version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 573
start: 4 23 119 21 51 56
data:
$ID,574
$MISSION,3
$DIVE,573
$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,44
$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
$GPS1,230419,211249,-3417.1929,2520.3452,8,0.9,19,-27.7,1.2,237.2,9,7.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.78
$_SM_ANGLEo,0.3
$GPS2,230419,211249,-3417.1929,2520.3452,8,0.9,19,-27.7,1.2,237.2,9,7.7
$SPEED_LIMITS,0.173,0.352
$TGT_NAME,HEADING
$TGT_LATLONG,-3407.045,2515.884
$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,-292.0,2805,1815,2316,2233,0.0,0.0,0,33,0.00,0.00,-6.25,0.000,16386,0.000,0.000,2805,1814,2512,2553,2471,0,0,0,0,0,0,15.06,28.83,15.07
$GC,36,-0.78,-292.0,2805,1811,2555,2471,6.4,0.0,1,77,1.33,2.42,-33.17,0.000,20740,0.079,0.076,2518,3214,3894,3912,3877,0,0,0,0,0,0,14.70,13.36,14.76
$GC,121,-0.78,-292.0,2518,3214,3912,3878,14.8,-11.2,16,128,0.00,2.35,0.00,0.000,5126,0.000,0.040,2518,1807,3895,3912,3878,0,0,0,0,0,0,14.90,14.81,14.92
$GC,194,-0.78,-292.0,2518,1806,3912,3878,23.6,-12.1,29,200,0.00,0.00,0.00,0.000,4102,0.000,0.000,2518,1807,3895,3912,3878,0,0,0,0,0,0,15.07,15.07,15.07
$GC,263,-0.78,-292.0,2518,1806,3912,3877,31.2,-9.9,42,270,0.00,2.40,0.00,0.000,4612,0.000,0.064,2519,407,3895,3912,3878,0,0,0,0,0,0,15.09,14.83,15.09
$GC,294,-0.78,-292.0,2518,408,3912,3878,34.2,-9.0,47,301,0.00,2.33,0.00,0.000,5126,0.000,0.034,2518,1821,3894,3910,3878,0,0,0,0,0,0,14.97,14.88,14.98
$GC,366,-0.78,-292.0,2518,1823,3912,3878,41.6,-11.4,60,373,0.00,2.35,0.00,0.000,4356,0.000,0.053,2519,3210,3895,3913,3878,0,0,0,0,0,0,15.10,14.81,15.11
$GC,422,-0.78,-292.0,2518,3210,3912,3878,47.3,-9.8,70,429,0.00,2.38,0.00,0.000,5126,0.000,0.038,2518,1800,3894,3912,3877,0,0,0,0,0,0,14.96,14.86,14.97
$GC,494,-0.78,-292.0,2518,1799,3912,3878,54.8,-10.7,83,504,0.00,2.40,0.00,0.000,4612,0.000,0.067,2518,408,3895,3912,3878,0,0,0,0,0,0,15.09,14.71,15.09
$GC,522,-0.78,-292.0,2518,408,3912,3878,58.0,-10.7,87,529,0.00,2.33,0.00,0.000,5126,0.000,0.033,2518,1821,3895,3912,3878,0,0,0,0,0,0,14.97,14.88,14.98
$GC,595,-0.78,-292.0,2518,1824,3912,3878,64.4,-9.1,100,602,0.00,2.35,0.00,0.000,4356,0.000,0.055,2518,3207,3893,3912,3875,0,0,0,0,0,0,15.10,14.70,15.10
$GC,631,-0.78,-292.0,2518,3207,3912,3878,67.6,-7.4,106,638,0.00,2.33,0.00,0.000,5126,0.000,0.037,2518,1811,3895,3912,3878,0,0,0,0,0,0,14.90,14.81,14.92
$GC,705,-0.78,-292.0,2518,1811,3913,3878,74.5,-10.2,119,712,0.00,2.40,0.00,0.000,4612,0.000,0.061,2518,408,3895,3913,3877,0,0,0,0,0,0,15.11,14.70,15.11
$GC,746,-0.78,-292.0,2518,408,3912,3878,79.5,-11.3,126,755,0.00,2.33,0.00,0.000,5126,0.000,0.033,2518,1826,3895,3912,3878,0,0,0,0,0,0,14.90,14.81,14.91
$GC,823,-0.78,-292.0,2518,1826,3913,3878,87.4,-10.3,139,829,0.00,2.33,0.00,0.000,4356,0.000,0.052,2518,3204,3894,3913,3876,0,0,0,0,0,0,15.09,14.83,15.09
$GC,915,-0.78,-292.0,2518,3204,3913,3878,96.0,-9.2,156,921,0.00,2.33,0.00,0.000,5126,0.000,0.038,2519,1804,3895,3913,3878,0,0,0,0,0,0,14.82,14.73,14.83
$STATE,936,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,936,begin apogee
$GC,943,-0.17,0.0,2518,1805,3913,3878,98.3,-9.7,160,1171,0.88,0.00,215.15,1.063,10246,0.094,0.000,2706,1802,2697,2734,2661,0,0,0,0,0,0,14.76,14.26,13.87
$STATE,1173,end apogee,CONTROL_FINISHED_OK
$STATE,1173,begin climb
$GC,1176,0.78,292.0,2705,1802,2732,2660,118.8,0.0,201,1414,1.38,2.42,225.95,1.046,10500,0.080,0.044,2996,3202,1506,1552,1460,0,0,0,0,0,0,14.40,14.33,13.87
