version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 578
start: 4 24 119 1 54 31
data:
$ID,574
$MISSION,3
$DIVE,578
$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,53
$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
$GPS1,240419,014149,-3415.9595,2516.0854,11,0.8,39,-27.6,0.4,190.4,10,8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-62.4
$GPS2,240419,015406,-3416.0227,2515.8408,8,0.9,16,-27.6,0.5,344.1,9,9.5
$SPEED_LIMITS,0.173,0.352
$TGT_NAME,HEADING
$TGT_LATLONG,-3405.875,2511.380
$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,7.6,20000,-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,-292.0,53,1800,638,531,0.0,0.0,0,119,0.00,0.00,-91.72,0.000,16386,0.000,0.000,53,1800,2834,2799,2869,0,0,0,0,0,0,14.95,28.83,14.96
$GC,125,-0.78,-292.0,53,1798,2798,2870,3.0,-5.5,17,166,14.52,2.40,-19.20,0.000,18692,0.295,0.076,2491,3203,3893,3912,3874,0,0,0,0,0,0,14.47,13.85,14.77
$GC,227,-0.78,-292.0,2491,3202,3912,3875,23.4,-14.0,35,234,0.05,2.35,0.00,0.000,3078,0.291,0.041,2504,1809,3894,3913,3876,0,0,0,0,0,0,14.62,14.77,14.81
$GC,300,-0.78,-292.0,2503,1809,3912,3875,34.0,-13.5,48,306,0.00,2.42,0.00,0.000,2564,0.000,0.065,2503,406,3894,3912,3877,0,0,0,0,0,0,15.04,14.66,15.04
$GC,360,-0.78,-292.0,2504,405,3912,3874,43.0,-13.8,59,367,0.00,2.33,0.00,0.000,3078,0.000,0.037,2504,1802,3893,3912,3875,0,0,0,0,0,0,14.78,14.70,14.80
$GC,434,-0.78,-292.0,2504,1804,3912,3875,53.3,-14.5,72,440,0.00,2.40,0.00,0.000,2308,0.000,0.056,2504,3217,3893,3912,3875,0,0,0,0,0,0,15.04,14.79,15.04
$GC,479,-0.78,-292.0,2504,3218,3912,3876,60.4,-13.7,80,486,0.00,2.35,0.00,0.000,3078,0.000,0.039,2504,1809,3893,3912,3874,0,0,0,0,0,0,14.81,14.72,14.81
$GC,552,-0.78,-292.0,2504,1809,3912,3875,69.8,-12.0,93,561,0.00,2.40,0.00,0.000,2564,0.000,0.063,2504,411,3893,3912,3875,0,0,0,0,0,0,15.07,14.79,15.08
$GC,569,-0.78,-292.0,2504,411,3912,3875,72.2,-12.5,95,576,0.00,2.33,0.00,0.000,3078,0.000,0.035,2504,1819,3893,3912,3875,0,0,0,0,0,0,14.83,14.73,14.83
$GC,642,-0.78,-292.0,2505,1822,3912,3875,78.3,-8.0,108,649,0.00,2.35,0.00,0.000,2308,0.000,0.056,2504,3210,3894,3912,3876,0,0,0,0,0,0,15.07,14.80,15.08
$GC,699,-0.78,-292.0,2504,3209,3912,3875,82.6,-7.0,118,706,0.00,2.33,0.00,0.000,3078,0.000,0.037,2505,1807,3894,3912,3876,0,0,0,0,0,0,14.95,14.85,14.96
$GC,774,-0.78,-292.0,2504,1807,3912,3875,88.3,-8.2,131,780,0.00,2.38,0.00,0.000,2564,0.000,0.060,2504,412,3893,3912,3875,0,0,0,0,0,0,15.08,14.81,15.11
$GC,798,-0.78,-292.0,2504,412,3912,3875,90.8,-9.9,135,805,0.00,2.30,0.00,0.000,3078,0.000,0.033,2504,1819,3893,3912,3875,0,0,0,0,0,0,14.97,14.86,14.97
$STATE,855,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,856,begin apogee
$GC,863,-0.17,0.0,2504,1821,3912,3879,97.4,-10.2,146,1086,0.93,0.00,213.68,1.033,10246,0.099,0.000,2701,1820,2700,2735,2665,0,0,0,0,0,0,14.70,14.41,13.89
$STATE,1088,end apogee,CONTROL_FINISHED_OK
$STATE,1088,begin climb
$GC,1091,0.78,292.0,2701,1821,2734,2663,116.1,0.0,186,1323,1.38,2.35,221.80,1.037,10500,0.067,0.045,3000,3198,1506,1551,1461,0,0,0,0,0,0,14.43,14.26,13.87
