version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 574
start: 4 23 119 22 46 55
data:
$ID,574
$MISSION,3
$DIVE,574
$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
$GPS1,230419,223431,-3416.7131,2519.0774,8,0.8,38,-27.6,0.0,117.5,11,5.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-60.2
$GPS2,230419,224630,-3416.8049,2518.8550,8,0.9,14,-27.6,0.5,87.7,10,9.9
$SPEED_LIMITS,0.173,0.352
$TGT_NAME,HEADING
$TGT_LATLONG,-3406.657,2514.394
$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,7.6,20000,-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,-292.0,53,1785,639,529,0.0,0.0,0,124,0.00,0.00,-96.93,0.000,16386,0.000,0.000,53,1785,2966,2926,3006,0,0,0,0,0,0,14.95,28.83,14.95
$GC,130,-0.78,-292.0,52,1785,2930,3004,3.4,-6.8,18,166,14.60,2.45,-15.55,0.000,18692,0.301,0.072,2491,3195,3894,3912,3877,0,0,0,0,0,0,14.49,13.33,14.78
$GC,226,-0.78,-292.0,2491,3195,3913,3877,25.1,-12.0,35,234,0.05,2.35,0.00,0.000,3078,0.294,0.041,2504,1801,3895,3913,3877,0,0,0,0,0,0,14.63,14.77,14.81
$GC,299,-0.78,-292.0,2503,1801,3913,3877,34.4,-13.2,48,306,0.00,2.40,0.00,0.000,2564,0.000,0.063,2505,408,3894,3912,3877,0,0,0,0,0,0,15.04,14.64,15.04
$GC,349,-0.78,-292.0,2505,408,3911,3877,40.9,-10.7,57,356,0.00,2.30,0.00,0.000,3078,0.000,0.033,2504,1801,3895,3913,3877,0,0,0,0,0,0,14.81,14.73,14.81
$GC,422,-0.78,-292.0,2504,1804,3913,3877,48.6,-11.3,70,428,0.00,2.40,0.00,0.000,2308,0.000,0.054,2505,3215,3895,3913,3877,0,0,0,0,0,0,15.07,14.79,15.07
$GC,477,-0.78,-292.0,2505,3214,3913,3877,54.0,-9.6,80,483,0.00,2.35,0.00,0.000,3078,0.000,0.039,2505,1809,3895,3913,3877,0,0,0,0,0,0,14.93,14.83,14.96
$GC,549,-0.78,-292.0,2505,1808,3913,3877,61.2,-10.5,93,556,0.00,2.40,0.00,0.000,2564,0.000,0.062,2505,409,3895,3913,3877,0,0,0,0,0,0,15.07,14.67,15.07
$GC,579,-0.78,-292.0,2505,409,3913,3877,64.8,-11.3,98,587,0.00,2.33,0.00,0.000,3078,0.000,0.032,2505,1825,3895,3913,3877,0,0,0,0,0,0,14.83,14.74,14.83
$GC,652,-0.78,-292.0,2504,1827,3913,3877,70.8,-9.1,111,659,0.00,2.35,0.00,0.000,2308,0.000,0.054,2505,3215,3895,3913,3877,0,0,0,0,0,0,15.07,14.81,15.07
$GC,703,-0.78,-292.0,2504,3215,3913,3877,75.3,-9.0,120,710,0.00,2.35,0.00,0.000,3078,0.000,0.039,2505,1801,3895,3913,3877,0,0,0,0,0,0,14.95,14.85,14.96
$GC,776,-0.78,-292.0,2505,1801,3913,3877,82.0,-9.4,133,782,0.00,2.38,0.00,0.000,2564,0.000,0.059,2505,411,3895,3913,3877,0,0,0,0,0,0,15.09,14.76,15.09
$GC,812,-0.78,-292.0,2504,411,3913,3877,86.2,-11.2,139,819,0.00,2.33,0.00,0.000,3078,0.000,0.034,2505,1818,3895,3913,3877,0,0,0,0,0,0,14.95,14.85,14.96
$GC,885,-0.78,-292.0,2504,1821,3913,3877,93.0,-9.1,152,891,0.00,2.35,0.00,0.000,2308,0.000,0.054,2505,3212,3894,3912,3877,0,0,0,0,0,0,15.09,14.71,15.09
$STATE,942,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,942,begin apogee
$GC,951,-0.17,0.0,2505,1795,3913,3877,99.1,-8.8,163,1179,0.95,0.00,214.98,1.038,10246,0.123,0.000,2698,1795,2698,2734,2662,0,0,0,0,0,0,14.59,14.41,13.90
