version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 569
start: 4 23 119 18 46 38
data:
$ID,574
$MISSION,3
$DIVE,569
$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,47
$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
$GPS1,230419,180901,-3417.7664,2523.8237,8,0.8,28,-27.7,0.5,160.5,11,6.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,1.2
$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,-292.0,2806,1799,2325,2233,0.0,0.0,0,65,0.00,0.00,-37.80,0.000,16386,0.000,0.000,2806,1798,3287,3308,3267,0,0,0,0,0,0,15.08,28.83,15.09
$GC,69,-0.78,-292.0,2806,1798,3308,3268,3.1,-6.5,7,92,1.30,0.00,-17.77,0.000,20998,0.076,0.000,2524,1798,3893,3912,3874,0,0,0,0,0,0,14.81,13.43,14.85
$GC,157,-0.78,-292.0,2521,1798,3913,3874,12.4,-12.2,23,164,0.00,2.42,0.00,0.000,4356,0.000,0.051,2521,3216,3893,3913,3874,0,0,0,0,0,0,15.10,14.85,15.11
$GC,202,-0.78,-292.0,2521,3216,3914,3880,17.5,-10.3,31,209,0.00,2.38,0.00,0.000,5126,0.000,0.039,2521,1802,3893,3913,3874,0,0,0,0,0,0,14.97,14.87,14.99
$GC,275,-0.78,-292.0,2521,1802,3914,3874,25.1,-11.5,44,281,0.00,0.00,0.00,0.000,4102,0.000,0.000,2521,1802,3895,3917,3874,0,0,0,0,0,0,15.11,15.11,15.11
$GC,344,-0.78,-292.0,2519,1802,3913,3874,33.7,-11.5,57,351,0.00,2.40,0.00,0.000,4356,0.000,0.053,2518,3207,3893,3913,3874,0,0,0,0,0,0,15.11,14.85,15.11
$GC,374,-0.78,-292.0,2520,3207,3914,3874,36.9,-11.8,62,381,0.00,2.33,0.00,0.000,5126,0.000,0.041,2521,1809,3894,3914,3874,0,0,0,0,0,0,14.97,14.87,14.98
$GC,446,-0.78,-292.0,2520,1809,3913,3874,43.9,-9.3,75,452,0.00,0.00,0.00,0.000,4102,0.000,0.000,2521,1809,3893,3913,3874,0,0,0,0,0,0,15.11,15.11,15.11
$GC,515,-0.78,-292.0,2520,1809,3913,3874,51.3,-10.0,88,521,0.00,0.00,0.00,0.000,4102,0.000,0.000,2524,1809,3893,3913,3874,0,0,0,0,0,0,15.11,15.12,15.11
$GC,584,-0.78,-292.0,2521,1809,3914,3874,58.0,-8.7,101,590,0.00,0.00,0.00,0.000,4102,0.000,0.000,2521,1809,3893,3913,3874,0,0,0,0,0,0,15.11,15.11,15.11
$GC,657,-0.78,-292.0,2521,1809,3914,3874,63.3,-8.1,114,663,0.00,0.00,0.00,0.000,4102,0.000,0.000,2520,1809,3893,3914,3873,0,0,0,0,0,0,15.11,15.11,15.11
$GC,728,-0.78,-292.0,2521,1808,3914,3873,69.1,-7.9,127,734,0.00,0.00,0.00,0.000,4102,0.000,0.000,2521,1806,3894,3914,3874,0,0,0,0,0,0,15.09,15.09,15.09
$GC,799,-0.78,-292.0,2520,1807,3914,3874,74.0,-6.6,140,805,0.00,0.00,0.00,0.000,4102,0.000,0.000,2521,1807,3894,3914,3874,0,0,0,0,0,0,15.09,15.09,15.09
$GC,870,-0.78,-292.0,2518,1807,3914,3874,80.6,-9.4,153,877,0.00,2.40,0.00,0.000,4356,0.000,0.054,2521,3212,3894,3914,3874,0,0,0,0,0,0,15.11,14.72,15.11
$GC,916,-0.78,-292.0,2521,3212,3914,3874,84.0,-7.3,161,922,0.00,2.33,0.00,0.000,5126,0.000,0.037,2521,1812,3894,3914,3874,0,0,0,0,0,0,14.90,14.79,14.91
$GC,990,-0.78,-292.0,2520,1811,3914,3874,89.7,-8.5,174,996,0.00,2.40,0.00,0.000,4612,0.000,0.063,2521,413,3894,3914,3874,0,0,0,0,0,0,15.11,14.70,15.11
$GC,1015,-0.78,-292.0,2520,413,3913,3873,92.1,-8.6,178,1021,0.00,2.30,0.00,0.000,5126,0.000,0.031,2521,1824,3894,3914,3874,0,0,0,0,0,0,14.83,14.76,14.84
$GC,1087,-0.78,-292.0,2521,1826,3914,3874,96.7,-4.3,191,1094,0.00,2.35,0.00,0.000,4356,0.000,0.053,2521,3216,3894,3914,3874,0,0,0,0,0,0,15.11,14.83,15.11
$GC,1138,-0.78,-292.0,2521,3216,3914,3874,100.6,-8.9,200,1145,0.00,2.33,0.00,0.000,5126,0.000,0.037,2521,1809,3894,3914,3874,0,0,0,0,0,0,14.97,14.87,14.98
$STATE,1150,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1150,begin apogee
$GC,1157,-0.17,0.0,2521,1809,3913,3874,102.0,-9.4,202,1380,0.90,0.00,214.38,1.072,10246,0.126,0.000,2702,1808,2698,2736,2661,0,0,0,0,0,0,14.60,14.41,13.88
