version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 535
start: 4 22 119 17 24 28
data:
$ID,574
$MISSION,3
$DIVE,535
$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,30
$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,30
$R_STBD_OVSHOOT,49
$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,15
$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
$GPS1,220419,164307,-3416.2224,2543.9341,7,1.0,17,-27.8,0.5,327.1,8,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.88
$_SM_ANGLEo,3.8
$GPS2,220419,164307,-3416.2224,2543.9341,7,1.0,17,-27.8,0.5,327.1,8,9.3
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3406.870,2550.456
$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,57.8,20000,-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,21,begin dive
$GC,24,-0.77,-272.5,2809,1803,2304,2220,0.0,0.0,0,32,0.00,0.00,-5.95,0.000,16386,0.000,0.000,2809,1803,2472,2513,2432,0,0,0,0,0,0,15.08,28.83,15.09
$GC,35,-0.77,-272.5,2809,1803,2514,2432,5.4,0.0,1,74,1.33,0.00,-33.15,0.000,20486,0.098,0.000,2527,1804,3813,3832,3795,0,0,0,0,0,0,14.68,13.47,14.74
$GC,138,-0.77,-272.5,2527,1804,3833,3795,16.9,-14.6,20,145,0.00,2.38,0.00,0.000,4356,0.000,0.054,2520,3205,3814,3834,3795,0,0,0,0,0,0,15.11,14.74,15.11
$GC,178,-0.77,-272.5,2522,3206,3833,3795,22.0,-11.8,27,185,0.00,2.33,0.00,0.000,5126,0.000,0.041,2522,1807,3814,3834,3795,0,0,0,0,0,0,14.97,14.88,15.00
$GC,251,-0.77,-272.5,2522,1806,3833,3795,30.4,-12.4,40,256,0.00,0.00,0.00,0.000,4102,0.000,0.000,2522,1806,3814,3834,3795,0,0,0,0,0,0,15.11,15.11,15.11
$GC,320,-0.77,-272.5,2522,1806,3833,3795,39.0,-12.3,53,326,0.00,2.40,0.00,0.000,4612,0.000,0.063,2521,411,3814,3833,3795,0,0,0,0,0,0,15.11,14.76,15.12
$GC,339,-0.77,-272.5,2522,410,3833,3795,41.4,-12.2,56,346,0.00,2.30,0.00,0.000,5126,0.000,0.033,2522,1809,3814,3834,3795,0,0,0,0,0,0,14.88,14.79,14.89
$GC,412,-0.77,-272.5,2522,1811,3832,3795,49.2,-11.1,69,421,0.00,2.38,0.00,0.000,4356,0.000,0.054,2522,3214,3814,3834,3795,0,0,0,0,0,0,15.11,14.85,15.11
$GC,460,-0.77,-272.5,2522,3214,3834,3795,53.9,-8.4,77,467,0.00,2.35,0.00,0.000,5126,0.000,0.039,2522,1808,3814,3834,3795,0,0,0,0,0,0,14.88,14.77,14.90
$GC,533,-0.77,-272.5,2522,1807,3834,3794,60.3,-9.0,90,539,0.00,2.40,0.00,0.000,4612,0.000,0.062,2522,406,3814,3834,3795,0,0,0,0,0,0,15.11,14.84,15.11
$GC,567,-0.77,-272.5,2522,406,3833,3795,63.9,-10.4,96,574,0.00,2.33,0.00,0.000,5126,0.000,0.034,2522,1824,3814,3834,3795,0,0,0,0,0,0,14.98,14.90,15.00
$GC,639,-0.77,-272.5,2522,1825,3834,3795,70.7,-9.6,109,645,0.00,2.33,0.00,0.000,4356,0.000,0.054,2522,3206,3814,3834,3795,0,0,0,0,0,0,15.11,14.71,15.12
$GC,689,-0.77,-272.5,2522,3206,3832,3795,75.9,-9.4,118,695,0.00,2.33,0.00,0.000,5126,0.000,0.040,2522,1806,3814,3833,3795,0,0,0,0,0,0,14.86,14.76,14.87
$GC,761,-0.77,-272.5,2522,1806,3834,3795,82.5,-9.0,131,768,0.00,2.40,0.00,0.000,4612,0.000,0.061,2522,405,3814,3834,3795,0,0,0,0,0,0,15.11,14.84,15.12
$GC,825,-0.77,-272.5,2522,405,3834,3795,88.8,-9.9,142,832,0.00,2.33,0.00,0.000,5126,0.000,0.034,2521,1816,3814,3834,3794,0,0,0,0,0,0,14.93,14.83,14.92
$GC,898,-0.77,-272.5,2522,1816,3834,3795,95.0,-8.9,155,904,0.00,2.35,0.00,0.000,4356,0.000,0.053,2522,3213,3814,3834,3795,0,0,0,0,0,0,15.09,14.85,15.10
$GC,999,-0.77,-272.5,2522,3212,3834,3795,103.8,-8.0,174,1006,0.00,2.33,0.00,0.000,5126,0.000,0.038,2522,1808,3814,3834,3795,0,0,0,0,0,0,14.85,14.75,14.87
$STATE,1037,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1037,begin apogee
$GC,1043,-0.17,0.0,2522,1807,3834,3794,107.2,-8.6,181,1255,0.85,0.00,200.77,1.067,10246,0.087,0.000,2707,1808,2698,2735,2661,0,0,0,0,0,0,14.77,14.29,13.91
