version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 571
start: 4 23 119 20 22 23
data:
$ID,574
$MISSION,3
$DIVE,571
$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,59
$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
$GPS1,230419,194240,-3417.5229,2521.8799,8,1.1,17,-27.7,0.6,201.1,8,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.95
$_SM_ANGLEo,-1.0
$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,25,-0.78,-292.0,2806,1837,2321,2237,0.0,0.0,0,32,0.00,0.00,-5.53,0.000,16386,0.000,0.000,2805,1835,2453,2497,2410,0,0,0,0,0,0,15.09,28.83,15.11
$GC,36,-0.78,-292.0,2805,1836,2498,2410,4.1,0.0,1,82,1.35,2.28,-37.58,0.000,20740,0.073,0.073,2502,3196,3892,3909,3876,0,0,0,0,0,0,14.70,13.98,14.76
$GC,102,-0.78,-292.0,2502,3196,3910,3877,12.3,-17.2,12,109,0.00,2.33,0.00,0.000,3078,0.000,0.041,2502,1808,3893,3910,3877,0,0,0,0,0,0,14.97,14.87,14.99
$GC,175,-0.78,-292.0,2502,1807,3909,3877,22.8,-14.8,25,182,0.00,2.38,0.00,0.000,2308,0.000,0.053,2502,3202,3893,3910,3877,0,0,0,0,0,0,15.11,14.74,15.11
$GC,205,-0.78,-292.0,2502,3202,3910,3877,27.5,-14.0,30,212,0.00,2.33,0.00,0.000,3078,0.000,0.041,2502,1806,3893,3910,3876,0,0,0,0,0,0,14.84,14.74,14.85
$GC,275,-0.78,-292.0,2502,1810,3910,3877,36.8,-13.8,43,282,0.00,2.42,0.00,0.000,2564,0.000,0.064,2502,402,3893,3910,3877,0,0,0,0,0,0,15.11,14.72,15.11
$GC,300,-0.78,-292.0,2501,402,3910,3877,40.2,-14.2,47,307,0.00,2.30,0.00,0.000,3078,0.000,0.033,2501,1799,3893,3910,3877,0,0,0,0,0,0,14.86,14.76,14.87
$GC,373,-0.78,-292.0,2501,1802,3910,3877,48.2,-11.1,60,379,0.00,2.38,0.00,0.000,2308,0.000,0.054,2502,3211,3893,3910,3877,0,0,0,0,0,0,15.09,14.83,15.10
$GC,412,-0.78,-292.0,2502,3211,3910,3877,52.4,-10.1,67,419,0.00,2.35,0.00,0.000,3078,0.000,0.039,2502,1802,3893,3910,3877,0,0,0,0,0,0,14.97,14.87,14.98
$GC,485,-0.78,-292.0,2502,1801,3909,3876,59.6,-10.4,80,492,0.00,0.00,0.00,0.000,2054,0.000,0.000,2502,1801,3893,3910,3877,0,0,0,0,0,0,15.09,15.10,15.11
$GC,558,-0.78,-292.0,2502,1801,3910,3875,67.2,-10.0,93,564,0.00,2.42,0.00,0.000,2308,0.000,0.054,2502,3218,3894,3911,3877,0,0,0,0,0,0,15.09,14.83,15.10
$GC,578,-0.78,-292.0,2502,3219,3911,3877,69.3,-9.0,96,586,0.00,2.35,0.00,0.000,3078,0.000,0.041,2502,1812,3894,3911,3877,0,0,0,0,0,0,14.96,14.85,14.97
$GC,651,-0.78,-292.0,2501,1812,3911,3877,76.5,-10.5,109,658,0.00,2.42,0.00,0.000,2564,0.000,0.063,2502,406,3893,3910,3877,0,0,0,0,0,0,15.10,14.79,15.10
$GC,677,-0.78,-292.0,2501,406,3910,3877,79.1,-9.6,113,687,0.00,2.33,0.00,0.000,3078,0.000,0.034,2502,1816,3893,3910,3877,0,0,0,0,0,0,14.95,14.88,14.98
$GC,752,-0.78,-292.0,2501,1816,3910,3876,86.9,-10.5,126,759,0.00,2.35,0.00,0.000,2308,0.000,0.053,2502,3209,3893,3910,3877,0,0,0,0,0,0,15.09,14.83,15.09
$GC,808,-0.78,-292.0,2502,3208,3911,3877,92.8,-9.7,136,814,0.00,2.33,0.00,0.000,3078,0.000,0.038,2502,1808,3894,3911,3877,0,0,0,0,0,0,14.96,14.86,14.97
$STATE,819,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,819,begin apogee
$GC,826,-0.17,0.0,2502,1806,3910,3877,94.3,-10.0,138,1050,0.98,0.00,215.05,1.066,10246,0.135,0.000,2697,1805,2700,2737,2663,0,0,0,0,0,0,14.56,14.40,13.88
$STATE,1051,end apogee,CONTROL_FINISHED_OK
$STATE,1052,begin climb
