version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 570
start: 4 23 119 19 43 5
data:
$ID,574
$MISSION,3
$DIVE,570
$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,340
$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,41
$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
$GPS1,230419,193015,-3417.4495,2522.1240,8,1.0,15,-27.7,0.0,245.6,9,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-64.7
$GPS2,230419,194240,-3417.5229,2521.8799,8,1.1,17,-27.7,0.6,201.1,8,9.4
$SPEED_LIMITS,0.173,0.352
$TGT_NAME,HEADING
$TGT_LATLONG,-3407.375,2517.418
$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,7.7,20000,-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,-292.0,53,1814,637,532,0.0,0.0,0,124,0.00,0.00,-97.05,0.000,16386,0.000,0.000,53,1813,2992,2958,3026,0,0,0,0,0,0,14.95,28.83,14.97
$GC,130,-0.78,-292.0,52,1815,2958,3027,3.6,-7.6,18,166,14.57,2.42,-15.05,0.000,18692,0.301,0.067,2490,3221,3893,3910,3877,0,0,0,0,0,0,14.49,13.35,14.78
$GC,276,-0.78,-292.0,2490,3221,3910,3877,30.7,-10.7,45,283,0.08,2.38,0.00,0.000,3078,0.233,0.041,2508,1807,3894,3912,3877,0,0,0,0,0,0,14.67,14.76,14.83
$GC,349,-0.78,-292.0,2507,1807,3912,3877,39.4,-12.7,58,356,0.00,2.38,0.00,0.000,516,0.000,0.063,2508,408,3894,3911,3877,0,0,0,0,0,0,15.05,14.70,15.06
$GC,384,-0.78,-292.0,2508,410,3911,3877,44.3,-12.5,64,390,0.00,2.33,0.00,0.000,1030,0.000,0.034,2508,1820,3894,3912,3877,0,0,0,0,0,0,14.92,14.84,14.93
$GC,455,-0.78,-292.0,2508,1823,3911,3877,51.9,-10.8,77,462,0.00,2.35,0.00,0.000,260,0.000,0.054,2508,3208,3894,3911,3877,0,0,0,0,0,0,15.06,14.74,15.07
$GC,496,-0.78,-292.0,2508,3209,3911,3877,56.0,-8.2,84,502,0.00,2.35,0.00,0.000,1030,0.000,0.037,2508,1800,3894,3912,3877,0,0,0,0,0,0,14.87,14.78,14.88
$GC,568,-0.78,-292.0,2508,1799,3911,3877,62.5,-9.0,97,575,0.00,2.35,0.00,0.000,516,0.000,0.060,2508,409,3894,3911,3877,0,0,0,0,0,0,15.08,14.82,15.07
$GC,600,-0.78,-292.0,2508,409,3912,3876,65.5,-9.3,102,607,0.00,2.33,0.00,0.000,1030,0.000,0.032,2508,1825,3894,3911,3877,0,0,0,0,0,0,14.88,14.81,14.89
$GC,673,-0.78,-292.0,2508,1826,3912,3877,72.2,-8.9,115,680,0.00,2.33,0.00,0.000,260,0.000,0.054,2508,3204,3894,3911,3877,0,0,0,0,0,0,15.07,14.81,15.07
$GC,708,-0.78,-292.0,2508,3204,3911,3877,75.3,-8.3,121,715,0.00,2.30,0.00,0.000,1030,0.000,0.037,2508,1810,3894,3911,3877,0,0,0,0,0,0,14.93,14.85,14.95
$GC,780,-0.78,-292.0,2508,1810,3911,3877,81.8,-9.7,134,786,0.00,2.38,0.00,0.000,516,0.000,0.059,2510,406,3894,3912,3877,0,0,0,0,0,0,15.08,14.71,15.09
$GC,822,-0.78,-292.0,2508,407,3911,3877,86.3,-9.5,141,829,0.00,2.30,0.00,0.000,1030,0.000,0.033,2508,1811,3894,3911,3877,0,0,0,0,0,0,14.95,14.87,14.96
$GC,895,-0.78,-292.0,2508,1812,3911,3877,93.2,-9.9,154,901,0.00,2.35,0.00,0.000,260,0.000,0.054,2508,3203,3894,3911,3877,0,0,0,0,0,0,15.08,14.69,15.09
$GC,945,-0.78,-292.0,2508,3203,3911,3877,97.9,-8.5,163,951,0.00,2.33,0.00,0.000,1030,0.000,0.037,2508,1805,3894,3911,3877,0,0,0,0,0,0,14.83,14.74,14.85
$STATE,967,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,967,begin apogee
$GC,974,-0.17,0.0,2508,1804,3910,3876,100.6,-11.0,167,1197,0.93,0.00,214.52,1.043,10246,0.113,0.000,2701,1805,2700,2737,2664,0,0,0,0,0,0,14.71,14.38,13.87
