version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 529
start: 4 22 119 12 30 45
data:
$ID,574
$MISSION,3
$DIVE,529
$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,350
$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,33
$R_STBD_OVSHOOT,46
$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,10
$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
$GPS1,220419,115153,-3417.9941,2546.0791,8,0.9,15,-27.9,0.0,335.5,8,9.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,3.0
$GPS2,220419,115153,-3417.9941,2546.0791,8,0.9,15,-27.9,0.0,335.5,8,9.2
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3407.359,2543.814
$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,17.9,20000,-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,24,-0.77,-272.5,2807,1806,2298,2221,0.0,0.0,0,101,0.00,0.00,-71.55,0.000,16390,0.000,0.000,2807,1805,3812,3832,3793,0,0,0,0,0,0,15.09,13.45,15.07
$GC,105,-0.77,-272.5,2808,1805,3832,3792,2.7,-8.9,14,112,1.33,2.40,0.00,0.000,4612,0.092,0.059,2524,398,3811,3832,3791,0,0,0,0,0,0,14.78,14.85,14.85
$GC,130,-0.77,-272.5,2524,398,3832,3792,6.6,-13.3,18,137,0.00,2.35,0.00,0.000,5126,0.000,0.034,2522,1816,3812,3832,3792,0,0,0,0,0,0,14.93,14.84,14.94
$GC,203,-0.77,-272.5,2521,1818,3832,3792,16.1,-14.1,31,209,0.00,2.35,0.00,0.000,4356,0.000,0.054,2522,3213,3812,3833,3792,0,0,0,0,0,0,15.09,14.85,15.09
$GC,248,-0.77,-272.5,2522,3213,3826,3792,21.8,-9.9,39,255,0.00,2.35,0.00,0.000,5126,0.000,0.041,2522,1803,3812,3833,3792,0,0,0,0,0,0,14.98,14.88,15.00
$GC,320,-0.77,-272.5,2522,1802,3833,3792,30.8,-13.7,52,326,0.00,2.40,0.00,0.000,4612,0.000,0.063,2522,404,3812,3833,3791,0,0,0,0,0,0,15.11,14.76,15.11
$GC,354,-0.77,-272.5,2522,403,3832,3792,35.3,-10.8,58,361,0.00,2.33,0.00,0.000,5126,0.000,0.032,2522,1824,3812,3833,3792,0,0,0,0,0,0,14.88,14.80,14.88
$GC,426,-0.77,-272.5,2522,1826,3833,3792,42.6,-10.4,71,433,0.00,2.35,0.00,0.000,4356,0.000,0.052,2522,3217,3812,3833,3792,0,0,0,0,0,0,15.12,14.86,15.13
$GC,476,-0.77,-272.5,2521,3217,3833,3792,47.0,-8.6,80,483,0.00,2.35,0.00,0.000,5126,0.000,0.038,2522,1803,3813,3835,3792,0,0,0,0,0,0,14.99,14.89,15.00
$GC,548,-0.77,-272.5,2522,1803,3833,3792,54.0,-10.6,93,556,0.00,2.38,0.00,0.000,4612,0.000,0.062,2522,410,3812,3833,3791,0,0,0,0,0,0,15.10,14.85,15.11
$GC,583,-0.77,-272.5,2521,409,3833,3792,58.3,-10.3,99,590,0.00,2.30,0.00,0.000,5126,0.000,0.032,2523,1820,3812,3833,3792,0,0,0,0,0,0,15.00,14.91,15.01
$GC,658,-0.77,-272.5,2522,1822,3834,3792,65.2,-10.1,112,664,0.00,2.33,0.00,0.000,4356,0.000,0.053,2522,3207,3812,3833,3792,0,0,0,0,0,0,15.12,14.86,15.12
$GC,703,-0.77,-272.5,2522,3207,3834,3792,69.4,-8.3,120,710,0.00,2.30,0.00,0.000,5126,0.000,0.037,2522,1811,3813,3834,3792,0,0,0,0,0,0,14.99,14.90,15.00
$GC,777,-0.77,-272.5,2522,1812,3834,3792,76.3,-7.7,133,784,0.00,2.40,0.00,0.000,4612,0.000,0.062,2522,407,3812,3833,3792,0,0,0,0,0,0,15.12,14.85,15.12
$GC,812,-0.77,-272.5,2522,407,3833,3792,79.5,-9.2,139,818,0.00,2.30,0.00,0.000,5126,0.000,0.032,2522,1814,3812,3833,3792,0,0,0,0,0,0,15.00,14.90,15.01
$GC,884,-0.77,-272.5,2522,1815,3834,3792,86.4,-10.2,152,890,0.00,2.33,0.00,0.000,4356,0.000,0.050,2522,3206,3812,3833,3792,0,0,0,0,0,0,15.11,14.87,15.11
$GC,924,-0.77,-272.5,2522,3206,3834,3792,90.9,-9.2,159,931,0.00,2.30,0.00,0.000,5126,0.000,0.037,2522,1811,3813,3834,3792,0,0,0,0,0,0,14.88,14.79,14.89
