version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 575
start: 4 23 119 23 26 2
data:
$ID,574
$MISSION,3
$DIVE,575
$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,36
$R_STBD_OVSHOOT,55
$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
$GPS1,230419,224630,-3416.8049,2518.8550,8,0.9,14,-27.6,0.5,87.7,10,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.09
$_SM_ANGLEo,3.5
$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,-292.0,2806,1805,2314,2229,0.0,0.0,0,32,0.00,0.00,-5.60,0.000,16386,0.000,0.000,2807,1805,2514,2555,2474,0,0,0,0,0,0,15.08,28.83,15.08
$GC,35,-0.78,-292.0,2807,1805,2555,2474,8.6,0.0,1,75,1.33,2.38,-30.17,0.000,20996,0.089,0.082,2523,402,3893,3911,3876,0,0,0,0,0,0,14.66,13.33,14.73
$GC,129,-0.78,-292.0,2523,402,3913,3877,17.0,-12.0,18,136,0.00,2.33,0.00,0.000,5126,0.000,0.034,2523,1807,3894,3912,3877,0,0,0,0,0,0,14.84,14.76,14.85
$GC,202,-0.78,-292.0,2522,1810,3912,3876,25.0,-11.8,31,209,0.00,2.38,0.00,0.000,4356,0.000,0.055,2522,3213,3894,3912,3877,0,0,0,0,0,0,15.09,14.83,15.09
$GC,227,-0.78,-292.0,2522,3213,3911,3877,27.8,-10.0,35,234,0.00,2.35,0.00,0.000,5126,0.000,0.041,2521,1813,3894,3912,3876,0,0,0,0,0,0,14.97,14.86,14.98
$GC,300,-0.78,-292.0,2522,1813,3912,3876,34.5,-10.0,48,306,0.00,2.42,0.00,0.000,4612,0.000,0.063,2522,404,3893,3911,3876,0,0,0,0,0,0,15.09,14.76,15.10
$GC,340,-0.78,-292.0,2522,403,3912,3877,39.1,-9.9,55,347,0.00,2.35,0.00,0.000,5126,0.000,0.034,2522,1824,3894,3912,3876,0,0,0,0,0,0,14.91,14.83,14.92
$GC,413,-0.78,-292.0,2522,1826,3912,3876,46.8,-11.3,68,419,0.00,2.35,0.00,0.000,4356,0.000,0.054,2521,3212,3894,3912,3876,0,0,0,0,0,0,15.09,14.83,15.09
$GC,463,-0.78,-292.0,2522,3212,3912,3876,52.3,-10.1,77,469,0.00,2.33,0.00,0.000,5126,0.000,0.037,2522,1805,3894,3912,3876,0,0,0,0,0,0,14.97,14.87,14.97
$GC,536,-0.78,-292.0,2522,1805,3912,3876,59.9,-10.6,90,544,0.00,2.40,0.00,0.000,4612,0.000,0.060,2522,406,3894,3912,3876,0,0,0,0,0,0,15.10,14.83,15.10
$GC,587,-0.78,-292.0,2522,407,3912,3876,65.9,-12.3,99,594,0.00,2.33,0.00,0.000,5126,0.000,0.032,2522,1831,3894,3912,3877,0,0,0,0,0,0,14.97,14.89,14.99
$GC,660,-0.78,-292.0,2522,1832,3912,3876,73.1,-9.6,112,667,0.00,2.33,0.00,0.000,4356,0.000,0.053,2522,3206,3894,3912,3876,0,0,0,0,0,0,15.10,14.77,15.10
$GC,710,-0.78,-292.0,2522,3205,3913,3876,78.0,-8.8,121,717,0.00,2.33,0.00,0.000,5126,0.000,0.037,2522,1803,3894,3912,3877,0,0,0,0,0,0,14.90,14.81,14.92
$GC,783,-0.78,-292.0,2522,1804,3912,3876,83.9,-7.9,134,789,0.00,2.38,0.00,0.000,4612,0.000,0.060,2522,409,3894,3913,3876,0,0,0,0,0,0,15.09,14.83,15.09
$GC,836,-0.78,-292.0,2522,410,3913,3876,88.6,-9.7,143,843,0.00,2.30,0.00,0.000,5126,0.000,0.033,2522,1807,3894,3913,3876,0,0,0,0,0,0,14.95,14.83,14.97
$GC,909,-0.78,-292.0,2522,1807,3913,3877,95.0,-7.7,156,915,0.00,2.38,0.00,0.000,4356,0.000,0.053,2522,3214,3894,3912,3876,0,0,0,0,0,0,15.09,14.72,15.09
$GC,949,-0.78,-292.0,2522,3214,3912,3876,98.5,-7.3,163,956,0.00,2.33,0.00,0.000,5126,0.000,0.037,2522,1809,3894,3912,3876,0,0,0,0,0,0,14.82,14.73,14.83
$STATE,981,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,981,begin apogee
$GC,988,-0.17,0.0,2522,1809,3913,3876,101.2,-8.1,169,1212,0.85,0.00,215.07,1.067,10246,0.109,0.000,2700,1809,2700,2736,2664,0,0,0,0,0,0,14.73,14.36,13.85
$STATE,1214,end apogee,CONTROL_FINISHED_OK
$STATE,1214,begin climb