$STATE,1382,end apogee,CONTROL_FINISHED_OK
$STATE,1382,begin climb
$GC,1385,0.78,292.0,2702,1808,2734,2659,115.9,0.0,242,1621,1.45,2.53,223.85,1.050,10756,0.069,0.068,3017,403,1510,1557,1464,0,0,0,0,0,0,14.42,14.23,13.85
$GC,1645,0.78,292.0,3016,403,1553,1464,98.2,14.2,287,1652,0.00,2.35,0.00,0.000,5126,0.000,0.031,3017,1803,1507,1552,1463,0,0,0,0,0,0,14.59,14.52,14.60
$GC,1717,0.78,292.0,3017,1806,1551,1459,87.8,15.8,300,1724,0.00,2.38,0.00,0.000,4356,0.000,0.043,3017,3202,1506,1551,1461,0,0,0,0,0,0,14.85,14.64,14.85
$GC,1752,0.78,292.0,3017,3202,1550,1461,81.4,15.1,306,1759,0.00,2.40,0.00,0.000,5126,0.000,0.049,3018,1808,1505,1549,1462,0,0,0,0,0,0,14.78,14.67,14.79
$GC,1824,0.78,292.0,3017,1808,1554,1460,69.7,18.3,319,1831,0.00,2.47,0.00,0.000,4612,0.000,0.070,3020,391,1505,1550,1460,0,0,0,0,0,0,14.94,14.70,14.93
$GC,1854,0.78,292.0,3020,391,1549,1460,64.3,16.3,324,1861,0.00,2.33,0.00,0.000,5126,0.000,0.030,3019,1806,1504,1549,1460,0,0,0,0,0,0,14.86,14.79,14.87
$GC,1927,0.78,292.0,3020,1809,1549,1459,54.0,13.8,337,1934,0.00,2.33,0.00,0.000,4356,0.000,0.045,3020,3194,1504,1549,1459,0,0,0,0,0,0,15.01,14.73,15.01
$GC,1947,0.78,292.0,3020,3194,1548,1459,50.3,16.4,340,1954,0.00,2.40,0.00,0.000,5126,0.000,0.052,3021,1794,1504,1549,1459,0,0,0,0,0,0,14.85,14.73,14.86
$GC,2019,0.78,292.0,3020,1793,1548,1459,40.9,13.0,353,2026,0.00,2.45,0.00,0.000,4612,0.000,0.070,3021,389,1503,1548,1459,0,0,0,0,0,0,15.02,14.77,15.01
$GC,2044,0.78,292.0,3020,389,1548,1459,37.7,11.3,357,2051,0.00,2.30,0.00,0.000,5126,0.000,0.031,3021,1796,1503,1548,1458,0,0,0,0,0,0,14.92,14.85,14.94
$GC,2116,0.78,292.0,3020,1799,1548,1458,29.1,13.2,370,2123,0.00,2.35,0.00,0.000,4356,0.000,0.047,3021,3195,1503,1548,1459,0,0,0,0,0,0,15.05,14.77,15.05
$GC,2147,0.78,292.0,3021,3195,1551,1458,25.4,11.1,375,2153,0.00,2.38,0.00,0.000,5126,0.000,0.050,3021,1799,1503,1548,1458,0,0,0,0,0,0,14.88,14.78,14.90
$GC,2219,0.78,292.0,3021,1798,1548,1458,17.4,11.7,388,2225,0.00,2.35,0.00,0.000,4356,0.000,0.045,3021,3198,1502,1547,1458,0,0,0,0,0,0,15.04,14.83,15.05
$GC,2273,0.78,292.0,3021,3198,1548,1457,11.4,10.5,398,2280,0.00,2.40,0.00,0.000,5126,0.000,0.050,3021,1792,1502,1548,1457,0,0,0,0,0,0,14.95,14.83,14.96
$GC,2346,0.78,292.0,3021,1792,1548,1457,4.0,11.1,411,2353,0.00,2.42,0.00,0.000,4612,0.000,0.069,3021,389,1501,1548,1455,0,0,0,0,0,0,15.07,14.70,15.08
$STATE,2358,end climb,SURFACE_DEPTH_REACHED
$STATE,2358,begin surface coast
$FINISH,1.1,1.025455
$STATE,2373,end surface coast,CONTROL_FINISHED_OK
$STATE,2374,begin surface
$SM_CCo,2402,153.48,0.802,0,0,598,515.37
$SM_GC,0.93,13.55,2.38,153.48,0.043,0.032,0.802,126,1804,598,-8.17,-1.47,515.37,0,0,0,0,0,0,14.89,14.88,14.09
$IRIDIUM_FIX,-3406.89,2405.70,230419,163109
$TT8_MAMPS,0.020972,0.871087
$HUMID,45.23
$INTERNAL_PRESSURE,9.2928
$TCM_TEMP,19.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.1,35.8
$SC_FREEKB,3624352
$24V_AH,13.43,163.839
$10V_AH,13.37,0.000
$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,17.200,61.825,438.225,153.475,0.000,0.000,0.000,0.000,2.250,0.000,0.000,821.251,337.587,641.703,722.129,183.000,0.000,1092.729,0.000,628.387,0.000,16.181,0.000
$DEVICE_MAMPS,126.225,70.380,1071.765,802.485,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2425.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.138,0.000,0.000,0.000
$MEM,341064
$DATA_FILE_SIZE,10126,416
$CAP_FILE_SIZE,80413,0
$CFSIZE,2097086464,1988067328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230419,193015,-3417.449,2522.124,8,1.0,15,-27.7,0.0,245.6,9,10.0