version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 489
start: 4 21 119 9 37 38
data:
$ID,574
$MISSION,3
$DIVE,489
$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,280
$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,55
$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,32
$R_STBD_OVSHOOT,48
$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
$GPS1,210419,090143,-3420.2380,2540.0830,7,0.8,15,-27.9,0.8,167.3,11,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.55
$_SM_ANGLEo,0.2
$GPS2,210419,090143,-3420.2380,2540.0830,7,0.8,15,-27.9,0.8,167.3,11,9.5
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3414.044,2550.783
$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,82.9,20000,-13.1,-10.010,-16.32,4154
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.77,-272.5,2810,1817,2269,2175,0.0,0.0,0,31,0.00,0.00,-5.97,0.000,16386,0.000,0.000,2810,1817,2435,2479,2391,0,0,0,0,0,0,15.08,28.83,15.10
$GC,34,-0.77,-272.5,2810,1818,2481,2391,5.4,0.0,1,76,1.30,2.40,-33.92,0.000,20740,0.080,0.079,2525,3209,3813,3831,3795,0,0,0,0,0,0,14.83,13.45,14.88
$GC,115,-0.77,-272.5,2524,3210,3832,3796,12.9,-9.2,15,122,0.00,2.33,0.00,0.000,5126,0.000,0.041,2524,1809,3814,3832,3796,0,0,0,0,0,0,14.90,14.81,14.92
$GC,187,-0.77,-272.5,2524,1809,3832,3796,21.4,-13.2,28,193,0.00,2.40,0.00,0.000,4612,0.000,0.065,2525,409,3813,3831,3796,0,0,0,0,0,0,15.11,14.85,15.12
$GC,226,-0.77,-272.5,2524,405,3832,3796,27.0,-13.2,35,233,0.00,2.30,0.00,0.000,5126,0.000,0.034,2525,1811,3814,3832,3796,0,0,0,0,0,0,15.00,14.90,15.01
$GC,296,-0.77,-272.5,2524,1812,3832,3796,36.1,-13.7,48,303,0.00,2.35,0.00,0.000,4356,0.000,0.054,2524,3207,3814,3832,3796,0,0,0,0,0,0,15.11,14.86,15.12
$GC,351,-0.77,-272.5,2524,3207,3832,3796,42.2,-9.9,58,358,0.00,2.33,0.00,0.000,5126,0.000,0.041,2524,1812,3814,3832,3796,0,0,0,0,0,0,14.99,14.89,15.00
$GC,425,-0.77,-272.5,2524,1811,3832,3796,50.0,-11.1,71,432,0.00,2.40,0.00,0.000,4612,0.000,0.063,2524,410,3814,3832,3796,0,0,0,0,0,0,15.13,14.81,15.13
$GC,471,-0.77,-272.5,2524,409,3832,3796,55.2,-10.1,79,477,0.00,2.30,0.00,0.000,5126,0.000,0.034,2524,1810,3814,3832,3796,0,0,0,0,0,0,14.94,14.85,14.95
$GC,544,-0.77,-272.5,2524,1814,3837,3796,61.8,-8.9,92,551,0.00,2.38,0.00,0.000,4356,0.000,0.054,2525,3223,3813,3832,3795,0,0,0,0,0,0,15.13,14.75,15.12
$GC,611,-0.77,-272.5,2524,3223,3832,3796,66.8,-5.9,104,618,0.00,2.35,0.00,0.000,5126,0.000,0.038,2525,1807,3814,3833,3796,0,0,0,0,0,0,14.99,14.89,15.00
$GC,686,-0.77,-272.5,2524,1807,3832,3797,72.4,-7.7,117,693,0.00,2.38,0.00,0.000,4612,0.000,0.061,2525,419,3814,3832,3796,0,0,0,0,0,0,15.12,14.85,15.12
$GC,727,-0.77,-272.5,2524,412,3832,3796,76.0,-9.4,124,733,0.00,2.30,0.00,0.000,5126,0.000,0.032,2524,1822,3812,3828,3796,0,0,0,0,0,0,15.00,14.91,15.00
$GC,799,-0.77,-272.5,2524,1823,3832,3795,82.0,-8.4,137,805,0.00,2.33,0.00,0.000,4356,0.000,0.053,2524,3208,3814,3832,3796,0,0,0,0,0,0,15.11,14.76,15.11
$GC,813,-0.77,-272.5,2524,3208,3832,3796,83.8,-9.5,139,820,0.00,2.30,0.00,0.000,5126,0.000,0.038,2524,1810,3814,3832,3796,0,0,0,0,0,0,14.98,14.89,15.00
$STATE,846,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,846,begin apogee
$GC,852,-0.17,0.0,2525,1811,3832,3796,86.7,-9.3,145,1063,0.85,0.00,199.65,1.047,10246,0.096,0.000,2707,1810,2699,2735,2664,0,0,0,0,0,0,14.74,14.31,13.93
