version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 568
start: 4 23 119 18 9 26
data:
$ID,574
$MISSION,3
$DIVE,568
$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,36
$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
$GPS1,230419,175625,-3417.7007,2524.0979,9,1.1,38,-27.7,1.0,272.0,8,6.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-59.6
$GPS2,230419,180901,-3417.7664,2523.8237,8,0.8,28,-27.7,0.5,160.5,11,6.6
$SPEED_LIMITS,0.173,0.352
$TGT_NAME,HEADING
$TGT_LATLONG,-3410.825,2513.824
$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,-292.0,53,1812,638,531,0.0,0.0,0,124,0.00,0.00,-96.85,0.000,16386,0.000,0.000,53,1813,2977,2942,3013,0,0,0,0,0,0,14.97,28.83,14.97
$GC,130,-0.78,-292.0,53,1813,2943,3013,3.3,-6.0,18,166,14.48,2.45,-15.48,0.000,18692,0.293,0.073,2491,3221,3893,3912,3875,0,0,0,0,0,0,14.50,13.34,14.79
$GC,276,-0.78,-292.0,2490,3224,3913,3876,31.7,-12.0,45,284,0.08,2.38,0.00,0.000,3078,0.232,0.040,2509,1807,3894,3913,3876,0,0,0,0,0,0,14.64,14.76,14.80
$GC,349,-0.78,-292.0,2509,1806,3913,3876,41.0,-13.1,58,355,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1805,3894,3913,3876,0,0,0,0,0,0,15.05,15.07,15.06
$GC,418,-0.78,-292.0,2508,1806,3914,3875,49.9,-12.1,71,424,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1806,3894,3913,3876,0,0,0,0,0,0,15.04,15.07,15.07
$GC,490,-0.78,-292.0,2508,1807,3913,3876,57.1,-9.5,84,496,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1806,3894,3913,3876,0,0,0,0,0,0,15.09,15.08,15.07
$GC,560,-0.78,-292.0,2508,1806,3913,3876,63.8,-8.9,97,566,0.00,2.40,0.00,0.000,260,0.000,0.054,2509,3225,3894,3913,3876,0,0,0,0,0,0,15.09,14.69,15.09
$GC,591,-0.78,-292.0,2508,3225,3913,3876,66.5,-9.0,102,597,0.00,2.38,0.00,0.000,1030,0.000,0.039,2508,1805,3894,3913,3876,0,0,0,0,0,0,14.88,14.79,14.90
$GC,665,-0.78,-292.0,2508,1805,3913,3876,72.5,-8.7,115,670,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1804,3894,3913,3876,0,0,0,0,0,0,15.09,15.10,15.10
$GC,740,-0.78,-292.0,2508,1804,3913,3876,80.1,-11.7,128,745,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1805,3894,3913,3876,0,0,0,0,0,0,15.09,15.10,15.10
$GC,809,-0.78,-292.0,2508,1805,3913,3876,88.8,-11.9,141,815,0.00,2.42,0.00,0.000,260,0.000,0.054,2508,3227,3894,3913,3876,0,0,0,0,0,0,15.09,14.83,15.10
$GC,839,-0.78,-292.0,2508,3227,3913,3876,91.8,-11.3,146,845,0.00,2.35,0.00,0.000,1030,0.000,0.038,2508,1811,3894,3913,3876,0,0,0,0,0,0,14.95,14.86,14.97
$STATE,856,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,856,begin apogee
$GC,863,-0.17,0.0,2507,1811,3913,3876,93.6,-9.1,149,1086,0.95,0.00,213.45,1.029,10246,0.124,0.000,2701,1810,2698,2735,2661,0,0,0,0,0,0,14.65,14.42,13.91
$STATE,1088,end apogee,CONTROL_FINISHED_OK
$STATE,1088,begin climb
$GC,1091,0.78,292.0,2702,1810,2733,2660,110.3,0.0,189,1324,1.45,2.45,222.95,1.021,10500,0.070,0.044,3012,3212,1506,1551,1462,0,0,0,0,0,0,14.44,14.29,13.91
