version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 561
start: 4 23 119 12 49 31
data:
$ID,574
$MISSION,3
$DIVE,561
$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,32
$R_STBD_OVSHOOT,48
$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
$GPS1,230419,121500,-3419.0149,2531.2744,8,1.0,48,-27.8,0.3,239.6,7,3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.81
$_SM_ANGLEo,2.0
$GPS2,230419,121500,-3419.0149,2531.2744,8,1.0,48,-27.8,0.3,239.6,7,3.8
$SPEED_LIMITS,0.173,0.352
$TGT_NAME,HEADING
$TGT_LATLONG,-3412.073,2521.272
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.78,-292.0,2806,1803,2305,2234,0.0,0.0,0,32,0.00,0.00,-5.75,0.000,16386,0.000,0.000,2806,1803,2483,2518,2449,0,0,0,0,0,0,15.06,28.83,15.07
$GC,35,-0.78,-292.0,2806,1803,2519,2449,6.1,0.0,1,81,1.30,2.42,-33.90,0.000,20996,0.086,0.080,2524,402,3892,3910,3875,0,0,0,0,0,0,14.70,13.43,14.76
$GC,126,-0.78,-292.0,2524,402,3913,3875,14.6,-9.6,17,132,0.00,2.33,0.00,0.000,5126,0.000,0.033,2522,1814,3894,3913,3875,0,0,0,0,0,0,14.92,14.83,14.92
$GC,195,-0.78,-292.0,2522,1816,3913,3875,23.8,-14.9,30,202,0.00,2.35,0.00,0.000,4356,0.000,0.054,2522,3206,3894,3913,3875,0,0,0,0,0,0,15.09,14.78,15.09
$GC,244,-0.78,-292.0,2522,3206,3914,3875,30.3,-11.5,39,251,0.00,2.35,0.00,0.000,5126,0.000,0.041,2522,1799,3894,3913,3875,0,0,0,0,0,0,14.85,14.75,14.86
$GC,317,-0.78,-292.0,2523,1799,3913,3875,38.2,-11.6,52,323,0.00,2.40,0.00,0.000,4612,0.000,0.063,2521,407,3893,3913,3874,0,0,0,0,0,0,15.09,14.83,15.10
$GC,347,-0.78,-292.0,2522,406,3913,3875,41.3,-8.3,57,354,0.00,2.30,0.00,0.000,5126,0.000,0.032,2522,1814,3894,3913,3875,0,0,0,0,0,0,14.97,14.88,14.98
$GC,419,-0.78,-292.0,2522,1816,3913,3874,46.6,-8.6,70,425,0.00,0.00,0.00,0.000,4102,0.000,0.000,2522,1816,3894,3914,3875,0,0,0,0,0,0,15.09,15.09,15.09
$GC,490,-0.78,-292.0,2522,1816,3914,3875,55.0,-12.2,83,496,0.00,0.00,0.00,0.000,4102,0.000,0.000,2522,1816,3894,3914,3875,0,0,0,0,0,0,15.10,15.14,15.11
$GC,561,-0.78,-292.0,2522,1816,3914,3875,61.2,-5.8,96,567,0.00,0.00,0.00,0.000,4102,0.000,0.000,2522,1816,3894,3914,3875,0,0,0,0,0,0,15.11,15.14,15.11
$GC,632,-0.78,-292.0,2522,1817,3914,3875,65.5,-6.3,109,639,0.00,2.38,0.00,0.000,4356,0.000,0.055,2522,3213,3894,3914,3874,0,0,0,0,0,0,15.10,14.83,15.10
$GC,657,-0.78,-292.0,2522,3213,3914,3870,67.4,-6.8,113,664,0.00,2.33,0.00,0.000,5126,0.000,0.038,2522,1809,3894,3914,3875,0,0,0,0,0,0,14.97,14.88,14.98
$GC,732,-0.78,-292.0,2522,1809,3914,3875,73.4,-7.2,126,738,0.00,2.38,0.00,0.000,4612,0.000,0.059,2522,411,3894,3914,3875,0,0,0,0,0,0,15.10,14.85,15.10
$GC,772,-0.78,-292.0,2522,411,3913,3875,77.3,-9.0,133,779,0.00,2.30,0.00,0.000,5126,0.000,0.030,2522,1833,3894,3914,3875,0,0,0,0,0,0,14.98,14.91,15.00
$GC,845,-0.78,-292.0,2522,1834,3914,3875,84.6,-10.5,146,851,0.00,2.30,0.00,0.000,4356,0.000,0.053,2522,3197,3894,3914,3875,0,0,0,0,0,0,15.11,14.73,15.11
$STATE,856,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,856,begin apogee
$GC,866,-0.17,0.0,2522,1792,3914,3875,86.5,-11.2,148,1088,0.80,0.00,213.68,1.037,10246,0.109,0.000,2689,1790,2698,2736,2661,0,0,0,0,0,0,14.64,14.40,13.90
