version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 559
start: 4 23 119 11 23 59
data:
$ID,574
$MISSION,3
$DIVE,559
$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,29
$R_STBD_OVSHOOT,46
$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
$GPS1,230419,104739,-3419.3347,2533.0415,8,0.9,16,-27.8,0.8,327.2,8,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.95
$_SM_ANGLEo,2.5
$GPS2,230419,104739,-3419.3347,2533.0415,8,0.9,16,-27.8,0.8,327.2,8,9.9
$SPEED_LIMITS,0.173,0.352
$TGT_NAME,HEADING
$TGT_LATLONG,-3412.393,2523.039
$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,337.8,20000,-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,-292.0,2809,1810,2313,2222,0.0,0.0,0,33,0.00,0.00,-6.45,0.000,16386,0.000,0.000,2809,1810,2521,2564,2478,0,0,0,0,0,0,15.09,28.83,15.09
$GC,36,-0.78,-292.0,2809,1811,2565,2478,6.7,0.0,1,76,1.35,2.38,-31.77,0.000,20740,0.090,0.076,2521,3214,3893,3910,3876,0,0,0,0,0,0,14.70,14.00,14.77
$GC,156,-0.78,-292.0,2521,3214,3910,3876,18.4,-10.4,23,163,0.00,2.38,0.00,0.000,5126,0.000,0.041,2520,1799,3893,3911,3876,0,0,0,0,0,0,14.95,14.83,14.97
$GC,228,-0.78,-292.0,2521,1799,3910,3876,26.0,-11.2,36,235,0.00,2.38,0.00,0.000,4612,0.000,0.063,2521,410,3892,3909,3876,0,0,0,0,0,0,15.09,14.84,15.09
$GC,258,-0.78,-292.0,2521,409,3910,3876,29.9,-12.5,41,265,0.00,2.30,0.00,0.000,5126,0.000,0.033,2521,1815,3893,3910,3876,0,0,0,0,0,0,14.98,14.90,15.00
$GC,331,-0.78,-292.0,2520,1817,3910,3877,36.6,-9.1,54,338,0.00,2.38,0.00,0.000,4356,0.000,0.054,2521,3210,3893,3910,3877,0,0,0,0,0,0,15.11,14.79,15.11
$GC,376,-0.78,-292.0,2521,3210,3910,3876,39.8,-6.3,62,383,0.00,2.35,0.00,0.000,5126,0.000,0.037,2523,1805,3893,3910,3876,0,0,0,0,0,0,14.97,14.87,14.98
$GC,449,-0.78,-292.0,2521,1805,3910,3877,45.0,-7.9,75,456,0.00,2.38,0.00,0.000,4612,0.000,0.061,2521,414,3893,3910,3877,0,0,0,0,0,0,15.10,14.73,15.10
$GC,494,-0.78,-292.0,2521,413,3910,3876,49.9,-10.4,83,502,0.00,2.30,0.00,0.000,5126,0.000,0.033,2521,1822,3893,3911,3876,0,0,0,0,0,0,14.90,14.89,14.90
$GC,567,-0.78,-292.0,2521,1822,3910,3876,57.6,-11.3,96,574,0.00,2.33,0.00,0.000,4356,0.000,0.051,2521,3206,3893,3911,3876,0,0,0,0,0,0,15.09,14.85,15.08
$GC,613,-0.78,-292.0,2521,3206,3910,3876,63.6,-13.7,104,620,0.00,2.33,0.00,0.000,5126,0.000,0.039,2521,1806,3894,3911,3877,0,0,0,0,0,0,14.97,14.87,14.98
$GC,687,-0.78,-292.0,2521,1806,3910,3876,71.7,-10.8,117,693,0.00,2.40,0.00,0.000,4612,0.000,0.061,2521,407,3893,3910,3876,0,0,0,0,0,0,15.11,14.83,15.11
$GC,739,-0.78,-292.0,2521,407,3911,3876,77.7,-11.7,126,746,0.00,2.30,0.00,0.000,5126,0.000,0.034,2521,1809,3893,3910,3876,0,0,0,0,0,0,14.97,14.88,14.98
$GC,812,-0.78,-292.0,2520,1809,3911,3877,83.8,-8.1,139,818,0.00,2.38,0.00,0.000,4356,0.000,0.051,2521,3214,3893,3911,3876,0,0,0,0,0,0,15.11,14.84,15.11
$GC,889,-0.78,-292.0,2521,3214,3911,3876,89.6,-7.3,153,896,0.00,2.33,0.00,0.000,5126,0.000,0.038,2521,1810,3893,3911,3876,0,0,0,0,0,0,14.97,14.88,14.98
$STATE,900,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,901,begin apogee
$GC,908,-0.17,0.0,2521,1810,3911,3876,91.1,-8.5,155,1131,0.77,0.00,214.35,1.052,10246,0.081,0.000,2692,1810,2700,2736,2664,0,0,0,0,0,0,14.73,14.41,13.89