$GC,996,-0.77,-272.5,2522,1810,3835,3791,97.0,-8.6,172,1002,0.00,0.00,0.00,0.000,4102,0.000,0.000,2522,1812,3813,3834,3792,0,0,0,0,0,0,15.13,15.13,15.13
$STATE,1023,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1023,begin apogee
$GC,1029,-0.17,0.0,2522,1812,3834,3792,99.7,-7.4,177,1237,0.85,0.00,198.73,1.040,10246,0.096,0.000,2705,1809,2700,2737,2664,0,0,0,0,0,0,14.79,14.42,13.94
$STATE,1239,end apogee,CONTROL_FINISHED_OK
$STATE,1239,begin climb
$GC,1241,0.77,272.5,2706,1809,2736,2663,109.4,0.0,214,1464,1.35,2.45,209.43,1.022,10500,0.073,0.044,2996,3201,1587,1630,1544,0,0,0,0,0,0,14.47,14.40,13.93
$GC,1512,0.77,272.5,2996,3201,1625,1542,90.4,14.8,261,1519,0.00,2.40,0.00,0.000,3078,0.000,0.051,2996,1812,1583,1625,1541,0,0,0,0,0,0,14.60,14.50,14.62
$GC,1583,0.77,272.5,2995,1812,1625,1540,80.4,14.5,274,1590,0.00,2.50,0.00,0.000,2564,0.000,0.070,2996,386,1582,1625,1540,0,0,0,0,0,0,14.91,14.66,14.91
$GC,1633,0.77,272.5,2996,386,1622,1540,72.5,13.9,283,1640,0.00,2.33,0.00,0.000,3078,0.000,0.030,2996,1806,1581,1623,1540,0,0,0,0,0,0,14.81,14.73,14.82
$GC,1707,0.77,272.5,2995,1809,1623,1539,63.8,12.2,296,1712,0.00,0.00,0.00,0.000,2054,0.000,0.000,2996,1809,1580,1623,1538,0,0,0,0,0,0,15.00,15.01,15.01
$GC,1775,0.77,272.5,2996,1809,1623,1538,54.9,13.0,309,1781,0.00,0.00,0.00,0.000,2054,0.000,0.000,2996,1809,1577,1623,1532,0,0,0,0,0,0,15.02,15.03,15.03
$GC,1844,0.77,272.5,2995,1809,1622,1537,47.1,10.6,322,1850,0.00,0.00,0.00,0.000,2054,0.000,0.000,2997,1809,1580,1623,1538,0,0,0,0,0,0,15.05,15.06,15.06
$GC,1913,0.77,272.5,2996,1809,1623,1537,39.3,11.5,335,1919,0.00,0.00,0.00,0.000,2054,0.000,0.000,2995,1809,1579,1623,1535,0,0,0,0,0,0,15.07,15.07,15.08
$GC,1982,0.77,272.5,2995,1809,1623,1537,32.0,10.7,348,1988,0.00,0.00,0.00,0.000,2054,0.000,0.000,2996,1809,1580,1623,1537,0,0,0,0,0,0,15.09,15.09,15.09
$GC,2052,0.83,324.1,2996,1809,1622,1536,25.5,8.7,361,2096,0.00,0.00,37.95,0.921,10502,0.000,0.000,2996,1809,1376,1426,1326,0,0,0,0,0,0,15.10,14.59,14.21
$GC,2160,0.83,324.1,2996,1809,1425,1324,14.7,10.2,381,2167,0.00,2.50,0.00,0.000,2564,0.000,0.073,2996,391,1374,1425,1323,0,0,0,0,0,0,14.97,14.73,14.98
$GC,2205,0.85,340.6,2996,391,1426,1323,10.3,9.6,389,2224,0.08,2.33,10.48,0.776,11270,0.181,0.033,3038,1800,1308,1361,1255,0,0,0,0,0,0,14.76,14.83,14.24
$STATE,2270,end climb,SURFACE_DEPTH_REACHED
$STATE,2270,begin surface coast
$FINISH,0.5,1.025365
$STATE,2297,end surface coast,CONTROL_FINISHED_OK
$STATE,2297,begin surface
$SM_CCo,2322,114.45,0.777,0,0,596,515.37
$SM_GC,0.88,13.65,0.00,114.45,0.038,0.000,0.777,123,1800,596,-8.18,-0.34,515.37,0,0,0,0,0,0,14.83,15.04,14.15
$IRIDIUM_FIX,-3404.29,2546.08,220419,114157
$TT8_MAMPS,0.021721,0.800681
$HUMID,45.86
$INTERNAL_PRESSURE,9.33186
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,75.3,34.1
$SC_FREEKB,3644832
$24V_AH,13.45,155.900
$10V_AH,13.63,0.000
$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,17.250,54.350,456.575,114.450,0.000,0.000,0.000,0.000,1.750,0.000,0.000,782.723,326.424,615.962,707.446,153.763,0.000,1055.753,0.000,613.097,0.000,15.166,0.000
$DEVICE_MAMPS,181.305,72.675,1040.400,777.240,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2349.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.291,0.000,0.000,0.000
$MEM,341056
$DATA_FILE_SIZE,10136,406
$CAP_FILE_SIZE,75517,0
$CFSIZE,2097086464,1994620928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220419,131254,-3417.392,2545.531,9,1.2,49,-27.9,1.0,281.6,7,5.1