version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 563
start: 4 23 119 14 16 43
data:
$ID,574
$MISSION,3
$DIVE,563
$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,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
$GPS1,230419,133907,-3418.5217,2529.5603,8,1.0,20,-27.8,0.0,263.7,8,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,5.5
$GPS2,230419,133907,-3418.5217,2529.5603,8,1.0,20,-27.8,0.0,263.7,8,9.7
$SPEED_LIMITS,0.173,0.352
$TGT_NAME,HEADING
$TGT_LATLONG,-3411.580,2519.559
$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,-292.0,2806,1809,2314,2222,0.0,0.0,0,53,0.00,0.00,-26.83,0.000,16386,0.000,0.000,2806,1810,3063,3085,3041,0,0,0,0,0,0,15.09,28.83,15.09
$GC,57,-0.78,-292.0,2806,1809,3086,3041,3.3,-3.3,5,87,1.30,2.42,-22.10,0.000,20740,0.076,0.075,2519,3216,3892,3911,3874,0,0,0,0,0,0,14.79,13.38,14.87
$GC,118,-0.78,-292.0,2518,3214,3912,3875,10.6,-11.5,15,124,0.00,2.35,0.00,0.000,5126,0.000,0.041,2519,1804,3893,3912,3874,0,0,0,0,0,0,14.97,14.87,14.99
$GC,190,-0.78,-292.0,2518,1803,3912,3874,19.4,-13.7,28,197,0.00,2.40,0.00,0.000,4612,0.000,0.063,2519,408,3893,3912,3874,0,0,0,0,0,0,15.11,14.78,15.11
$GC,210,-0.78,-292.0,2518,408,3912,3874,22.7,-14.8,31,217,0.00,2.33,0.00,0.000,5126,0.000,0.034,2519,1819,3893,3912,3875,0,0,0,0,0,0,14.92,14.83,14.93
$GC,282,-0.78,-292.0,2519,1822,3912,3875,31.8,-13.4,44,289,0.00,2.35,0.00,0.000,4356,0.000,0.054,2518,3216,3893,3912,3875,0,0,0,0,0,0,15.08,14.85,15.09
$GC,322,-0.78,-292.0,2518,3216,3913,3869,36.6,-9.7,51,329,0.00,2.35,0.00,0.000,5126,0.000,0.040,2519,1803,3893,3912,3875,0,0,0,0,0,0,14.97,14.88,14.99
$GC,395,-0.78,-292.0,2518,1804,3912,3875,43.1,-8.8,64,401,0.00,2.40,0.00,0.000,4612,0.000,0.062,2519,404,3893,3912,3874,0,0,0,0,0,0,15.11,14.78,15.11
$GC,435,-0.78,-292.0,2518,404,3912,3874,46.6,-7.6,71,442,0.00,2.33,0.00,0.000,5126,0.000,0.033,2519,1819,3893,3912,3875,0,0,0,0,0,0,14.92,14.84,14.94
$GC,508,-0.78,-292.0,2518,1822,3912,3875,52.7,-9.2,84,514,0.00,2.33,0.00,0.000,4356,0.000,0.054,2519,3207,3893,3912,3875,0,0,0,0,0,0,15.10,14.85,15.11
$GC,558,-0.78,-292.0,2518,3207,3913,3875,57.8,-9.3,93,565,0.00,2.30,0.00,0.000,5126,0.000,0.036,2518,1809,3893,3912,3875,0,0,0,0,0,0,14.98,14.89,15.00
$GC,632,-0.78,-292.0,2518,1808,3913,3875,65.1,-9.9,106,638,0.00,2.38,0.00,0.000,4612,0.000,0.060,2519,412,3894,3913,3875,0,0,0,0,0,0,15.11,14.85,15.11
$GC,677,-0.78,-292.0,2518,412,3912,3875,70.0,-10.9,114,684,0.00,2.30,0.00,0.000,5126,0.000,0.032,2517,1824,3893,3912,3874,0,0,0,0,0,0,14.98,14.90,15.00
$GC,749,-0.78,-292.0,2518,1825,3913,3875,77.4,-10.3,127,756,0.00,2.33,0.00,0.000,4356,0.000,0.050,2519,3210,3894,3913,3875,0,0,0,0,0,0,15.11,14.75,15.11
$GC,824,-0.78,-292.0,2518,3210,3913,3883,85.1,-10.6,140,830,0.00,2.30,0.00,0.000,5126,0.000,0.037,2518,1812,3893,3913,3874,0,0,0,0,0,0,14.87,14.81,14.88
$GC,896,-0.78,-292.0,2519,1812,3914,3875,93.0,-10.5,153,903,0.00,2.40,0.00,0.000,4612,0.000,0.060,2519,408,3893,3913,3874,0,0,0,0,0,0,15.12,14.84,15.12
$STATE,918,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,918,begin apogee
