version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 557
start: 4 23 119 9 54 45
data:
$ID,574
$MISSION,3
$DIVE,557
$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,180
$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,33
$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
$GPS1,230419,091437,-3418.7935,2534.2866,8,0.7,18,-27.8,2.2,282.1,11,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.31
$_SM_ANGLEo,1.2
$GPS2,230419,091437,-3418.7935,2534.2866,8,0.7,18,-27.8,2.2,282.1,11,9.2
$SPEED_LIMITS,0.173,0.352
$TGT_NAME,HEADING
$TGT_LATLONG,-3429.593,2534.287
$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,207.8,20000,-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,-292.0,2807,1808,2311,2227,0.0,0.0,0,32,0.00,0.00,-5.85,0.000,16386,0.000,0.000,2808,1808,2445,2486,2404,0,0,0,0,0,0,15.00,28.83,15.03
$GC,36,-0.78,-292.0,2807,1808,2486,2405,3.5,0.0,1,87,1.30,2.45,-40.33,0.000,20996,0.075,0.086,2521,407,3890,3907,3874,0,0,0,0,0,0,14.68,13.38,14.73
$GC,142,-0.78,-292.0,2521,408,3907,3874,15.5,-12.2,20,149,0.00,2.30,0.00,0.000,5126,0.000,0.034,2521,1801,3891,3908,3874,0,0,0,0,0,0,14.94,14.85,14.95
$GC,214,-0.78,-292.0,2521,1802,3908,3874,25.2,-15.1,33,221,0.00,2.38,0.00,0.000,4356,0.000,0.054,2521,3209,3891,3908,3874,0,0,0,0,0,0,15.06,14.73,15.06
$GC,284,-0.78,-292.0,2521,3208,3909,3875,35.0,-12.3,46,291,0.00,2.33,0.00,0.000,5126,0.000,0.039,2521,1806,3891,3908,3874,0,0,0,0,0,0,14.95,14.85,14.97
$GC,357,-0.78,-292.0,2521,1806,3909,3874,43.8,-12.9,59,362,0.00,0.00,0.00,0.000,4102,0.000,0.000,2521,1804,3891,3909,3874,0,0,0,0,0,0,15.09,15.09,15.09
$GC,426,-0.78,-292.0,2521,1806,3909,3874,52.6,-11.7,72,433,0.00,2.40,0.00,0.000,4612,0.000,0.063,2520,411,3891,3909,3874,0,0,0,0,0,0,15.09,14.78,15.09
$GC,451,-0.78,-292.0,2521,411,3909,3874,55.5,-11.8,76,458,0.00,2.30,0.00,0.000,5126,0.000,0.033,2521,1815,3891,3909,3874,0,0,0,0,0,0,14.91,14.83,14.92
$GC,524,-0.78,-292.0,2521,1817,3910,3874,62.2,-8.3,89,530,0.00,2.35,0.00,0.000,4356,0.000,0.054,2521,3210,3892,3910,3874,0,0,0,0,0,0,15.08,14.83,15.09
$GC,579,-0.78,-292.0,2521,3209,3910,3874,66.1,-6.6,99,586,0.00,2.33,0.00,0.000,5126,0.000,0.036,2521,1802,3890,3906,3874,0,0,0,0,0,0,14.96,14.87,14.97
$GC,653,-0.78,-292.0,2521,1802,3910,3874,71.3,-7.1,112,660,0.00,2.38,0.00,0.000,4612,0.000,0.061,2521,412,3892,3910,3874,0,0,0,0,0,0,15.09,14.83,15.09
$GC,708,-0.78,-292.0,2521,412,3910,3874,76.2,-9.9,122,715,0.00,2.30,0.00,0.000,5126,0.000,0.033,2521,1818,3892,3910,3874,0,0,0,0,0,0,14.97,14.88,14.98
$GC,781,-0.78,-292.0,2520,1819,3910,3874,82.6,-9.6,135,787,0.00,2.35,0.00,0.000,4356,0.000,0.051,2521,3211,3892,3910,3874,0,0,0,0,0,0,15.09,14.78,15.10
$GC,822,-0.78,-292.0,2521,3211,3910,3875,87.1,-10.1,142,829,0.00,2.33,0.00,0.000,5126,0.000,0.039,2521,1816,3892,3910,3874,0,0,0,0,0,0,14.96,14.87,14.97
$GC,895,-0.78,-292.0,2521,1815,3910,3874,94.5,-11.0,155,901,0.00,2.38,0.00,0.000,4356,0.000,0.054,2521,3210,3892,3910,3874,0,0,0,0,0,0,15.09,14.72,15.09
$GC,929,-0.78,-292.0,2521,3210,3910,3874,98.4,-9.5,161,936,0.00,2.33,0.00,0.000,5126,0.000,0.038,2521,1808,3892,3910,3874,0,0,0,0,0,0,14.87,14.85,14.88
$STATE,941,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,941,begin apogee
$GC,948,-0.17,0.0,2522,1807,3910,3874,99.9,-10.0,163,1171,0.85,0.00,214.62,1.063,10246,0.098,0.000,2702,1806,2699,2736,2663,0,0,0,0,0,0,14.70,14.41,13.90
