version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 566
start: 4 23 119 16 38 40
data:
$ID,574
$MISSION,3
$DIVE,566
$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,33
$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
$GPS1,230419,162603,-3417.9126,2526.0139,8,1.0,16,-27.7,0.9,280.7,8,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-63.9
$GPS2,230419,163815,-3417.9812,2525.7004,8,1.0,15,-27.7,1.4,292.1,8,9.5
$SPEED_LIMITS,0.173,0.352
$TGT_NAME,HEADING
$TGT_LATLONG,-3411.040,2515.700
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.78,-292.0,53,1792,639,532,0.0,0.0,0,123,0.00,0.00,-96.25,0.000,16386,0.000,0.000,53,1793,2987,2948,3026,0,0,0,0,0,0,14.97,28.83,14.97
$GC,129,-0.78,-292.0,52,1793,2949,3026,3.3,-7.4,18,165,14.50,2.45,-15.02,0.000,18692,0.295,0.070,2491,3211,3894,3912,3876,0,0,0,0,0,0,14.50,13.36,14.80
$GC,265,-0.78,-292.0,2491,3211,3912,3876,30.2,-11.8,43,272,0.05,2.38,0.00,0.000,3078,0.287,0.041,2505,1805,3894,3913,3876,0,0,0,0,0,0,14.57,14.71,14.75
$GC,338,-0.78,-292.0,2504,1805,3913,3876,39.6,-14.0,56,344,0.00,0.00,0.00,0.000,2054,0.000,0.000,2505,1805,3894,3912,3876,0,0,0,0,0,0,15.06,15.06,15.06
$GC,407,-0.78,-292.0,2505,1805,3912,3876,49.7,-13.9,69,415,0.00,2.42,0.00,0.000,2564,0.000,0.063,2505,401,3894,3912,3876,0,0,0,0,0,0,15.07,14.80,15.07
$GC,428,-0.78,-292.0,2505,401,3912,3876,52.9,-14.2,72,435,0.00,2.33,0.00,0.000,3078,0.000,0.032,2505,1816,3894,3912,3876,0,0,0,0,0,0,14.95,14.86,14.96
$GC,500,-0.78,-292.0,2504,1819,3912,3876,61.2,-11.5,85,507,0.00,2.35,0.00,0.000,2308,0.000,0.053,2505,3209,3894,3912,3877,0,0,0,0,0,0,15.08,14.76,15.09
$GC,556,-0.78,-292.0,2505,3209,3912,3875,66.8,-9.8,95,563,0.00,2.35,0.00,0.000,3078,0.000,0.039,2505,1807,3893,3911,3876,0,0,0,0,0,0,14.90,14.80,14.91
$GC,628,-0.78,-292.0,2504,1807,3912,3876,74.7,-11.3,108,638,0.00,2.38,0.00,0.000,2564,0.000,0.061,2505,412,3893,3911,3876,0,0,0,0,0,0,15.07,14.82,15.08
$GC,656,-0.78,-292.0,2505,412,3912,3877,78.0,-11.0,112,663,0.00,2.33,0.00,0.000,3078,0.000,0.032,2505,1822,3893,3910,3876,0,0,0,0,0,0,14.95,14.86,14.97
$GC,728,-0.78,-292.0,2504,1823,3912,3876,85.0,-9.7,125,739,0.00,2.35,0.00,0.000,2308,0.000,0.053,2505,3217,3894,3912,3876,0,0,0,0,0,0,15.09,14.83,15.09
$GC,778,-0.78,-292.0,2504,3217,3912,3876,89.8,-8.8,133,784,0.00,2.33,0.00,0.000,3078,0.000,0.038,2505,1813,3894,3912,3876,0,0,0,0,0,0,14.96,14.86,14.97
$GC,848,-0.78,-292.0,2504,1812,3912,3876,96.9,-11.3,146,854,0.00,0.00,0.00,0.000,2054,0.000,0.000,2505,1812,3894,3912,3876,0,0,0,0,0,0,15.10,15.10,15.10
$STATE,899,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,899,begin apogee
$GC,906,-0.17,0.0,2505,1812,3918,3876,101.7,-9.5,156,1129,0.95,0.00,214.40,1.034,10246,0.126,0.000,2699,1812,2699,2736,2662,0,0,0,0,0,0,14.59,14.42,13.92
$STATE,1131,end apogee,CONTROL_FINISHED_OK
$STATE,1131,begin climb
$GC,1134,0.78,292.0,2699,1812,2734,2660,115.3,0.0,196,1372,1.38,2.53,224.38,1.028,10756,0.061,0.069,3011,406,1506,1551,1461,0,0,0,0,0,0,14.46,14.36,13.90