$GC,928,-0.17,0.0,2519,1798,3912,3875,95.5,-8.6,157,1151,0.88,0.00,213.73,1.044,10246,0.124,0.000,2698,1798,2697,2736,2658,0,0,0,0,0,0,14.72,14.42,13.93
$STATE,1153,end apogee,CONTROL_FINISHED_OK
$STATE,1153,begin climb
$GC,1156,0.78,292.0,2698,1798,2735,2660,112.7,0.0,197,1394,1.45,2.45,224.95,1.027,11012,0.063,0.047,3013,3200,1505,1551,1460,0,0,0,0,0,0,14.45,14.38,13.90
$GC,1478,0.78,292.0,3013,3200,1548,1458,81.1,14.3,254,1485,0.00,2.40,0.00,0.000,5126,0.000,0.050,3017,1807,1503,1548,1458,0,0,0,0,0,0,14.73,14.63,14.74
$GC,1550,0.78,292.0,3017,1807,1547,1457,70.4,16.2,267,1557,0.00,2.45,0.00,0.000,4612,0.000,0.069,3018,393,1501,1547,1456,0,0,0,0,0,0,14.91,14.69,14.92
$GC,1595,0.78,292.0,3018,394,1547,1456,63.3,16.0,275,1602,0.00,2.33,0.00,0.000,5126,0.000,0.031,3018,1806,1502,1548,1456,0,0,0,0,0,0,14.85,14.78,14.87
$GC,1667,0.78,292.0,3018,1810,1548,1455,52.4,15.7,288,1673,0.00,0.00,0.00,0.000,4102,0.000,0.000,3018,1810,1501,1547,1455,0,0,0,0,0,0,15.01,15.01,15.01
$GC,1737,0.78,292.0,3018,1809,1548,1456,42.5,12.6,301,1742,0.00,0.00,0.00,0.000,4102,0.000,0.000,3018,1809,1501,1547,1455,0,0,0,0,0,0,15.04,15.04,15.04
$GC,1806,0.78,292.0,3018,1809,1547,1455,35.0,10.0,314,1812,0.00,2.45,0.00,0.000,4612,0.000,0.068,3020,395,1501,1548,1455,0,0,0,0,0,0,15.06,14.69,15.06
$GC,1826,0.81,316.6,3019,394,1548,1455,33.1,9.4,317,1855,0.00,2.30,20.60,0.903,9222,0.000,0.031,3020,1812,1406,1456,1357,0,0,0,0,0,0,14.81,14.74,14.21
$GC,1919,0.81,316.6,3019,1812,1457,1357,22.4,12.0,334,1926,0.00,2.30,0.00,0.000,260,0.000,0.045,3020,3186,1406,1456,1357,0,0,0,0,0,0,14.99,14.78,15.00
$GC,1979,0.83,337.4,3019,3186,1455,1356,16.2,9.5,345,2002,0.00,2.35,14.20,0.834,11270,0.000,0.047,3018,1798,1322,1376,1269,0,0,0,0,0,0,14.90,14.81,14.21
$GC,2067,0.83,337.4,3019,1798,1376,1268,7.7,10.3,361,2073,0.00,0.00,0.00,0.000,2054,0.000,0.000,3020,1798,1321,1375,1267,0,0,0,0,0,0,15.01,15.02,15.02
$STATE,2113,end climb,SURFACE_DEPTH_REACHED
$STATE,2114,begin surface coast
$FINISH,0.4,1.025476
$STATE,2137,end surface coast,CONTROL_FINISHED_OK
$STATE,2137,begin surface
$SM_CCo,2163,118.55,0.781,0,0,597,515.37
$SM_GC,0.90,13.52,0.00,118.55,0.037,0.000,0.781,124,1795,597,-8.17,-0.48,515.37,0,0,0,0,0,0,14.85,15.06,14.12
$IRIDIUM_FIX,-3406.89,2529.71,230419,120629
$TT8_MAMPS,0.020972,0.95123
$HUMID,44.92
$INTERNAL_PRESSURE,9.33186
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,35.1
$SC_FREEKB,3627424
$24V_AH,13.38,162.644
$10V_AH,13.40,0.000
$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,17.150,56.600,473.475,118.550,0.000,0.000,0.000,0.000,2.000,0.000,0.000,712.108,294.385,605.536,658.528,160.048,0.000,1018.836,0.000,566.289,0.000,16.832,0.000
$DEVICE_MAMPS,123.930,74.970,1044.225,781.065,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2192.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.938,0.000,0.000,0.000
$MEM,341056
$DATA_FILE_SIZE,10112,374
$CAP_FILE_SIZE,70989,0
$CFSIZE,2097086464,1989050368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230419,145601,-3418.181,2527.958,8,0.9,33,-27.7,1.5,282.3,10,4.8