$GC,1054,0.78,292.0,2696,1806,2734,2660,112.0,0.0,178,1292,1.42,2.42,225.73,1.043,10500,0.076,0.046,2999,3204,1506,1551,1461,0,0,0,0,0,0,14.40,14.27,13.88
$GC,1343,0.78,292.0,2999,3204,1548,1458,87.2,13.1,228,1350,0.00,2.45,0.00,0.000,3078,0.000,0.051,3000,1808,1503,1548,1458,0,0,0,0,0,0,14.65,14.54,14.66
$GC,1416,0.78,292.0,2999,1808,1548,1456,77.1,14.5,241,1422,0.00,2.47,0.00,0.000,2564,0.000,0.070,3007,394,1502,1548,1456,0,0,0,0,0,0,14.88,14.60,14.88
$GC,1475,0.78,292.0,3006,395,1547,1456,68.6,13.2,252,1482,0.00,2.35,0.00,0.000,1030,0.000,0.031,3007,1804,1501,1547,1456,0,0,0,0,0,0,14.73,14.67,14.75
$GC,1548,0.78,292.0,3007,1806,1547,1455,59.5,13.5,265,1555,0.00,2.33,0.00,0.000,260,0.000,0.047,3007,3196,1501,1547,1455,0,0,0,0,0,0,14.96,14.76,14.97
$GC,1577,0.78,292.0,3006,3196,1546,1455,55.2,14.3,270,1584,0.00,2.40,0.00,0.000,1030,0.000,0.051,3007,1792,1500,1546,1455,0,0,0,0,0,0,14.86,14.76,14.88
$GC,1650,0.78,292.0,3007,1792,1546,1455,46.6,13.2,283,1656,0.00,2.42,0.00,0.000,516,0.000,0.070,3011,392,1500,1546,1455,0,0,0,0,0,0,15.01,14.67,15.02
$GC,1679,0.78,292.0,3011,390,1546,1455,42.6,12.5,288,1686,0.00,2.33,0.00,0.000,5126,0.000,0.032,3012,1806,1500,1546,1455,0,0,0,0,0,0,14.87,14.84,14.87
$GC,1752,0.78,292.0,3012,1808,1546,1455,34.3,11.4,301,1758,0.00,2.33,0.00,0.000,4356,0.000,0.047,3012,3195,1500,1546,1455,0,0,0,0,0,0,15.05,14.81,15.05
$GC,1796,0.78,292.0,3011,3196,1545,1455,28.7,10.7,309,1803,0.00,2.40,0.00,0.000,5126,0.000,0.051,3013,1796,1499,1545,1454,0,0,0,0,0,0,14.88,14.77,14.89
$GC,1869,0.78,292.0,3013,1796,1545,1454,21.0,11.0,322,1875,0.00,2.42,0.00,0.000,4612,0.000,0.070,3013,390,1499,1545,1453,0,0,0,0,0,0,15.04,14.79,15.04
$GC,1899,0.80,309.4,3012,391,1546,1454,17.9,9.6,327,1917,0.00,2.30,12.98,0.841,9222,0.000,0.032,3013,1802,1437,1485,1389,0,0,0,0,0,0,14.94,14.88,14.15
$GC,1982,0.80,309.4,3013,1802,1484,1387,8.3,12.1,342,1989,0.00,2.33,0.00,0.000,260,0.000,0.046,3013,3204,1434,1483,1386,0,0,0,0,0,0,15.02,14.79,15.03
$STATE,2024,end climb,SURFACE_DEPTH_REACHED
$STATE,2025,begin surface coast
$FINISH,1.3,1.025454
$STATE,2043,end surface coast,CONTROL_FINISHED_OK
$STATE,2043,begin surface
$SM_CCo,2071,141.40,0.796,0,0,599,515.37
$SM_GC,0.93,13.50,2.42,141.40,0.037,0.050,0.796,124,1802,599,-8.17,0.71,515.37,0,0,0,0,0,0,14.88,14.83,14.08
$IRIDIUM_FIX,-3404.29,2522.76,230419,180123
$TT8_MAMPS,0.021721,0.920521
$HUMID,45.39
$INTERNAL_PRESSURE,9.2928
$TCM_TEMP,19.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,33.2
$SC_FREEKB,3623328
$24V_AH,13.88,164.239
$10V_AH,13.25,0.000
$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,17.250,68.675,453.750,141.400,0.000,0.000,0.000,0.000,2.000,0.000,0.000,679.866,274.883,615.169,628.016,168.354,0.000,1019.802,0.000,535.511,0.000,14.617,0.000
$DEVICE_MAMPS,135.405,72.675,1065.645,796.365,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2098.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.146,0.000,0.000,0.000
$MEM,341056
$DATA_FILE_SIZE,10136,353
$CAP_FILE_SIZE,70610,0
$CFSIZE,2097086464,1987739648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230419,210032,-3417.087,2520.588,11,0.9,31,-27.7,1.1,215.1,10,8.6