version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 572
start: 4 23 119 21 13 15
data:
$ID,574
$MISSION,3
$DIVE,572
$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,340
$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,51
$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
$GPS1,230419,210032,-3417.0867,2520.5879,11,0.9,31,-27.7,1.1,215.1,10,8.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-61.2
$GPS2,230419,211249,-3417.1929,2520.3452,8,0.9,19,-27.7,1.2,237.2,9,7.7
$SPEED_LIMITS,0.173,0.352
$TGT_NAME,HEADING
$TGT_LATLONG,-3407.045,2515.884
$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,7.7,20000,-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,25,-0.78,-292.0,53,1794,638,530,0.0,0.0,0,124,0.00,0.00,-96.72,0.000,16386,0.000,0.000,53,1794,2990,2960,3021,0,0,0,0,0,0,14.95,28.83,14.96
$GC,130,-0.78,-292.0,53,1794,2961,3021,3.8,-8.7,18,167,14.65,2.45,-14.88,0.000,18692,0.303,0.070,2491,3208,3895,3912,3879,0,0,0,0,0,0,14.49,13.35,14.78
$GC,251,-0.78,-292.0,2490,3209,3913,3879,29.8,-13.3,40,258,0.05,2.38,0.00,0.000,3078,0.290,0.042,2505,1802,3896,3913,3879,0,0,0,0,0,0,14.59,14.74,14.77
$GC,324,-0.78,-292.0,2505,1802,3912,3879,39.4,-13.6,53,331,0.00,2.40,0.00,0.000,2564,0.000,0.063,2505,406,3895,3911,3879,0,0,0,0,0,0,15.04,14.77,15.04
$GC,359,-0.78,-292.0,2505,406,3912,3879,44.7,-14.2,59,366,0.00,2.33,0.00,0.000,3078,0.000,0.034,2505,1820,3895,3912,3879,0,0,0,0,0,0,14.92,14.83,14.94
$GC,431,-0.78,-292.0,2504,1818,3911,3879,53.1,-12.8,72,438,0.00,2.38,0.00,0.000,2308,0.000,0.055,2505,3204,3894,3910,3879,0,0,0,0,0,0,15.07,14.74,15.07
$GC,466,-0.78,-292.0,2505,3205,3912,3879,57.2,-11.6,78,473,0.00,2.35,0.00,0.000,3078,0.000,0.039,2505,1808,3895,3912,3879,0,0,0,0,0,0,14.88,14.77,14.88
$GC,539,-0.78,-292.0,2505,1808,3912,3879,65.2,-11.0,91,546,0.00,2.42,0.00,0.000,2564,0.000,0.063,2505,402,3895,3912,3879,0,0,0,0,0,0,15.08,14.68,15.07
$GC,565,-0.78,-292.0,2505,402,3912,3879,68.2,-11.2,95,571,0.00,2.33,0.00,0.000,3078,0.000,0.033,2505,1816,3895,3912,3879,0,0,0,0,0,0,14.81,14.73,14.83
$GC,637,-0.78,-292.0,2505,1818,3912,3879,74.7,-9.6,108,645,0.00,2.38,0.00,0.000,2308,0.000,0.054,2505,3217,3896,3913,3879,0,0,0,0,0,0,15.08,14.81,15.08
$GC,683,-0.78,-292.0,2505,3217,3912,3878,78.4,-7.8,116,690,0.00,2.35,0.00,0.000,3078,0.000,0.037,2505,1801,3895,3912,3879,0,0,0,0,0,0,14.95,14.85,14.96
$GC,758,-0.78,-292.0,2505,1801,3912,3878,85.4,-10.3,129,764,0.00,2.38,0.00,0.000,2564,0.000,0.059,2505,409,3895,3912,3879,0,0,0,0,0,0,15.07,14.81,15.08
$GC,778,-0.78,-292.0,2505,409,3912,3879,87.7,-10.5,132,784,0.00,2.30,0.00,0.000,3078,0.000,0.031,2506,1823,3896,3912,3880,0,0,0,0,0,0,14.95,14.86,14.97
$GC,850,-0.78,-292.0,2504,1824,3912,3878,94.7,-10.8,145,856,0.00,2.33,0.00,0.000,2308,0.000,0.054,2505,3199,3895,3912,3879,0,0,0,0,0,0,15.09,14.69,15.09
$STATE,871,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,872,begin apogee
$GC,881,-0.17,0.0,2505,1794,3912,3876,97.8,-11.9,149,1105,0.95,0.00,214.57,1.035,10246,0.124,0.000,2699,1793,2699,2736,2663,0,0,0,0,0,0,14.59,14.41,13.90
$STATE,1106,end apogee,CONTROL_FINISHED_OK
$STATE,1106,begin climb