$GC,1379,0.78,292.0,3012,3213,1548,1459,90.3,14.9,239,1386,0.00,2.45,0.00,0.000,5126,0.000,0.050,3013,1807,1503,1548,1458,0,0,0,0,0,0,14.67,14.57,14.69
$GC,1451,0.78,292.0,3013,1806,1547,1453,78.0,18.6,252,1458,0.00,2.47,0.00,0.000,4612,0.000,0.070,3020,390,1501,1547,1456,0,0,0,0,0,0,14.89,14.57,14.89
$GC,1506,0.78,292.0,3019,391,1546,1456,68.9,14.7,262,1513,0.00,2.38,0.00,0.000,5126,0.000,0.031,3020,1818,1501,1546,1456,0,0,0,0,0,0,14.73,14.67,14.75
$GC,1579,0.78,292.0,3019,1821,1546,1455,58.1,15.9,275,1584,0.00,0.00,0.00,0.000,4102,0.000,0.000,3020,1821,1500,1546,1455,0,0,0,0,0,0,14.99,15.00,14.98
$GC,1648,0.78,292.0,3019,1821,1546,1455,45.8,15.6,288,1654,0.00,0.00,0.00,0.000,4102,0.000,0.000,3020,1821,1500,1546,1455,0,0,0,0,0,0,15.02,15.02,15.02
$GC,1717,0.78,292.0,3023,1821,1546,1455,35.8,12.7,301,1724,0.00,2.30,0.00,0.000,4356,0.000,0.045,3020,3200,1500,1546,1454,0,0,0,0,0,0,15.04,14.77,15.05
$GC,1742,0.78,292.0,3019,3200,1545,1455,32.5,13.0,305,1749,0.00,2.40,0.00,0.000,5126,0.000,0.049,3019,1795,1500,1545,1455,0,0,0,0,0,0,14.88,14.76,14.89
$GC,1815,0.79,298.5,3019,1794,1545,1455,25.3,9.9,318,1827,0.00,2.40,5.18,0.663,12804,0.000,0.069,3020,393,1482,1529,1435,0,0,0,0,0,0,15.04,14.80,14.16
$GC,1851,0.80,308.5,3020,394,1528,1434,21.6,9.8,324,1864,0.00,2.33,6.95,0.799,13318,0.000,0.034,3020,1807,1440,1489,1392,0,0,0,0,0,0,14.83,14.75,14.21
$GC,1929,0.80,308.5,3020,1808,1488,1391,13.2,10.7,338,1936,0.00,2.33,0.00,0.000,4356,0.000,0.047,3020,3199,1438,1487,1390,0,0,0,0,0,0,15.03,14.81,15.04
$GC,1975,0.80,308.5,3019,3200,1486,1390,8.2,11.3,346,1981,0.00,2.38,0.00,0.000,5126,0.000,0.049,3020,1798,1438,1486,1390,0,0,0,0,0,0,14.93,14.82,14.94
$STATE,2002,end climb,FINISH_DEPTH_REACHED
$STATE,2002,begin subsurface finish
$FINISH1,5.0,1.025461,105
$GC,2010,0.13,104.5,3020,1799,1486,1389,5.0,10.6,351,2045,1.08,0.00,-29.52,0.000,20998,0.154,0.000,2806,1798,2276,2322,2231,0,0,0,0,0,0,14.68,13.49,14.78
$FINISH2,3.0
$STATE,2046,end subsurface finish,CONTROL_FINISHED_OK
$STATE,2046,begin surface
$IRIDIUM_FIX,-3406.89,2405.70,230419,163109
$TT8_MAMPS,0.020223,0.922768
$HUMID,46.06
$INTERNAL_PRESSURE,9.45881
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.1,33.2
$SC_FREEKB,3624864
$24V_AH,13.34,163.631
$10V_AH,13.43,0.000
$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,18.025,38.250,448.525,0.000,0.000,39.508,16.010,374.372,2.000,0.000,29.359,647.317,262.955,515.625,1056.213,325.216,0.000,928.689,0.000,538.314,0.000,14.649,0.000
$DEVICE_MAMPS,292.995,72.675,1028.925,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2101.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.928,0.000,0.000,0.000
$MEM,340920
$DATA_FILE_SIZE,10116,357
$CAP_FILE_SIZE,71313,0
$CFSIZE,2097086464,1988231168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,230419,180901,-3417.766,2523.824,8,0.8,28,-27.7,0.5,160.5,11,6.6