$GC,1217,0.78,292.0,2701,1809,2733,2661,119.0,0.0,209,1454,1.38,2.50,226.30,1.051,11012,0.062,0.069,3010,407,1507,1553,1462,0,0,0,0,0,0,14.43,14.26,13.87
$GC,1478,0.78,292.0,3009,406,1551,1462,99.8,14.6,254,1484,0.00,2.35,0.00,0.000,1030,0.000,0.031,3010,1805,1506,1551,1462,0,0,0,0,0,0,14.52,14.44,14.54
$GC,1550,0.78,292.0,3009,1805,1550,1460,89.2,15.1,267,1557,0.00,2.33,0.00,0.000,260,0.000,0.045,3009,3202,1504,1549,1459,0,0,0,0,0,0,14.82,14.62,14.83
$GC,1585,0.78,292.0,3009,3202,1548,1458,83.2,15.9,273,1591,0.00,2.40,0.00,0.000,1030,0.000,0.050,3010,1803,1503,1548,1458,0,0,0,0,0,0,14.76,14.66,14.77
$GC,1656,0.78,292.0,3010,1802,1548,1458,72.3,16.1,286,1663,0.00,2.45,0.00,0.000,516,0.000,0.072,3010,392,1503,1548,1458,0,0,0,0,0,0,14.92,14.69,14.93
$GC,1701,0.78,292.0,3010,392,1548,1457,65.1,15.5,294,1708,0.00,2.33,0.00,0.000,1030,0.000,0.032,3010,1802,1503,1548,1458,0,0,0,0,0,0,14.85,14.78,14.87
$GC,1773,0.78,292.0,3010,1805,1548,1457,54.2,15.6,307,1780,0.00,2.33,0.00,0.000,260,0.000,0.046,3010,3199,1502,1548,1457,0,0,0,0,0,0,15.00,14.73,15.01
$GC,1794,0.78,292.0,3010,3199,1547,1457,50.7,15.5,310,1800,0.00,2.40,0.00,0.000,1030,0.000,0.050,3010,1794,1501,1547,1456,0,0,0,0,0,0,14.83,14.73,14.86
$GC,1866,0.78,292.0,3010,1793,1547,1456,41.4,13.5,323,1873,0.00,2.42,0.00,0.000,516,0.000,0.072,3010,391,1501,1547,1456,0,0,0,0,0,0,15.00,14.77,15.01
$GC,1901,0.78,292.0,3009,390,1548,1456,36.9,11.7,329,1908,0.00,2.33,0.00,0.000,1030,0.000,0.032,3010,1808,1501,1547,1456,0,0,0,0,0,0,14.91,14.85,14.93
$GC,1974,0.78,292.0,3010,1812,1547,1456,28.8,11.7,342,1979,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,1811,1502,1548,1456,0,0,0,0,0,0,15.05,15.06,15.06
$GC,2043,0.78,292.0,3010,1810,1547,1456,19.9,12.0,355,2050,0.00,2.47,0.00,0.000,516,0.000,0.069,3013,391,1501,1547,1456,0,0,0,0,0,0,15.07,14.75,15.07
$GC,2098,0.78,292.0,3013,391,1548,1455,13.2,10.1,365,2105,0.00,2.33,0.00,0.000,5126,0.000,0.032,3014,1802,1501,1547,1456,0,0,0,0,0,0,14.90,14.81,14.92
$GC,2170,0.78,292.0,3013,1805,1548,1455,5.9,10.9,378,2177,0.00,2.30,0.00,0.000,4356,0.000,0.041,3014,3202,1501,1547,1455,0,0,0,0,0,0,15.07,14.85,15.07
$STATE,2198,end climb,SURFACE_DEPTH_REACHED
$STATE,2198,begin surface coast
$FINISH,1.4,1.025410
$STATE,2219,end surface coast,CONTROL_FINISHED_OK
$STATE,2219,begin surface
$SM_CCo,2249,153.43,0.801,0,0,597,515.37
$SM_GC,0.87,13.60,2.40,153.43,0.045,0.051,0.801,122,1813,597,-8.18,0.90,515.37,0,0,0,0,0,0,14.88,14.84,14.09
$IRIDIUM_FIX,-3404.29,2518.04,230419,210510
$TT8_MAMPS,0.020972,0.748251
$HUMID,45.27
$INTERNAL_PRESSURE,9.28303
$TCM_TEMP,19.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.1,35.9
$SC_FREEKB,3621280
$24V_AH,13.33,165.053
$10V_AH,13.28,0.000
$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,17.150,73.300,441.375,153.425,0.000,0.000,0.000,0.000,2.250,0.000,0.000,765.607,314.842,622.188,680.009,175.241,0.000,1047.762,0.000,584.203,0.000,16.169,0.000
$DEVICE_MAMPS,108.630,81.855,1067.175,800.955,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2276.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.455,0.000,0.000,0.000
$MEM,341056
$DATA_FILE_SIZE,10130,387
$CAP_FILE_SIZE,76176,0
$CFSIZE,2097086464,1987084288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240419,000713,-3416.321,2517.599,9,1.2,20,-27.6,1.0,209.6,8,9.6