$GC,1390,0.78,292.0,3011,406,1549,1461,96.5,17.3,240,1397,0.00,2.35,0.00,0.000,5126,0.000,0.030,3011,1806,1505,1549,1461,0,0,0,0,0,0,14.57,14.50,14.57
$GC,1462,0.78,292.0,3011,1809,1548,1458,84.6,18.2,253,1469,0.00,2.35,0.00,0.000,260,0.000,0.045,3011,3201,1503,1548,1458,0,0,0,0,0,0,14.83,14.64,14.83
$GC,1507,0.78,292.0,3011,3201,1546,1456,75.8,18.3,261,1514,0.00,2.40,0.00,0.000,5126,0.000,0.050,3013,1801,1501,1547,1456,0,0,0,0,0,0,14.80,14.69,14.81
$GC,1580,0.78,292.0,3013,1801,1547,1456,62.9,18.2,274,1586,0.00,2.45,0.00,0.000,4612,0.000,0.067,3017,388,1501,1547,1456,0,0,0,0,0,0,14.97,14.69,14.97
$GC,1625,0.78,292.0,3016,388,1547,1455,54.7,16.9,282,1631,0.00,2.33,0.00,0.000,5126,0.000,0.031,3017,1804,1501,1546,1456,0,0,0,0,0,0,14.82,14.73,14.83
$GC,1697,0.78,292.0,3016,1807,1547,1455,44.3,14.5,295,1704,0.00,2.33,0.00,0.000,4356,0.000,0.046,3017,3199,1500,1546,1455,0,0,0,0,0,0,15.02,14.80,15.02
$GC,1742,0.78,292.0,3016,3199,1544,1455,37.6,13.3,303,1749,0.00,2.40,0.00,0.000,5126,0.000,0.048,3017,1789,1501,1546,1456,0,0,0,0,0,0,14.92,14.81,14.93
$GC,1815,0.78,292.0,3016,1789,1546,1455,28.2,12.8,316,1821,0.00,0.00,0.00,0.000,4102,0.000,0.000,3017,1789,1499,1545,1454,0,0,0,0,0,0,15.06,15.06,15.06
$GC,1884,0.78,292.0,3016,1789,1546,1455,20.4,11.3,329,1891,0.00,2.38,0.00,0.000,4356,0.000,0.045,3019,3200,1500,1546,1454,0,0,0,0,0,0,15.07,14.73,15.08
$GC,1914,0.78,292.0,3017,3200,1545,1454,16.8,11.2,334,1921,0.00,2.38,0.00,0.000,5126,0.000,0.048,3017,1798,1499,1545,1454,0,0,0,0,0,0,14.85,14.75,14.87
$GC,1987,0.78,292.0,3016,1798,1546,1454,9.3,10.1,347,1992,0.00,0.00,0.00,0.000,4102,0.000,0.000,3017,1798,1499,1545,1453,0,0,0,0,0,0,15.08,15.08,15.08
$STATE,2027,end climb,FINISH_DEPTH_REACHED
$STATE,2027,begin subsurface finish
$FINISH1,4.8,1.025455,105
$GC,2035,0.13,104.8,3017,1798,1545,1454,4.8,8.9,355,2069,1.05,0.00,-26.85,0.000,20742,0.148,0.000,2807,1798,2278,2328,2229,0,0,0,0,0,0,14.60,14.05,14.70
$FINISH2,3.3
$STATE,2070,end subsurface finish,CONTROL_FINISHED_OK
$STATE,2070,begin surface
$IRIDIUM_FIX,-3406.89,2526.23,230419,150727
$TT8_MAMPS,0.020972,0.948234
$HUMID,46.18
$INTERNAL_PRESSURE,9.45881
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,86.0,35.4
$SC_FREEKB,3625888
$24V_AH,13.36,163.233
$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,17.925,47.525,438.775,0.000,0.000,34.736,37.763,352.321,2.250,0.000,16.562,655.104,267.481,518.407,1039.882,327.316,0.000,942.215,0.000,546.222,0.000,16.152,0.000
$DEVICE_MAMPS,295.290,69.615,1033.515,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2125.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.079,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,10115,361
$CAP_FILE_SIZE,72547,0
$CFSIZE,2097086464,1988558848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,230419,163815,-3417.981,2525.700,8,1.0,15,-27.7,1.4,292.1,8,9.5