version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 567
start: 4 23 119 17 16 17
data:
$ID,574
$MISSION,3
$DIVE,567
$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,50
$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
$GPS1,230419,163815,-3417.9812,2525.7004,8,1.0,15,-27.7,1.4,292.1,8,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.49
$_SM_ANGLEo,0.3
$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,-292.0,2807,1798,2323,2229,0.0,0.0,0,32,0.00,0.00,-5.97,0.000,16386,0.000,0.000,2807,1798,2466,2513,2420,0,0,0,0,0,0,15.10,28.83,15.11
$GC,36,-0.78,-292.0,2807,1798,2513,2421,4.0,0.0,1,82,1.33,2.45,-39.05,0.000,20740,0.079,0.073,2518,3211,3892,3912,3873,0,0,0,0,0,0,14.71,13.31,14.76
$GC,152,-0.78,-292.0,2517,3211,3912,3875,14.7,-9.7,22,159,0.00,2.35,0.00,0.000,5126,0.000,0.041,2518,1807,3893,3912,3875,0,0,0,0,0,0,14.98,14.88,15.00
$GC,224,-0.78,-292.0,2518,1807,3912,3874,23.3,-11.4,35,229,0.00,0.00,0.00,0.000,4102,0.000,0.000,2518,1806,3893,3912,3874,0,0,0,0,0,0,15.09,15.09,15.09
$GC,292,-0.78,-292.0,2518,1806,3912,3875,32.0,-12.2,48,299,0.00,2.40,0.00,0.000,4356,0.000,0.053,2518,3210,3893,3912,3875,0,0,0,0,0,0,15.11,14.85,15.11
$GC,327,-0.78,-292.0,2517,3211,3912,3874,35.7,-9.8,54,334,0.00,2.33,0.00,0.000,5126,0.000,0.040,2518,1813,3893,3912,3874,0,0,0,0,0,0,14.98,14.88,15.00
$GC,399,-0.78,-292.0,2517,1813,3912,3874,42.5,-9.8,67,406,0.00,2.40,0.00,0.000,4612,0.000,0.062,2519,409,3893,3912,3875,0,0,0,0,0,0,15.11,14.71,15.11
$GC,430,-0.78,-292.0,2518,409,3911,3874,46.2,-11.9,72,436,0.00,2.30,0.00,0.000,5126,0.000,0.031,2516,1818,3893,3912,3874,0,0,0,0,0,0,14.85,14.76,14.86
$GC,503,-0.78,-292.0,2517,1820,3912,3874,53.5,-11.4,85,510,0.00,2.33,0.00,0.000,4356,0.000,0.053,2518,3205,3893,3912,3875,0,0,0,0,0,0,15.09,14.85,15.10
$GC,548,-0.78,-292.0,2518,3204,3912,3873,58.9,-11.5,93,555,0.00,2.33,0.00,0.000,5126,0.000,0.037,2518,1801,3893,3912,3874,0,0,0,0,0,0,14.98,14.88,14.99
$GC,622,-0.78,-292.0,2517,1801,3912,3875,67.5,-13.2,106,628,0.00,2.38,0.00,0.000,4612,0.000,0.061,2517,412,3891,3909,3874,0,0,0,0,0,0,15.11,14.84,15.11
$GC,667,-0.78,-292.0,2517,412,3912,3875,73.0,-12.7,114,673,0.00,2.30,0.00,0.000,5126,0.000,0.032,2518,1818,3893,3912,3874,0,0,0,0,0,0,14.98,14.90,14.99
$GC,739,-0.78,-292.0,2517,1818,3912,3874,80.0,-8.3,127,751,0.00,2.35,0.00,0.000,4356,0.000,0.053,2518,3213,3893,3912,3875,0,0,0,0,0,0,15.11,14.73,15.11
$GC,807,-0.78,-292.0,2517,3213,3913,3875,86.0,-8.7,138,814,0.00,2.33,0.00,0.000,5126,0.000,0.038,2518,1814,3893,3913,3874,0,0,0,0,0,0,14.97,14.88,14.99
$GC,880,-0.78,-292.0,2517,1814,3912,3874,91.1,-8.2,151,886,0.00,2.40,0.00,0.000,4612,0.000,0.061,2518,412,3893,3912,3875,0,0,0,0,0,0,15.11,14.71,15.12
$GC,931,-0.78,-292.0,2517,411,3912,3874,96.0,-9.8,160,937,0.00,2.30,0.00,0.000,5126,0.000,0.033,2518,1811,3891,3912,3871,0,0,0,0,0,0,14.92,14.83,14.92
$STATE,948,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,948,begin apogee
$GC,955,-0.17,0.0,2518,1812,3913,3875,97.0,-5.7,163,1182,0.88,0.00,214.88,1.060,10246,0.106,0.000,2702,1815,2696,2734,2659,0,0,0,0,0,0,14.75,14.40,13.89
$STATE,1184,end apogee,CONTROL_FINISHED_OK
$STATE,1184,begin climb
