version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 551
start: 4 23 119 5 30 47
data:
$ID,574
$MISSION,3
$DIVE,551
$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,280
$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,120
$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,50
$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
$GPS1,230419,045406,-3417.2744,2537.4546,8,0.9,19,-27.8,1.0,175.5,10,9.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.73
$_SM_ANGLEo,2.5
$GPS2,230419,045406,-3417.2744,2537.4546,8,0.9,19,-27.8,1.0,175.5,10,9.9
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3422.674,2548.786
$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,147.8,20000,-13.1,-10.010,-16.32,4154
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.77,-272.5,2807,1803,2307,2216,0.0,0.0,0,31,0.00,0.00,-5.45,0.000,16386,0.000,0.000,2807,1803,2448,2492,2404,0,0,0,0,0,0,15.10,28.83,15.11
$GC,35,-0.77,-272.5,2807,1803,2493,2405,5.0,0.0,1,76,1.30,2.45,-33.85,0.000,20996,0.086,0.081,2525,402,3810,3828,3793,0,0,0,0,0,0,14.72,13.38,14.78
$GC,96,-0.77,-272.5,2525,402,3829,3793,11.2,-12.3,11,103,0.00,2.30,0.00,0.000,5126,0.000,0.033,2522,1808,3810,3828,3793,0,0,0,0,0,0,15.00,14.90,15.01
$GC,169,-0.77,-272.5,2522,1809,3829,3793,20.3,-13.3,24,175,0.00,2.35,0.00,0.000,4356,0.000,0.054,2522,3210,3811,3829,3793,0,0,0,0,0,0,15.11,14.76,15.11
$GC,214,-0.77,-272.5,2522,3210,3829,3793,25.8,-9.7,32,221,0.00,2.35,0.00,0.000,5126,0.000,0.041,2522,1797,3815,3829,3801,0,0,0,0,0,0,14.87,14.78,14.88
$GC,286,-0.77,-272.5,2522,1797,3829,3793,34.2,-13.2,45,293,0.00,2.40,0.00,0.000,4612,0.000,0.063,2522,401,3811,3829,3793,0,0,0,0,0,0,15.13,14.85,15.13
$GC,331,-0.77,-272.5,2522,403,3829,3793,40.4,-13.0,53,338,0.00,2.33,0.00,0.000,5126,0.000,0.034,2522,1812,3811,3829,3793,0,0,0,0,0,0,14.99,14.90,15.00
$GC,401,-0.77,-272.5,2522,1813,3829,3793,50.0,-13.2,66,409,0.00,2.38,0.00,0.000,4356,0.000,0.054,2522,3218,3811,3829,3793,0,0,0,0,0,0,15.11,14.86,15.12
$GC,448,-0.77,-272.5,2522,3218,3829,3794,55.3,-11.0,74,454,0.00,2.35,0.00,0.000,5126,0.000,0.040,2522,1803,3811,3829,3793,0,0,0,0,0,0,14.99,14.88,15.00
$GC,520,-0.77,-272.5,2522,1803,3829,3793,62.4,-9.4,87,527,0.00,2.38,0.00,0.000,4612,0.000,0.060,2522,409,3811,3829,3793,0,0,0,0,0,0,15.12,14.81,15.12
$GC,551,-0.77,-272.5,2522,409,3829,3793,65.5,-9.8,92,558,0.00,2.33,0.00,0.000,5126,0.000,0.034,2522,1825,3811,3829,3793,0,0,0,0,0,0,14.99,14.90,15.00
$GC,625,-0.77,-272.5,2522,1825,3829,3793,72.1,-9.1,105,632,0.00,2.33,0.00,0.000,4356,0.000,0.052,2522,3207,3811,3829,3793,0,0,0,0,0,0,15.12,14.78,15.12
$GC,656,-0.77,-272.5,2521,3207,3829,3793,75.4,-9.3,110,663,0.00,2.35,0.00,0.000,5126,0.000,0.039,2522,1799,3811,3829,3793,0,0,0,0,0,0,14.98,14.88,15.00
$GC,732,-0.77,-272.5,2522,1800,3829,3793,82.4,-9.6,123,739,0.00,2.38,0.00,0.000,4612,0.000,0.060,2522,406,3811,3829,3793,0,0,0,0,0,0,15.11,14.85,15.11
$GC,800,-0.77,-272.5,2522,406,3829,3793,89.0,-9.9,135,806,0.00,2.30,0.00,0.000,5126,0.000,0.034,2522,1812,3811,3829,3793,0,0,0,0,0,0,14.92,14.83,14.94
$STATE,869,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,869,begin apogee