$STATE,1172,end apogee,CONTROL_FINISHED_OK
$STATE,1173,begin climb
$GC,1175,0.78,292.0,2702,1806,2734,2660,112.4,0.0,203,1413,1.42,2.45,224.02,1.046,10500,0.061,0.046,3015,3196,1507,1552,1462,0,0,0,0,0,0,14.43,14.36,13.86
$GC,1421,0.78,292.0,3015,3196,1551,1461,96.1,17.4,245,1428,0.00,2.42,0.00,0.000,5126,0.000,0.050,3016,1811,1506,1551,1461,0,0,0,0,0,0,14.48,14.39,14.50
$GC,1494,0.78,292.0,3016,1812,1550,1459,84.7,16.7,258,1500,0.00,2.53,0.00,0.000,4612,0.000,0.072,3016,386,1504,1549,1459,0,0,0,0,0,0,14.81,14.57,14.81
$GC,1539,0.78,292.0,3017,386,1549,1459,77.3,15.5,266,1545,0.00,2.35,0.00,0.000,5126,0.000,0.031,3017,1809,1503,1548,1459,0,0,0,0,0,0,14.78,14.69,14.78
$GC,1610,0.78,292.0,3016,1812,1547,1458,67.8,13.6,279,1616,0.00,0.00,0.00,0.000,4102,0.000,0.000,3017,1811,1503,1548,1458,0,0,0,0,0,0,14.93,14.94,14.93
$GC,1679,0.78,292.0,3016,1812,1548,1457,57.2,14.4,292,1686,0.00,2.33,0.00,0.000,4356,0.000,0.046,3016,3196,1502,1548,1457,0,0,0,0,0,0,14.98,14.76,14.99
$GC,1699,0.78,292.0,3016,3195,1547,1457,54.3,14.3,295,1706,0.00,2.40,0.00,0.000,5126,0.000,0.050,3017,1788,1502,1547,1457,0,0,0,0,0,0,14.88,14.76,14.89
$GC,1771,0.78,292.0,3016,1788,1547,1457,43.9,14.9,308,1778,0.00,2.42,0.00,0.000,4612,0.000,0.070,3017,385,1502,1547,1457,0,0,0,0,0,0,15.02,14.68,15.02
$GC,1816,0.78,292.0,3017,389,1547,1456,36.8,14.9,316,1823,0.00,2.30,0.00,0.000,5126,0.000,0.031,3016,1788,1501,1547,1456,0,0,0,0,0,0,14.83,14.76,14.85
$GC,1889,0.78,292.0,3017,1791,1547,1456,27.9,10.6,329,1895,0.00,2.35,0.00,0.000,4356,0.000,0.045,3017,3201,1503,1551,1456,0,0,0,0,0,0,15.04,14.82,15.05
$GC,1924,0.83,332.3,3017,3201,1547,1456,24.2,9.1,335,1964,0.00,2.38,31.00,0.927,11270,0.000,0.050,3017,1799,1341,1393,1290,0,0,0,0,0,0,14.93,14.82,14.16
$GC,2028,0.83,332.3,3017,1799,1393,1290,14.8,10.3,354,2034,0.00,2.47,0.00,0.000,2564,0.000,0.070,3016,387,1340,1393,1288,0,0,0,0,0,0,14.97,14.71,14.97
$GC,2068,0.83,332.3,3017,386,1392,1288,10.3,11.5,361,2075,0.00,2.35,0.00,0.000,3078,0.000,0.031,3017,1815,1340,1392,1288,0,0,0,0,0,0,14.88,14.78,14.88
$GC,2140,0.83,332.3,3017,1817,1392,1287,3.1,10.2,374,2146,0.00,2.30,0.00,0.000,2308,0.000,0.042,3017,3193,1339,1392,1287,0,0,0,0,0,0,15.00,14.78,15.00
$STATE,2151,end climb,SURFACE_DEPTH_REACHED
$STATE,2151,begin surface coast
$FINISH,0.2,1.024522
$STATE,2178,end surface coast,CONTROL_FINISHED_OK
$STATE,2178,begin surface
$SM_CCo,2206,125.75,0.798,0,0,597,515.37
$SM_GC,0.88,13.50,2.38,125.75,0.037,0.047,0.798,113,1811,597,-8.17,1.07,515.37,0,0,0,0,0,0,14.87,14.82,14.09
$IRIDIUM_FIX,-3404.29,2534.42,230419,073512
$TT8_MAMPS,0.021721,0.947485
$HUMID,45.31
$INTERNAL_PRESSURE,9.2928
$TCM_TEMP,19.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.3,33.9
$SC_FREEKB,3630496
$24V_AH,13.38,161.437
$10V_AH,13.33,0.000
$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,17.075,66.300,469.650,125.750,0.000,0.000,0.000,0.000,2.250,0.000,0.000,732.729,294.318,621.147,673.501,161.316,0.000,1046.101,0.000,579.381,0.000,16.176,0.000
$DEVICE_MAMPS,97.920,85.680,1063.350,797.895,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2232.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.099,0.000,0.000,0.000
$MEM,341064
$DATA_FILE_SIZE,10154,381
$CAP_FILE_SIZE,74358,0
$CFSIZE,2097086464,1990033408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230419,103508,-3419.299,2533.272,6,1.1,46,-27.8,0.6,302.5,7,4.7