version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 565
start: 4 23 119 15 46 47
data:
$ID,574
$MISSION,3
$DIVE,565
$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,31
$R_STBD_OVSHOOT,55
$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
$GPS1,230419,150803,-3418.1707,2527.6670,8,0.9,14,-27.7,0.4,174.3,10,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.75
$_SM_ANGLEo,3.1
$GPS2,230419,150803,-3418.1707,2527.6670,8,0.9,14,-27.7,0.4,174.3,10,9.7
$SPEED_LIMITS,0.173,0.352
$TGT_NAME,HEADING
$TGT_LATLONG,-3411.229,2517.666
$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,337.7,20000,-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,-292.0,2808,1797,2321,2229,0.0,0.0,0,31,0.00,0.00,-5.47,0.000,16386,0.000,0.000,2808,1793,2474,2519,2430,0,0,0,0,0,0,15.12,28.83,15.11
$GC,35,-0.78,-292.0,2808,1793,2520,2430,5.7,0.0,1,81,1.33,2.40,-34.33,0.000,20996,0.086,0.080,2521,400,3893,3911,3875,0,0,0,0,0,0,14.81,13.36,14.87
$GC,107,-0.78,-292.0,2520,400,3912,3874,12.5,-11.7,13,113,0.00,2.30,0.00,0.000,5126,0.000,0.033,2521,1805,3893,3912,3875,0,0,0,0,0,0,14.99,14.90,15.00
$GC,179,-0.78,-292.0,2521,1808,3912,3875,21.3,-13.1,26,185,0.00,2.35,0.00,0.000,4356,0.000,0.052,2521,3205,3893,3912,3875,0,0,0,0,0,0,15.11,14.75,15.11
$GC,233,-0.78,-292.0,2521,3206,3912,3875,28.1,-10.4,36,240,0.00,2.33,0.00,0.000,5126,0.000,0.038,2521,1805,3893,3912,3874,0,0,0,0,0,0,14.99,14.88,15.00
$GC,306,-0.78,-292.0,2521,1804,3913,3875,36.4,-11.8,49,312,0.00,2.40,0.00,0.000,4612,0.000,0.063,2521,408,3894,3913,3875,0,0,0,0,0,0,15.12,14.79,15.12
$GC,335,-0.78,-292.0,2521,408,3912,3875,39.6,-10.8,54,342,0.00,2.30,0.00,0.000,5126,0.000,0.032,2521,1813,3893,3912,3875,0,0,0,0,0,0,14.93,14.85,14.95
$GC,408,-0.78,-292.0,2521,1816,3912,3875,45.3,-8.6,67,414,0.00,2.35,0.00,0.000,4356,0.000,0.053,2521,3213,3894,3913,3875,0,0,0,0,0,0,15.09,14.85,15.10
$GC,458,-0.78,-292.0,2521,3212,3913,3874,49.2,-6.1,76,465,0.00,2.33,0.00,0.000,5126,0.000,0.037,2520,1806,3894,3913,3875,0,0,0,0,0,0,14.97,14.88,15.00
$GC,531,-0.78,-292.0,2521,1805,3913,3875,53.8,-5.9,89,537,0.00,2.40,0.00,0.000,4612,0.000,0.060,2521,401,3893,3912,3875,0,0,0,0,0,0,15.12,14.79,15.12
$GC,566,-0.78,-292.0,2521,401,3912,3875,56.1,-6.7,95,573,0.00,2.33,0.00,0.000,5126,0.000,0.032,2521,1823,3893,3912,3875,0,0,0,0,0,0,14.98,14.90,15.00
$GC,639,-0.78,-292.0,2520,1823,3909,3875,61.3,-7.4,108,646,0.00,2.33,0.00,0.000,4356,0.000,0.052,2521,3206,3893,3912,3875,0,0,0,0,0,0,15.11,14.72,15.11
$GC,664,-0.78,-292.0,2521,3206,3913,3875,63.6,-8.4,112,671,0.00,2.33,0.00,0.000,5126,0.000,0.037,2521,1806,3893,3912,3875,0,0,0,0,0,0,14.84,14.76,14.86
$GC,737,-0.78,-292.0,2521,1805,3912,3875,69.7,-9.7,125,747,0.00,2.38,0.00,0.000,4612,0.000,0.061,2520,411,3894,3913,3875,0,0,0,0,0,0,15.11,14.84,15.11
$GC,791,-0.78,-292.0,2520,411,3913,3875,76.1,-12.6,134,798,0.00,2.30,0.00,0.000,5126,0.000,0.032,2521,1813,3894,3913,3875,0,0,0,0,0,0,14.95,14.83,14.97
$GC,864,-0.78,-292.0,2520,1815,3913,3875,84.8,-12.7,147,874,0.00,2.42,0.00,0.000,4612,0.000,0.058,2521,407,3894,3913,3875,0,0,0,0,0,0,15.11,14.73,15.11