$STATE,1133,end apogee,CONTROL_FINISHED_OK
$STATE,1133,begin climb
$GC,1136,0.78,292.0,2692,1810,2733,2662,107.1,0.0,195,1371,1.45,0.00,225.68,1.036,11014,0.047,0.000,3032,1809,1506,1551,1461,0,0,0,0,0,0,14.47,14.26,13.88
$GC,1436,0.78,292.0,3032,1809,1548,1460,81.3,19.0,248,1444,0.08,2.38,0.00,0.000,4356,0.288,0.044,3014,3196,1503,1548,1459,0,0,0,0,0,0,14.45,14.52,14.55
$GC,1477,0.78,292.0,3013,3196,1547,1458,73.7,16.8,255,1484,0.00,2.40,0.00,0.000,5126,0.000,0.052,3013,1811,1502,1548,1457,0,0,0,0,0,0,14.71,14.60,14.72
$GC,1549,0.78,292.0,3013,1811,1547,1457,62.7,15.6,268,1556,0.00,2.47,0.00,0.000,4612,0.000,0.070,3021,389,1502,1547,1457,0,0,0,0,0,0,14.92,14.68,14.92
$GC,1579,0.78,292.0,3020,389,1547,1456,57.8,15.7,273,1586,0.00,2.33,0.00,0.000,5126,0.000,0.031,3021,1801,1501,1546,1457,0,0,0,0,0,0,14.85,14.78,14.86
$GC,1652,0.78,292.0,3020,1803,1547,1456,48.7,13.7,286,1658,0.00,2.35,0.00,0.000,4356,0.000,0.047,3020,3203,1501,1547,1456,0,0,0,0,0,0,15.00,14.69,15.00
$GC,1687,0.78,292.0,3020,3202,1546,1463,43.4,15.4,292,1694,0.05,2.40,0.00,0.000,5126,0.342,0.050,3014,1805,1500,1546,1455,0,0,0,0,0,0,14.57,14.73,14.79
$GC,1760,0.78,292.0,3012,1799,1546,1455,32.7,15.9,305,1766,0.00,2.45,0.00,0.000,4612,0.000,0.070,3020,381,1500,1546,1455,0,0,0,0,0,0,15.02,14.76,15.02
$GC,1794,0.78,292.0,3020,381,1546,1456,27.0,15.3,311,1801,0.00,2.35,0.00,0.000,5126,0.000,0.031,3020,1810,1501,1546,1456,0,0,0,0,0,0,14.92,14.85,14.93
$GC,1866,0.78,292.0,3019,1813,1546,1455,18.0,12.4,324,1872,0.00,0.00,0.00,0.000,4102,0.000,0.000,3020,1813,1500,1546,1455,0,0,0,0,0,0,15.04,15.04,15.04
$GC,1935,0.85,353.0,3019,1813,1546,1455,10.6,8.6,337,1981,0.00,2.38,40.72,0.837,10500,0.000,0.045,3020,3194,1258,1315,1201,0,0,0,0,0,0,15.07,14.66,14.23
$GC,2007,0.85,353.0,3019,3197,1315,1198,3.6,11.9,349,2013,0.00,2.42,0.00,0.000,3078,0.000,0.050,3020,1784,1256,1315,1198,0,0,0,0,0,0,14.78,14.66,14.78
$STATE,2018,end climb,SURFACE_DEPTH_REACHED
$STATE,2018,begin surface coast
$FINISH,0.2,1.025542
$STATE,2045,end surface coast,CONTROL_FINISHED_OK
$STATE,2045,begin surface
$SM_CCo,2073,109.47,0.782,0,0,599,515.37
$SM_GC,0.90,13.60,0.00,109.47,0.037,0.000,0.782,125,1782,599,-8.18,-0.85,515.37,0,0,0,0,0,0,14.80,14.99,14.09
$IRIDIUM_FIX,-3406.89,2532.06,230419,090705
$TT8_MAMPS,0.02247,0.900298
$HUMID,45.51
$INTERNAL_PRESSURE,9.30256
$TCM_TEMP,19.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,75.1,35.5
$SC_FREEKB,3629472
$24V_AH,13.88,161.831
$10V_AH,13.30,0.000
$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,17.300,59.150,480.750,109.475,0.000,0.000,0.000,0.000,1.750,0.000,0.000,678.735,277.229,590.194,626.891,158.319,0.000,990.243,0.000,543.676,0.000,13.129,0.000
$DEVICE_MAMPS,341.955,76.500,1051.875,781.830,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2096.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.321,0.000,0.000,0.000
$MEM,341056
$DATA_FILE_SIZE,10134,356
$CAP_FILE_SIZE,68775,0
$CFSIZE,2097086464,1989705728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230419,120152,-3419.033,2531.565,7,1.0,47,-27.8,0.6,300.0,7,4.3