$GC,1187,0.78,292.0,2702,1812,2733,2659,112.4,0.0,204,1419,1.45,0.00,224.73,1.043,11014,0.074,0.000,3010,1812,1506,1550,1462,0,0,0,0,0,0,14.45,14.37,13.88
$GC,1484,0.78,292.0,3010,1812,1549,1459,88.6,11.9,256,1490,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1811,1503,1549,1458,0,0,0,0,0,0,14.78,14.80,14.79
$GC,1553,0.78,292.0,3010,1812,1548,1458,77.9,15.4,269,1560,0.00,2.35,0.00,0.000,260,0.000,0.047,3012,3201,1502,1548,1457,0,0,0,0,0,0,14.89,14.64,14.90
$GC,1588,0.78,292.0,3010,3201,1547,1456,72.0,18.0,275,1595,0.00,2.40,0.00,0.000,5126,0.000,0.050,3012,1807,1501,1547,1456,0,0,0,0,0,0,14.77,14.66,14.78
$GC,1661,0.78,292.0,3012,1807,1547,1456,60.9,15.6,288,1668,0.00,2.45,0.00,0.000,4612,0.000,0.070,3012,393,1502,1548,1456,0,0,0,0,0,0,14.97,14.73,14.96
$GC,1685,0.78,292.0,3012,392,1547,1456,56.6,16.1,292,1692,0.00,2.35,0.00,0.000,5126,0.000,0.032,3013,1810,1500,1548,1453,0,0,0,0,0,0,14.88,14.80,14.89
$GC,1758,0.78,292.0,3012,1813,1547,1455,45.8,14.7,305,1764,0.00,2.33,0.00,0.000,4356,0.000,0.046,3012,3204,1500,1546,1455,0,0,0,0,0,0,15.02,14.71,15.02
$GC,1792,0.78,292.0,3012,3205,1546,1456,40.7,14.6,311,1799,0.00,2.40,0.00,0.000,5126,0.000,0.050,3013,1791,1501,1546,1456,0,0,0,0,0,0,14.81,14.71,14.83
$GC,1864,0.78,292.0,3012,1791,1547,1455,31.3,12.3,324,1871,0.00,0.00,0.00,0.000,4102,0.000,0.000,3013,1791,1500,1546,1454,0,0,0,0,0,0,15.06,15.07,15.07
$GC,1934,0.78,292.0,3013,1791,1546,1455,23.1,10.5,337,1940,0.00,0.00,0.00,0.000,4102,0.000,0.000,3013,1791,1500,1546,1455,0,0,0,0,0,0,15.07,15.07,15.07
$GC,2003,0.78,292.0,3013,1790,1546,1454,16.0,10.3,350,2009,0.00,2.38,0.00,0.000,4356,0.000,0.046,3013,3200,1501,1547,1455,0,0,0,0,0,0,15.08,14.75,15.09
$GC,2033,0.80,307.6,3013,3201,1546,1454,12.9,9.6,355,2051,0.00,2.38,9.82,0.813,9222,0.000,0.048,3013,1800,1442,1490,1395,0,0,0,0,0,0,14.84,14.74,14.20
$GC,2117,0.82,324.4,3013,1800,1483,1392,5.4,9.6,370,2134,0.00,2.45,10.75,0.758,10756,0.000,0.067,3013,388,1375,1426,1324,0,0,0,0,0,0,15.05,14.66,14.26
$STATE,2140,end climb,SURFACE_DEPTH_REACHED
$STATE,2140,begin surface coast
$FINISH,0.4,1.025452
$STATE,2168,end surface coast,CONTROL_FINISHED_OK
$STATE,2168,begin surface
$SM_CCo,2196,130.23,0.796,0,0,599,515.37
$SM_GC,0.86,13.60,2.38,130.23,0.044,0.030,0.796,130,1798,599,-8.17,-1.55,515.37,0,0,0,0,0,0,14.82,14.85,14.09
$IRIDIUM_FIX,-3406.89,2526.23,230419,150727
$TT8_MAMPS,0.021721,0.917525
$HUMID,45.55
$INTERNAL_PRESSURE,9.30256
$TCM_TEMP,19.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.8,36.2
$SC_FREEKB,3625376
$24V_AH,13.31,163.436
$10V_AH,13.27,0.000
$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,17.250,56.775,460.175,130.225,0.000,0.000,0.000,0.000,2.000,0.000,0.000,734.167,300.669,611.090,665.684,163.250,0.000,1033.091,0.000,571.687,0.000,14.649,0.000
$DEVICE_MAMPS,105.570,72.675,1060.290,795.600,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2222.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.338,0.000,0.000,0.000
$MEM,341056
$DATA_FILE_SIZE,10155,379
$CAP_FILE_SIZE,72714,0
$CFSIZE,2097086464,1988395008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230419,175625,-3417.701,2524.098,9,1.1,38,-27.7,1.0,272.0,8,6.3