$GC,1109,0.78,292.0,2699,1793,2734,2661,112.6,0.0,189,1347,1.40,2.45,224.45,1.024,10500,0.073,0.046,3000,3187,1506,1551,1461,0,0,0,0,0,0,14.43,14.38,13.88
$GC,1391,0.78,292.0,2999,3187,1548,1459,90.6,15.9,238,1397,0.00,2.38,0.00,0.000,3078,0.000,0.049,3002,1814,1503,1548,1458,0,0,0,0,0,0,14.60,14.50,14.62
$GC,1462,0.78,292.0,3003,1814,1548,1456,79.7,16.3,251,1469,0.00,2.50,0.00,0.000,2564,0.000,0.071,3003,388,1502,1548,1456,0,0,0,0,0,0,14.87,14.63,14.88
$GC,1493,0.78,292.0,3002,388,1547,1456,74.1,18.7,256,1499,0.00,2.33,0.00,0.000,3078,0.000,0.031,3003,1793,1501,1547,1456,0,0,0,0,0,0,14.79,14.72,14.81
$GC,1565,0.78,292.0,3002,1795,1547,1455,62.8,14.9,269,1571,0.00,2.35,0.00,0.000,2308,0.000,0.045,3003,3199,1501,1547,1455,0,0,0,0,0,0,14.96,14.65,14.96
$GC,1595,0.78,292.0,3003,3200,1546,1462,58.9,12.0,274,1602,0.00,2.40,0.00,0.000,3078,0.000,0.051,3003,1793,1500,1546,1455,0,0,0,0,0,0,14.76,14.66,14.77
$GC,1669,0.78,292.0,3003,1794,1545,1455,50.9,12.2,287,1675,0.00,2.42,0.00,0.000,2564,0.000,0.070,3003,391,1500,1546,1455,0,0,0,0,0,0,15.01,14.75,15.01
$GC,1718,0.78,292.0,3003,390,1545,1455,44.1,13.2,296,1725,0.00,2.33,0.00,0.000,3078,0.000,0.031,3003,1812,1500,1546,1455,0,0,0,0,0,0,14.91,14.85,14.93
$GC,1791,0.78,292.0,3003,1813,1546,1454,35.6,12.4,309,1796,0.00,0.00,0.00,0.000,2054,0.000,0.000,3003,1813,1499,1545,1454,0,0,0,0,0,0,15.04,15.04,15.05
$GC,1859,0.78,292.0,3002,1814,1546,1454,27.1,11.8,322,1866,0.00,2.47,0.00,0.000,2564,0.000,0.070,3007,389,1499,1545,1454,0,0,0,0,0,0,15.07,14.68,15.07
$GC,1899,0.78,292.0,3007,389,1545,1454,22.4,11.8,329,1906,0.00,2.30,0.00,0.000,1030,0.000,0.032,3007,1798,1500,1546,1454,0,0,0,0,0,0,14.94,14.87,14.96
$GC,1971,0.78,292.0,3007,1799,1545,1454,15.2,10.5,342,1978,0.00,2.33,0.00,0.000,260,0.000,0.047,3007,3197,1499,1545,1453,0,0,0,0,0,0,15.07,14.78,15.08
$GC,2054,0.86,361.8,3007,3193,1544,1452,6.9,8.4,357,2078,0.00,2.35,19.38,0.810,11266,0.000,0.049,3007,1800,1382,1433,1332,0,0,0,0,0,0,14.95,14.84,14.97
$STATE,2079,end climb,FINISH_DEPTH_REACHED
$STATE,2079,begin subsurface finish
$FINISH1,5.0,1.025444,105
$GC,2087,0.13,105.4,3008,1800,1430,1330,5.0,7.6,361,2128,1.00,2.45,-32.67,0.000,20996,0.137,0.085,2805,388,2271,2314,2229,0,0,0,0,0,0,14.66,13.99,14.74
$FINISH2,2.3
$STATE,2129,end subsurface finish,CONTROL_FINISHED_OK
$STATE,2129,begin surface
$IRIDIUM_FIX,-3401.68,2522.76,230419,193503
$TT8_MAMPS,0.020223,0.874832
$HUMID,46.45
$INTERNAL_PRESSURE,9.44905
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,37.2
$SC_FREEKB,3622816
$24V_AH,13.35,164.440
$10V_AH,13.52,0.000
$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,18.050,64.150,458.400,0.000,0.000,22.613,44.351,360.275,2.000,0.000,20.510,668.587,266.511,541.576,1055.627,340.434,0.000,971.957,0.000,556.502,0.000,16.851,0.000
$DEVICE_MAMPS,302.940,84.915,1035.045,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2181.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.980,0.000,0.000,0.000
$MEM,340920
$DATA_FILE_SIZE,10115,368
$CAP_FILE_SIZE,75866,0
$CFSIZE,2097086464,1987575808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,230419,211249,-3417.193,2520.345,8,0.9,19,-27.7,1.2,237.2,9,7.7