$STATE,1181,end apogee,CONTROL_FINISHED_OK
$STATE,1181,begin climb
$GC,1184,0.78,292.0,2697,1795,2731,2660,119.1,0.0,204,1422,1.50,2.47,223.85,1.029,11012,0.097,0.047,3005,3200,1509,1555,1464,0,0,0,0,0,0,14.42,14.36,13.87
$GC,1473,0.78,292.0,3005,3202,1550,1462,92.6,11.9,254,1480,0.00,2.42,0.00,0.000,1030,0.000,0.050,3009,1806,1505,1550,1461,0,0,0,0,0,0,14.65,14.56,14.66
$GC,1545,0.78,292.0,3009,1805,1550,1461,81.9,15.7,267,1552,0.00,2.45,0.00,0.000,516,0.000,0.067,3018,393,1505,1550,1461,0,0,0,0,0,0,14.88,14.61,14.89
$GC,1580,0.78,292.0,3018,393,1549,1461,75.5,18.6,273,1587,0.00,2.35,0.00,0.000,5126,0.000,0.031,3018,1819,1505,1549,1461,0,0,0,0,0,0,14.75,14.66,14.76
$GC,1654,0.78,292.0,3018,1822,1549,1466,63.0,18.0,286,1660,0.00,2.30,0.00,0.000,4356,0.000,0.046,3019,3191,1503,1548,1459,0,0,0,0,0,0,14.97,14.75,14.97
$GC,1684,0.78,292.0,3021,3191,1548,1459,57.2,16.3,291,1690,0.00,2.38,0.00,0.000,5126,0.000,0.050,3020,1796,1502,1548,1457,0,0,0,0,0,0,14.87,14.76,14.88
$GC,1755,0.78,292.0,3019,1796,1548,1459,47.1,15.2,304,1762,0.00,2.45,0.00,0.000,4612,0.000,0.070,3020,392,1503,1548,1458,0,0,0,0,0,0,15.02,14.71,15.02
$GC,1795,0.78,292.0,3019,392,1548,1459,41.2,13.4,311,1802,0.00,2.30,0.00,0.000,5126,0.000,0.031,3020,1793,1501,1543,1459,0,0,0,0,0,0,14.86,14.78,14.88
$GC,1868,0.78,292.0,3019,1796,1548,1458,33.1,11.2,324,1873,0.00,0.00,0.00,0.000,4102,0.000,0.000,3020,1796,1503,1548,1458,0,0,0,0,0,0,15.03,15.04,15.04
$GC,1937,0.78,292.0,3019,1795,1548,1457,24.4,12.8,337,1943,0.00,2.45,0.00,0.000,4612,0.000,0.070,3023,388,1502,1548,1457,0,0,0,0,0,0,15.05,14.78,15.06
$GC,2029,0.80,313.2,3023,388,1547,1457,13.2,9.5,354,2052,0.00,2.33,13.82,0.822,13318,0.000,0.033,3024,1811,1420,1468,1372,0,0,0,0,0,0,14.85,14.78,14.21
$STATE,2106,end climb,FINISH_DEPTH_REACHED
$STATE,2106,begin subsurface finish
$FINISH1,4.4,1.025426,106
$GC,2114,0.13,106.3,3023,1810,1467,1368,4.4,13.6,368,2154,1.08,2.30,-30.27,0.000,20740,0.140,0.069,2807,3191,2270,2314,2226,0,0,0,0,0,0,14.67,13.42,14.76
$FINISH2,3.8
$STATE,2155,end subsurface finish,CONTROL_FINISHED_OK
$STATE,2155,begin surface
$IRIDIUM_FIX,-3404.29,2518.04,230419,210510
$TT8_MAMPS,0.020972,0.935501
$HUMID,46.02
$INTERNAL_PRESSURE,9.45881
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.4,33.7
$SC_FREEKB,3621792
$24V_AH,13.33,164.846
$10V_AH,13.46,0.000
$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,18.175,59.325,452.650,0.000,0.000,25.733,15.649,365.655,2.250,0.000,15.161,681.997,276.659,536.464,1045.569,338.670,0.000,967.969,0.000,568.846,0.000,16.168,0.000
$DEVICE_MAMPS,300.645,71.910,1038.105,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2213.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.469,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,10140,375
$CAP_FILE_SIZE,75309,0
$CFSIZE,2097086464,1987248128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,230419,224630,-3416.805,2518.855,8,0.9,14,-27.6,0.5,87.7,10,9.9