$STATE,1257,end apogee,CONTROL_FINISHED_OK
$STATE,1257,begin climb
$GC,1260,0.77,272.5,2707,1808,2733,2660,121.8,0.0,219,1487,1.35,2.45,210.62,1.047,10500,0.080,0.047,2993,3197,1586,1629,1543,0,0,0,0,0,0,14.44,14.38,13.91
$GC,1552,0.77,272.5,2993,3197,1624,1541,99.8,14.1,270,1559,0.00,2.40,0.00,0.000,3078,0.000,0.051,2994,1811,1582,1624,1541,0,0,0,0,0,0,14.70,14.59,14.71
$GC,1624,0.77,272.5,2993,1812,1624,1540,89.3,14.8,283,1631,0.00,2.47,0.00,0.000,2564,0.000,0.071,2996,394,1581,1623,1540,0,0,0,0,0,0,14.89,14.66,14.89
$GC,1649,0.77,272.5,2996,394,1623,1540,85.5,14.0,287,1656,0.00,2.33,0.00,0.000,3078,0.000,0.032,2996,1801,1581,1623,1540,0,0,0,0,0,0,14.82,14.74,14.83
$GC,1720,0.77,272.5,2996,1803,1622,1539,75.6,13.8,300,1726,0.00,0.00,0.00,0.000,2054,0.000,0.000,2996,1804,1580,1622,1539,0,0,0,0,0,0,14.97,14.97,14.97
$GC,1789,0.77,272.5,2996,1803,1622,1539,65.6,14.5,313,1795,0.00,0.00,0.00,0.000,2054,0.000,0.000,2996,1804,1580,1622,1539,0,0,0,0,0,0,15.01,15.01,15.01
$GC,1858,0.77,272.5,2996,1803,1623,1538,55.4,14.2,326,1865,0.00,2.33,0.00,0.000,2308,0.000,0.047,2996,3196,1580,1622,1538,0,0,0,0,0,0,15.03,14.81,15.03
$GC,1888,0.77,272.5,2994,3197,1622,1537,51.1,15.2,331,1895,0.00,2.38,0.00,0.000,3078,0.000,0.050,2996,1796,1579,1622,1537,0,0,0,0,0,0,14.92,14.81,14.94
$GC,1962,0.77,272.5,2996,1796,1621,1537,42.5,12.0,344,1967,0.00,0.00,0.00,0.000,2054,0.000,0.000,2996,1796,1579,1622,1537,0,0,0,0,0,0,15.06,15.07,15.06
$GC,2030,0.77,272.5,2996,1798,1622,1537,34.3,11.7,357,2037,0.00,2.42,0.00,0.000,2564,0.000,0.070,2997,396,1579,1621,1537,0,0,0,0,0,0,15.08,14.70,15.08
$GC,2055,0.77,272.5,2996,396,1622,1537,31.6,10.5,361,2062,0.00,2.30,0.00,0.000,3078,0.000,0.032,2996,1809,1579,1621,1537,0,0,0,0,0,0,14.85,14.77,14.85
$GC,2128,0.77,272.5,2996,1812,1622,1536,24.1,11.6,374,2134,0.00,2.30,0.00,0.000,2308,0.000,0.048,2996,3191,1578,1621,1536,0,0,0,0,0,0,15.09,14.84,15.09
$GC,2172,0.77,272.5,2996,3191,1621,1536,18.5,11.1,382,2179,0.00,2.35,0.00,0.000,3078,0.000,0.048,3001,1801,1578,1621,1536,0,0,0,0,0,0,14.95,14.84,14.97
$GC,2245,0.83,321.9,2996,1801,1621,1536,12.6,8.8,395,2285,0.00,2.45,32.95,0.860,10756,0.000,0.071,2997,396,1383,1434,1333,0,0,0,0,0,0,15.07,14.60,14.25
$GC,2315,0.83,321.9,2996,396,1434,1332,5.7,10.3,407,2322,0.00,2.30,0.00,0.000,3078,0.000,0.033,2997,1801,1383,1434,1332,0,0,0,0,0,0,14.83,14.78,14.83
$STATE,2346,end climb,SURFACE_DEPTH_REACHED
$STATE,2346,begin surface coast
$FINISH,0.5,1.025432
$STATE,2382,end surface coast,CONTROL_FINISHED_OK
$STATE,2382,begin surface
$SM_CCo,2407,129.90,0.788,0,0,597,515.37
$SM_GC,0.84,13.50,0.00,129.90,0.039,0.000,0.788,119,1804,597,-8.18,-0.20,515.37,0,0,0,0,0,0,14.84,15.04,14.12
$IRIDIUM_FIX,-3404.29,2425.56,220419,145507
$TT8_MAMPS,0.021721,0.948983
$HUMID,45.94
$INTERNAL_PRESSURE,9.31233
$TCM_TEMP,19.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.3,36.4
$SC_FREEKB,3641760
$24V_AH,13.47,157.114
$10V_AH,13.32,0.000
$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,17.025,63.750,444.350,129.900,0.000,0.000,0.000,0.000,2.250,0.000,0.000,829.499,350.348,609.802,729.990,169.538,0.000,1055.584,0.000,629.348,0.000,18.309,0.000
$DEVICE_MAMPS,97.920,71.145,1067.175,787.950,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2436.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.103,0.000,0.000,0.000
$MEM,341056
$DATA_FILE_SIZE,10079,419
$CAP_FILE_SIZE,78970,0
$CFSIZE,2097086464,1993637888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220419,180801,-3415.923,2543.531,9,0.8,32,-27.8,0.8,255.2,11,6.9