
$CAP_FILE_SIZE,73343,0
$CFSIZE,2097086464,1988886528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,230419,150803,-3418.171,2527.667,8,0.9,14,-27.7,0.4,174.3,10,9.7