$GC,876,-0.17,0.0,2522,1812,3829,3793,95.7,-8.7,148,1089,0.85,0.00,199.82,1.053,10246,0.096,0.000,2704,1813,2696,2735,2657,0,0,0,0,0,0,14.73,14.31,13.93
$STATE,1090,end apogee,CONTROL_FINISHED_OK
$STATE,1091,begin climb
$GC,1093,0.77,272.5,2704,1813,2733,2659,110.0,0.0,186,1315,1.35,2.42,209.18,1.034,10500,0.063,0.045,3001,3197,1587,1630,1545,0,0,0,0,0,0,14.47,14.39,13.90
$GC,1338,0.77,272.5,3001,3197,1627,1543,91.8,14.3,228,1345,0.00,2.40,0.00,0.000,1030,0.000,0.050,3003,1812,1583,1627,1540,0,0,0,0,0,0,14.57,14.51,14.57
$GC,1412,0.77,272.5,3003,1813,1626,1541,80.9,14.8,241,1418,0.00,2.50,0.00,0.000,516,0.000,0.070,3003,387,1583,1625,1541,0,0,0,0,0,0,14.85,14.62,14.86
$GC,1466,0.77,272.5,3002,386,1623,1540,71.2,17.0,251,1473,0.00,2.35,0.00,0.000,1030,0.000,0.032,3003,1804,1582,1624,1541,0,0,0,0,0,0,14.81,14.73,14.83
$GC,1538,0.77,272.5,3002,1807,1623,1539,60.0,16.2,264,1544,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1807,1580,1622,1539,0,0,0,0,0,0,14.96,14.97,14.97
$GC,1608,0.77,272.5,3002,1807,1623,1539,49.5,15.5,277,1614,0.00,2.45,0.00,0.000,516,0.000,0.070,3003,390,1581,1623,1539,0,0,0,0,0,0,15.01,14.76,15.02
$GC,1628,0.77,272.5,3002,395,1622,1539,46.4,15.5,280,1635,0.00,2.33,0.00,0.000,1030,0.000,0.032,3003,1811,1580,1622,1539,0,0,0,0,0,0,14.90,14.83,14.92
$GC,1700,0.77,272.5,3002,1814,1622,1538,36.8,12.5,293,1706,0.00,2.30,0.00,0.000,2308,0.000,0.046,3003,3193,1578,1619,1538,0,0,0,0,0,0,15.04,14.78,15.05
$GC,1750,0.77,272.5,3002,3193,1621,1537,30.2,11.7,302,1757,0.00,2.38,0.00,0.000,1030,0.000,0.050,3003,1796,1579,1621,1537,0,0,0,0,0,0,14.87,14.78,14.90
$GC,1822,0.81,307.2,3003,1796,1622,1537,23.3,9.2,315,1857,0.00,2.45,25.88,0.917,10756,0.000,0.070,3002,399,1445,1493,1397,0,0,0,0,0,0,15.06,14.65,14.23
$GC,1912,0.86,345.3,3003,399,1490,1396,14.5,9.1,331,1947,0.05,2.30,26.15,0.855,11270,0.250,0.033,3038,1801,1288,1343,1234,0,0,0,0,0,0,14.69,14.81,14.14
$GC,2012,0.86,345.3,3038,1802,1342,1232,3.5,12.6,349,2018,0.00,0.00,0.00,0.000,4102,0.000,0.000,3038,1802,1286,1342,1231,0,0,0,0,0,0,14.95,14.95,14.96
$STATE,2022,end climb,SURFACE_DEPTH_REACHED
$STATE,2022,begin surface coast
$FINISH,0.1,1.025390
$STATE,2046,end surface coast,CONTROL_FINISHED_OK
$STATE,2046,begin surface
$SM_CCo,2072,113.25,0.785,0,0,599,515.37
$SM_GC,1.03,13.70,0.00,113.25,0.041,0.000,0.785,121,1803,599,-8.17,-0.25,515.37,0,0,0,0,0,0,14.81,15.01,14.12
$IRIDIUM_FIX,-3401.68,2536.77,230419,044410
$TT8_MAMPS,0.021721,0.92876
$HUMID,45.74
$INTERNAL_PRESSURE,9.32209
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,35.2
$SC_FREEKB,3633568
$24V_AH,13.38,160.231
$10V_AH,13.31,0.000
$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,17.250,56.825,461.025,113.250,0.000,0.000,0.000,0.000,2.000,0.000,0.000,685.260,279.374,583.622,628.019,156.081,0.000,980.468,0.000,540.783,0.000,14.655,0.000
$DEVICE_MAMPS,250.155,81.090,1053.405,784.890,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2097.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.302,0.000,0.000,0.000
$MEM,341056
$DATA_FILE_SIZE,10132,355
$CAP_FILE_SIZE,69092,0
$CFSIZE,2097086464,1991016448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230419,060831,-3417.628,2536.685,9,0.8,35,-27.8,1.4,287.4,10,6.8