$GC,1357,0.78,292.0,2999,3198,1548,1459,98.9,13.9,232,1364,0.00,2.42,0.00,0.000,3078,0.000,0.050,3003,1807,1503,1548,1459,0,0,0,0,0,0,14.57,14.47,14.58
$GC,1429,0.78,292.0,3003,1807,1548,1457,87.7,16.4,245,1436,0.00,2.47,0.00,0.000,2564,0.000,0.070,3003,392,1502,1548,1457,0,0,0,0,0,0,14.84,14.62,14.85
$GC,1469,0.78,292.0,3002,391,1547,1457,80.1,17.7,252,1476,0.00,2.33,0.00,0.000,3078,0.000,0.032,3003,1803,1502,1547,1457,0,0,0,0,0,0,14.80,14.72,14.83
$GC,1542,0.78,292.0,3002,1806,1547,1456,69.2,16.0,265,1548,0.00,2.33,0.00,0.000,2308,0.000,0.047,3002,3191,1501,1547,1455,0,0,0,0,0,0,14.96,14.67,14.96
$GC,1582,0.78,292.0,3003,3191,1545,1455,62.1,17.1,272,1588,0.00,2.38,0.00,0.000,3078,0.000,0.050,3003,1799,1500,1546,1455,0,0,0,0,0,0,14.78,14.67,14.80
$GC,1653,0.78,292.0,3003,1799,1546,1455,52.2,13.6,285,1660,0.00,2.45,0.00,0.000,2564,0.000,0.070,3006,385,1500,1546,1455,0,0,0,0,0,0,15.01,14.75,15.02
$GC,1693,0.78,292.0,3005,385,1545,1455,46.3,13.1,292,1700,0.00,2.33,0.00,0.000,1030,0.000,0.032,3006,1798,1500,1546,1455,0,0,0,0,0,0,14.90,14.84,14.92
$GC,1766,0.78,292.0,3005,1800,1546,1455,37.5,11.8,305,1772,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1800,1500,1545,1455,0,0,0,0,0,0,15.03,15.04,15.04
$GC,1835,0.78,292.0,3005,1800,1545,1454,28.4,13.4,318,1841,0.00,2.33,0.00,0.000,260,0.000,0.047,3006,3197,1500,1546,1454,0,0,0,0,0,0,15.04,14.82,15.05
$GC,1860,0.78,292.0,3006,3197,1545,1454,25.0,13.5,322,1867,0.00,2.38,0.00,0.000,1030,0.000,0.048,3006,1797,1499,1544,1454,0,0,0,0,0,0,14.92,14.83,14.94
$GC,1933,0.85,350.1,3006,1797,1544,1453,17.9,8.7,335,1984,0.00,2.45,41.17,0.875,10756,0.000,0.069,3006,403,1269,1327,1211,0,0,0,0,0,0,15.07,14.66,14.15
$GC,2059,0.99,463.0,3006,402,1325,1209,6.5,7.4,358,2084,0.22,2.30,19.12,0.786,11266,0.086,0.032,3073,1809,1151,1212,1090,0,0,0,0,0,0,14.78,14.78,14.84
$STATE,2085,end climb,FINISH_DEPTH_REACHED
$STATE,2086,begin subsurface finish
$FINISH1,4.4,1.025407,107
$GC,2094,0.13,107.2,3073,1805,1210,1087,4.4,9.4,362,2156,1.38,2.33,-52.65,0.000,20740,0.161,0.067,2808,3186,2266,2312,2221,0,0,0,0,0,0,14.55,13.90,14.66
$FINISH2,0.3
$STATE,2159,end subsurface finish,CONTROL_FINISHED_OK
$STATE,2159,begin surface
$IRIDIUM_FIX,-3404.29,2516.93,240419,001157
$TT8_MAMPS,0.020972,0.936999
$HUMID,45.23
$INTERNAL_PRESSURE,9.46858
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.2,32.0
$SC_FREEKB,3619744
$24V_AH,13.85,165.669
$10V_AH,13.35,0.000
$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,18.475,59.150,495.775,0.000,0.000,26.335,22.830,373.522,2.250,0.000,17.154,657.411,261.440,579.944,1059.181,341.352,0.000,1022.793,0.000,565.600,0.000,16.167,0.000
$DEVICE_MAMPS,295.290,76.500,1037.340,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2217.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.162,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,10105,373
$CAP_FILE_SIZE,75714,0
$CFSIZE,2097086464,1986592768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,240419,015406,-3416.023,2515.841,8,0.9,16,-27.6,0.5,344.1,9,9.5