$GC,1460,0.78,292.0,2996,3202,1549,1457,112.2,14.6,250,1466,0.00,2.42,0.00,0.000,3078,0.000,0.054,2996,1814,1502,1548,1457,0,0,0,0,0,0,14.64,14.53,14.65
$GC,1532,0.78,292.0,2996,1813,1549,1455,102.6,15.2,263,1538,0.00,0.00,0.00,0.000,2054,0.000,0.000,2996,1813,1502,1549,1456,0,0,0,0,0,0,14.87,14.88,14.88
$GC,1601,0.78,292.0,2996,1813,1548,1455,91.7,17.0,276,1607,0.00,0.00,0.00,0.000,2054,0.000,0.000,2996,1813,1501,1548,1455,0,0,0,0,0,0,14.95,14.95,14.95
$GC,1671,0.78,292.0,2996,1813,1543,1455,80.5,16.8,289,1676,0.00,0.00,0.00,0.000,2054,0.000,0.000,2996,1813,1501,1548,1455,0,0,0,0,0,0,14.97,14.98,14.98
$GC,1740,0.78,292.0,2996,1813,1548,1455,69.0,15.8,302,1745,0.00,0.00,0.00,0.000,2054,0.000,0.000,2996,1813,1501,1548,1455,0,0,0,0,0,0,15.00,15.01,15.01
$GC,1809,0.78,292.0,2996,1813,1548,1455,58.2,14.4,315,1816,0.00,2.47,0.00,0.000,2564,0.000,0.071,2996,391,1501,1548,1455,0,0,0,0,0,0,15.04,14.77,15.04
$GC,1843,0.78,292.0,2996,391,1547,1455,53.4,13.9,321,1850,0.00,2.33,0.00,0.000,3078,0.000,0.031,2996,1806,1501,1547,1455,0,0,0,0,0,0,14.94,14.82,14.93
$GC,1915,0.78,292.0,2996,1809,1548,1454,45.1,11.7,334,1922,0.00,2.30,0.00,0.000,2308,0.000,0.047,2996,3190,1500,1547,1454,0,0,0,0,0,0,15.04,14.82,15.04
$GC,1946,0.78,292.0,2996,3190,1547,1454,41.6,11.0,339,1953,0.00,2.38,0.00,0.000,3078,0.000,0.050,2996,1791,1500,1547,1454,0,0,0,0,0,0,14.82,14.71,14.83
$GC,2019,0.78,292.0,2996,1791,1544,1454,33.2,11.8,352,2025,0.00,2.42,0.00,0.000,2564,0.000,0.070,2997,388,1500,1547,1454,0,0,0,0,0,0,15.07,14.79,15.07
$GC,2059,0.78,292.0,2997,388,1547,1454,28.3,10.8,359,2066,0.00,2.33,0.00,0.000,3078,0.000,0.031,2997,1812,1500,1547,1454,0,0,0,0,0,0,14.95,14.85,14.97
$GC,2132,0.78,292.0,2996,1814,1547,1453,21.7,10.2,372,2138,0.00,2.30,0.00,0.000,2308,0.000,0.047,2996,3190,1500,1547,1453,0,0,0,0,0,0,15.07,14.72,15.08
$GC,2177,0.79,304.4,2996,3190,1546,1453,16.8,9.7,380,2190,0.00,2.38,7.40,0.810,11270,0.000,0.049,2996,1790,1456,1506,1407,0,0,0,0,0,0,14.85,14.74,14.21
$GC,2255,0.85,348.6,2996,1791,1505,1406,9.9,9.0,394,2289,0.08,0.00,30.77,0.850,10246,0.183,0.000,3041,1791,1275,1332,1219,0,0,0,0,0,0,14.77,14.73,14.25
$STATE,2315,end climb,SURFACE_DEPTH_REACHED
$STATE,2317,begin surface coast
$FINISH,0.8,1.025447
$STATE,2333,end surface coast,CONTROL_FINISHED_OK
$STATE,2333,begin surface
$SM_CCo,2359,114.07,0.789,0,0,598,515.37
$SM_GC,0.79,13.73,0.00,114.07,0.037,0.000,0.789,118,1788,598,-8.18,-0.68,515.37,0,0,0,0,0,0,14.82,15.00,14.08
$IRIDIUM_FIX,-3401.68,2522.76,230419,193503
$TT8_MAMPS,0.021721,0.951979
$HUMID,45.31
$INTERNAL_PRESSURE,9.28303
$TCM_TEMP,19.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.4,32.5
$SC_FREEKB,3622304
$24V_AH,13.36,164.647
$10V_AH,13.31,0.000
$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,17.375,59.125,479.275,114.075,0.000,0.000,0.000,0.000,2.500,0.000,0.000,795.440,332.444,611.164,714.114,172.845,0.000,1058.898,0.000,616.735,0.000,18.979,0.000
$DEVICE_MAMPS,182.835,75.735,1063.350,788.715,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2388.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.519,0.000,0.000,0.000
$MEM,341064
$DATA_FILE_SIZE,10132,408
$CAP_FILE_SIZE,77190,0
$CFSIZE,2097086464,1987411968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230419,223431,-3416.713,2519.077,8,0.8,38,-27.6,0.0,117.5,11,5.2