$STATE,1199,end apogee,CONTROL_FINISHED_OK
$STATE,1199,begin climb
$GC,1202,0.78,292.0,2701,1805,2734,2661,117.9,0.0,207,1440,1.45,2.45,224.38,1.033,11012,0.069,0.046,3012,3195,1505,1551,1460,0,0,0,0,0,0,14.43,14.38,13.87
$GC,1468,0.78,292.0,3012,3195,1548,1459,97.1,15.5,253,1475,0.00,2.42,0.00,0.000,5126,0.000,0.054,3013,1811,1503,1548,1459,0,0,0,0,0,0,14.57,14.47,14.58
$GC,1541,0.78,292.0,3013,1811,1548,1457,85.5,16.8,266,1548,0.00,2.50,0.00,0.000,4612,0.000,0.071,3013,385,1502,1548,1457,0,0,0,0,0,0,14.84,14.60,14.84
$GC,1566,0.78,292.0,3019,385,1547,1457,81.4,15.3,270,1573,0.00,2.35,0.00,0.000,5126,0.000,0.031,3011,1799,1501,1547,1456,0,0,0,0,0,0,14.78,14.71,14.80
$GC,1639,0.78,292.0,3012,1801,1547,1455,69.6,17.4,283,1644,0.00,0.00,0.00,0.000,4102,0.000,0.000,3013,1801,1501,1547,1455,0,0,0,0,0,0,14.95,14.96,14.96
$GC,1708,0.78,292.0,3012,1801,1547,1455,58.2,14.6,296,1714,0.00,0.00,0.00,0.000,4102,0.000,0.000,3013,1801,1501,1546,1456,0,0,0,0,0,0,15.00,15.00,15.00
$GC,1777,0.78,292.0,3012,1801,1547,1455,47.4,15.7,309,1783,0.00,0.00,0.00,0.000,4102,0.000,0.000,3013,1801,1501,1547,1455,0,0,0,0,0,0,15.02,15.03,15.04
$GC,1846,0.78,292.0,3013,1801,1547,1455,36.7,14.8,322,1852,0.00,0.00,0.00,0.000,4102,0.000,0.000,3013,1801,1500,1546,1455,0,0,0,0,0,0,15.04,15.04,15.04
$GC,1916,0.78,292.0,3012,1801,1546,1455,26.7,13.7,335,1922,0.00,2.45,0.00,0.000,4612,0.000,0.069,3020,391,1501,1547,1455,0,0,0,0,0,0,15.05,14.78,15.05
$GC,1946,0.78,292.0,3019,391,1546,1455,23.0,12.5,340,1953,0.00,2.33,0.00,0.000,5126,0.000,0.031,3020,1807,1500,1546,1455,0,0,0,0,0,0,14.94,14.86,14.96
$GC,2018,0.78,292.0,3019,1811,1546,1454,15.4,11.6,353,2025,0.00,2.30,0.00,0.000,4356,0.000,0.045,3020,3191,1499,1545,1454,0,0,0,0,0,0,15.07,14.78,15.07
$GC,2101,0.78,292.0,3019,3191,1544,1454,7.5,10.6,368,2107,0.00,2.38,0.00,0.000,5126,0.000,0.050,3020,1791,1499,1545,1453,0,0,0,0,0,0,14.95,14.83,14.97
$STATE,2123,end climb,FINISH_DEPTH_REACHED
$STATE,2123,begin subsurface finish
$FINISH1,5.0,1.025457,105
$GC,2131,0.13,104.7,3020,1790,1545,1453,5.0,8.8,372,2166,1.10,2.45,-27.67,0.000,20996,0.171,0.084,2806,389,2276,2322,2231,0,0,0,0,0,0,14.66,13.36,14.77
$FINISH2,2.7
$STATE,2167,end subsurface finish,CONTROL_FINISHED_OK
$STATE,2168,begin surface
$IRIDIUM_FIX,-3404.29,2522.76,230419,180123
$TT8_MAMPS,0.021721,0.947485
$HUMID,45.98
$INTERNAL_PRESSURE,9.44905
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.1,35.2
$SC_FREEKB,3623840
$24V_AH,13.35,164.036
$10V_AH,13.38,0.000
$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,18.125,54.475,438.900,0.000,0.000,23.808,22.308,372.151,2.250,0.000,18.071,697.667,280.765,522.617,1074.048,341.390,0.000,953.393,0.000,577.356,0.000,16.186,0.000
$DEVICE_MAMPS,300.645,84.150,1043.460,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2227.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.184,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,10149,378
$CAP_FILE_SIZE,76926,0
$CFSIZE,2097086464,1987903488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,230419,194240,-3417.523,2521.880,8,1.1,17,-27.7,0.6,201.1,8,9.4