$STATE,1090,end apogee,CONTROL_FINISHED_OK
$STATE,1090,begin climb
$GC,1093,0.78,292.0,2689,1790,2734,2660,105.4,0.0,188,1331,1.50,2.42,224.50,1.025,11012,0.072,0.042,3010,3180,1505,1551,1460,0,0,0,0,0,0,14.45,14.38,13.89
$GC,1369,0.78,292.0,3010,3177,1549,1459,90.2,18.5,236,1376,0.00,2.38,0.00,0.000,1030,0.000,0.050,3010,1815,1503,1548,1458,0,0,0,0,0,0,14.57,14.47,14.59
$GC,1441,0.78,292.0,3010,1816,1548,1456,78.0,15.3,249,1447,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1816,1502,1548,1456,0,0,0,0,0,0,14.86,14.88,14.87
$GC,1510,0.78,292.0,3010,1815,1548,1456,66.6,13.3,262,1516,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1815,1502,1549,1456,0,0,0,0,0,0,14.94,14.95,14.95
$GC,1579,0.78,292.0,3010,1815,1548,1455,57.9,12.6,275,1585,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1815,1501,1547,1455,0,0,0,0,0,0,14.98,15.00,14.99
$GC,1648,0.78,292.0,3010,1815,1548,1455,47.2,16.1,288,1655,0.00,2.47,0.00,0.000,516,0.000,0.070,3010,386,1501,1548,1455,0,0,0,0,0,0,15.02,14.66,15.02
$GC,1678,0.78,292.0,3010,386,1547,1455,42.6,14.5,293,1685,0.00,2.30,0.00,0.000,1030,0.000,0.031,3010,1790,1501,1547,1455,0,0,0,0,0,0,14.82,14.76,14.83
$GC,1751,0.78,292.0,3010,1792,1547,1455,33.4,12.8,306,1757,0.00,2.45,0.00,0.000,516,0.000,0.069,3011,387,1501,1547,1455,0,0,0,0,0,0,15.04,14.78,15.05
$GC,1785,0.78,292.0,3011,387,1547,1455,28.3,12.8,312,1792,0.00,2.33,0.00,0.000,1030,0.000,0.031,3011,1804,1501,1547,1455,0,0,0,0,0,0,14.92,14.85,14.94
$GC,1859,0.83,332.3,3011,1806,1547,1454,21.0,9.1,325,1894,0.00,2.38,29.42,0.895,10500,0.000,0.045,3011,3192,1344,1397,1292,0,0,0,0,0,0,15.07,14.70,14.22
$GC,1934,0.83,332.3,3011,3192,1395,1291,14.5,10.2,338,1941,0.00,2.38,0.00,0.000,3078,0.000,0.050,3011,1799,1343,1395,1291,0,0,0,0,0,0,14.81,14.71,14.82
$GC,2007,0.99,463.4,3011,1799,1396,1290,7.9,7.0,351,2042,0.17,0.00,31.90,0.802,10754,0.096,0.000,3076,1799,1150,1211,1090,0,0,0,0,0,0,14.73,28.83,14.78
$STATE,2043,end climb,SURFACE_DEPTH_REACHED
$STATE,2043,begin surface coast
$FINISH,0.1,1.011838
$STATE,2061,end surface coast,CONTROL_FINISHED_OK
$STATE,2061,begin surface
$SM_CCo,2087,90.80,0.786,0,0,598,515.37
$SM_GC,0.90,13.93,0.00,90.80,0.038,0.000,0.786,122,1796,598,-8.18,-0.45,515.37,0,0,0,0,0,0,14.76,14.94,14.08
$IRIDIUM_FIX,-3406.89,2532.06,230419,103948
$TT8_MAMPS,0.021721,0.914529
$HUMID,45.03
$INTERNAL_PRESSURE,9.31233
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.3,35.4
$SC_FREEKB,3628448
$24V_AH,13.43,162.246
$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,17.700,49.650,499.500,90.800,0.000,0.000,0.000,0.000,1.500,0.000,0.000,678.640,272.390,587.570,632.445,154.411,0.000,994.183,0.000,551.214,0.000,11.620,0.000
$DEVICE_MAMPS,109.395,80.325,1037.340,786.420,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2111.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.205,0.000,0.000,0.000
$MEM,341064
$DATA_FILE_SIZE,10110,360
$CAP_FILE_SIZE,68286,0
$CFSIZE,2097086464,1989378048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230419,132721,-3418.578,2529.827,8,1.3,48,-27.8,0.7,324.5,7,4.5