$GC,898,-0.78,-292.0,2520,407,3913,3875,89.6,-13.3,152,905,0.00,2.30,0.00,0.000,5126,0.000,0.031,2521,1825,3894,3913,3875,0,0,0,0,0,0,14.98,14.91,15.00
$STATE,968,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,968,begin apogee
$GC,974,-0.17,0.0,2521,1825,3913,3875,98.7,-12.7,165,1200,0.85,0.00,214.00,1.059,10246,0.094,0.000,2704,1824,2699,2736,2662,0,0,0,0,0,0,14.81,14.26,13.88
$STATE,1202,end apogee,CONTROL_FINISHED_OK
$STATE,1202,begin climb
$GC,1205,0.78,292.0,2705,1825,2735,2660,115.7,0.0,205,1442,1.40,2.38,224.73,1.036,11012,0.051,0.049,3033,3182,1506,1551,1461,0,0,0,0,0,0,14.52,14.38,13.85
$GC,1522,0.78,292.0,3032,3182,1547,1459,81.3,18.3,261,1530,0.10,2.38,0.00,0.000,5126,0.259,0.051,3014,1811,1503,1547,1459,0,0,0,0,0,0,14.50,14.62,14.68
$GC,1595,0.78,292.0,3014,1811,1547,1456,69.1,16.8,274,1602,0.00,2.47,0.00,0.000,4612,0.000,0.070,3014,394,1502,1547,1457,0,0,0,0,0,0,14.93,14.61,14.93
$GC,1640,0.78,292.0,3014,393,1547,1457,61.2,16.6,282,1647,0.00,2.33,0.00,0.000,5126,0.000,0.032,3014,1800,1501,1546,1456,0,0,0,0,0,0,14.76,14.69,14.77
$GC,1713,0.78,292.0,3013,1803,1547,1455,49.9,16.0,295,1719,0.00,2.35,0.00,0.000,4356,0.000,0.047,3011,3208,1500,1545,1456,0,0,0,0,0,0,15.00,14.78,15.00
$GC,1748,0.78,292.0,3013,3208,1546,1455,44.1,14.7,301,1754,0.00,2.40,0.00,0.000,5126,0.000,0.049,3013,1796,1500,1546,1455,0,0,0,0,0,0,14.89,14.78,14.91
$GC,1820,0.78,292.0,3013,1796,1546,1455,34.4,13.9,314,1826,0.00,0.00,0.00,0.000,4102,0.000,0.000,3014,1796,1500,1546,1455,0,0,0,0,0,0,15.03,15.04,15.04
$GC,1889,0.78,292.0,3013,1796,1546,1455,25.6,12.4,327,1895,0.00,0.00,0.00,0.000,4102,0.000,0.000,3013,1796,1500,1546,1455,0,0,0,0,0,0,15.06,15.06,15.06
$GC,1958,0.78,292.0,3013,1796,1546,1455,17.2,11.6,340,1965,0.00,2.38,0.00,0.000,4356,0.000,0.047,3019,3206,1500,1546,1455,0,0,0,0,0,0,15.07,14.84,15.07
$GC,2031,0.80,309.7,3013,3206,1545,1453,9.9,9.6,353,2049,0.00,2.38,10.98,0.791,9222,0.000,0.044,3014,1798,1434,1482,1386,0,0,0,0,0,0,14.89,14.80,14.27
$STATE,2102,end climb,SURFACE_DEPTH_REACHED
$STATE,2103,begin surface coast
$FINISH,0.3,1.025541
$STATE,2129,end surface coast,CONTROL_FINISHED_OK
$STATE,2129,begin surface
$SM_CCo,2154,138.38,0.786,0,0,598,515.37
$SM_GC,0.87,13.55,0.00,138.38,0.041,0.000,0.786,123,1794,598,-8.18,-0.42,515.37,0,0,0,0,0,0,14.87,15.09,14.11
$IRIDIUM_FIX,-3404.29,2528.59,230419,133154
$TT8_MAMPS,0.021721,0.938497
$HUMID,44.99
$INTERNAL_PRESSURE,9.32209
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,86.1,32.3
$SC_FREEKB,3626400
$24V_AH,13.36,163.039
$10V_AH,13.26,0.000
$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,17.225,56.575,449.700,138.375,0.000,0.000,0.000,0.000,2.250,0.000,0.000,720.121,301.878,603.495,654.168,164.046,0.000,1015.122,0.000,566.893,0.000,16.154,0.000
$DEVICE_MAMPS,259.335,79.560,1058.760,785.655,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2183.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.101,0.000,0.000,0.000
$MEM,341064
$DATA_FILE_SIZE,10122,371
$CAP_FILE_SIZE,71196,0
$CFSIZE,2097086464,1988722688
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,971.05,0x2131c2,2,24
$GPS,230419,162603,-3417.913,2526.014,8,1.0,16,-27.7,0.9,280.7,8,9.3