$STATE,1064,end apogee,CONTROL_FINISHED_OK
$STATE,1064,begin climb
$GC,1067,0.77,272.5,2708,1810,2734,2662,101.4,0.0,183,1291,1.38,2.42,209.48,1.024,10500,0.060,0.046,3012,3194,1586,1629,1544,0,0,0,0,0,0,14.47,14.38,13.91
$GC,1319,0.77,272.5,3012,3194,1625,1542,80.9,15.8,227,1326,0.00,2.40,0.00,0.000,5126,0.000,0.051,3014,1812,1583,1624,1542,0,0,0,0,0,0,14.59,14.49,14.61
$GC,1391,0.77,272.5,3014,1812,1624,1540,69.3,16.8,240,1398,0.00,2.47,0.00,0.000,4612,0.000,0.068,3020,394,1582,1623,1541,0,0,0,0,0,0,14.84,14.63,14.84
$GC,1446,0.77,272.5,3020,394,1622,1541,60.7,14.9,250,1453,0.00,2.33,0.00,0.000,5126,0.000,0.032,3020,1804,1581,1622,1541,0,0,0,0,0,0,14.82,14.74,14.83
$GC,1519,0.77,272.5,3020,1807,1621,1539,50.5,14.4,263,1526,0.00,2.33,0.00,0.000,4356,0.000,0.046,3020,3200,1580,1621,1539,0,0,0,0,0,0,14.97,14.72,14.98
$GC,1559,0.77,272.5,3020,3199,1621,1538,44.3,13.3,270,1566,0.08,2.40,0.00,0.000,5126,0.287,0.050,3009,1795,1580,1621,1539,0,0,0,0,0,0,14.61,14.74,14.80
$GC,1631,0.77,272.5,3008,1795,1620,1538,36.3,10.8,283,1638,0.00,2.40,0.00,0.000,516,0.000,0.069,3016,396,1579,1621,1538,0,0,0,0,0,0,15.02,14.78,15.02
$GC,1661,0.77,272.5,3014,396,1621,1533,32.9,10.7,288,1668,0.00,2.30,0.00,0.000,5126,0.000,0.033,3017,1802,1579,1621,1538,0,0,0,0,0,0,14.92,14.83,14.93
$GC,1733,0.77,272.5,3016,1805,1621,1537,25.1,10.2,301,1740,0.03,2.33,0.00,0.000,4356,0.478,0.044,3010,3195,1579,1621,1537,0,0,0,0,0,0,14.76,14.75,14.87
$GC,1758,0.77,272.5,3010,3196,1621,1537,22.2,10.2,305,1765,0.00,2.38,0.00,0.000,5126,0.000,0.048,3010,1792,1579,1621,1537,0,0,0,0,0,0,14.88,14.78,14.90
$GC,1830,0.77,272.5,3009,1792,1621,1537,15.4,10.5,318,1837,0.00,2.42,0.00,0.000,4612,0.000,0.070,3010,385,1579,1621,1537,0,0,0,0,0,0,15.07,14.80,15.07
$GC,1864,0.77,272.5,3010,385,1621,1537,11.5,10.3,324,1871,0.00,2.33,0.00,0.000,5126,0.000,0.031,3010,1810,1578,1621,1536,0,0,0,0,0,0,14.91,14.83,14.92
$GC,1936,0.79,287.4,3010,1813,1621,1536,4.9,9.6,337,1950,0.00,2.53,8.50,0.738,8708,0.000,0.070,3010,389,1525,1571,1480,0,0,0,0,0,0,15.07,14.81,14.28
$STATE,1955,end climb,SURFACE_DEPTH_REACHED
$STATE,1955,begin surface coast
$FINISH,0.3,1.024820
$STATE,1989,end surface coast,CONTROL_FINISHED_OK
$STATE,1989,begin surface
$SM_CCo,2016,150.45,0.785,0,0,599,515.37
$SM_GC,0.96,13.43,2.35,150.45,0.037,0.030,0.785,125,1803,599,-8.17,-1.81,515.37,0,0,0,0,0,0,14.88,14.90,14.12
$IRIDIUM_FIX,-3406.89,2537.90,210419,072846
$TT8_MAMPS,0.021721,0.775964
$HUMID,45.39
$INTERNAL_PRESSURE,9.33186
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.1,36.6
$SC_FREEKB,3665344
$24V_AH,13.45,148.584
$10V_AH,13.45,0.000
$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,17.050,68.575,417.625,150.450,0.000,0.000,0.000,0.000,1.500,0.000,0.000,686.018,275.679,596.763,609.138,144.640,0.000,979.674,0.000,530.415,0.000,11.625,0.000
$DEVICE_MAMPS,478.125,78.795,1046.520,784.890,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2038.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.281,0.000,0.000,0.000
$MEM,341056
$DATA_FILE_SIZE,10112,346
$CAP_FILE_SIZE,69945,0
$CFSIZE,2097086464,2001174528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210419,101446,-3420.020,2541.191,8,1.1,17,-27.9,0.9,121.4,8,9.8