version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 539
start: 4 22 119 20 36 57
data:
$ID,574
$MISSION,3
$DIVE,539
$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,34
$R_STBD_OVSHOOT,47
$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
$GPS1,220419,195703,-3415.8098,2542.7532,7,1.0,16,-27.8,0.4,252.1,8,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.05
$_SM_ANGLEo,4.3
$GPS2,220419,195703,-3415.8098,2542.7532,7,1.0,16,-27.8,0.4,252.1,8,8.8
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3406.458,2549.274
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.77,-272.5,2807,1793,2307,2226,0.0,0.0,0,33,0.00,0.00,-6.20,0.000,16386,0.000,0.000,2807,1793,2520,2561,2479,0,0,0,0,0,0,15.09,28.83,15.10
$GC,36,-0.77,-272.5,2807,1793,2561,2479,7.5,0.0,1,76,1.33,2.40,-28.90,0.000,20996,0.093,0.083,2525,405,3815,3834,3797,0,0,0,0,0,0,14.71,13.32,14.76
$GC,131,-0.77,-272.5,2524,405,3837,3797,16.8,-12.3,18,138,0.00,2.33,0.00,0.000,5126,0.000,0.035,2522,1811,3815,3834,3797,0,0,0,0,0,0,14.92,14.84,14.94
$GC,203,-0.77,-272.5,2523,1813,3834,3797,25.5,-12.5,31,209,0.00,0.00,0.00,0.000,4102,0.000,0.000,2522,1813,3815,3834,3797,0,0,0,0,0,0,15.09,15.09,15.09
$GC,272,-0.77,-272.5,2522,1814,3835,3797,34.2,-12.4,44,279,0.00,2.38,0.00,0.000,4356,0.000,0.054,2522,3215,3816,3835,3797,0,0,0,0,0,0,15.11,14.84,15.11
$GC,297,-0.77,-272.5,2522,3215,3834,3797,36.9,-10.3,48,304,0.00,2.35,0.00,0.000,5126,0.000,0.042,2522,1811,3816,3835,3797,0,0,0,0,0,0,14.97,14.86,14.99
$GC,367,-0.77,-272.5,2522,1811,3835,3797,44.0,-10.7,61,374,0.00,2.42,0.00,0.000,4612,0.000,0.064,2522,408,3815,3834,3797,0,0,0,0,0,0,15.11,14.83,15.11
$GC,397,-0.77,-272.5,2522,408,3834,3797,47.3,-9.8,66,404,0.00,2.33,0.00,0.000,5126,0.000,0.034,2522,1822,3815,3834,3797,0,0,0,0,0,0,14.98,14.90,14.99
$GC,469,-0.77,-272.5,2521,1825,3835,3797,54.3,-10.5,79,477,0.00,2.35,0.00,0.000,4356,0.000,0.055,2522,3211,3816,3835,3797,0,0,0,0,0,0,15.08,14.71,15.11
$GC,515,-0.77,-272.5,2522,3211,3828,3797,59.0,-9.7,87,522,0.00,2.35,0.00,0.000,5126,0.000,0.038,2522,1799,3816,3835,3797,0,0,0,0,0,0,14.91,14.81,14.92
$GC,589,-0.77,-272.5,2522,1799,3835,3797,66.3,-10.2,100,596,0.00,2.38,0.00,0.000,4612,0.000,0.061,2522,408,3816,3835,3797,0,0,0,0,0,0,15.11,14.71,15.11
$GC,619,-0.77,-272.5,2522,408,3835,3797,69.8,-11.3,105,627,0.00,2.30,0.00,0.000,5126,0.000,0.035,2522,1812,3816,3835,3797,0,0,0,0,0,0,14.84,14.76,14.85
$GC,693,-0.77,-272.5,2522,1811,3835,3797,76.9,-9.9,118,700,0.00,2.38,0.00,0.000,4356,0.000,0.054,2522,3217,3816,3835,3797,0,0,0,0,0,0,15.11,14.84,15.11
$GC,779,-0.77,-272.5,2522,3217,3835,3797,85.1,-9.4,133,786,0.00,2.35,0.00,0.000,5126,0.000,0.038,2522,1802,3816,3835,3797,0,0,0,0,0,0,14.83,14.73,14.85
$GC,852,-0.77,-272.5,2522,1801,3835,3797,91.9,-8.9,146,858,0.00,2.40,0.00,0.000,4612,0.000,0.062,2522,402,3815,3834,3797,0,0,0,0,0,0,15.13,14.83,15.11
$GC,912,-0.77,-272.5,2522,402,3835,3797,97.8,-9.8,157,919,0.00,2.33,0.00,0.000,5126,0.000,0.034,2522,1823,3816,3835,3797,0,0,0,0,0,0,14.97,14.88,14.98
$GC,985,-0.77,-272.5,2522,1817,3835,3797,104.2,-9.0,170,992,0.00,2.35,0.00,0.000,4356,0.000,0.054,2519,3204,3816,3835,3797,0,0,0,0,0,0,15.10,14.72,15.11
$STATE,1017,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1017,begin apogee
$GC,1026,-0.17,0.0,2522,1799,3835,3797,107.7,-8.8,176,1237,0.85,0.00,200.73,1.078,10246,0.117,0.000,2697,1797,2700,2736,2664,0,0,0,0,0,0,14.59,14.41,13.91
$STATE,1239,end apogee,CONTROL_FINISHED_OK
$STATE,1239,begin climb
$GC,1242,0.77,272.5,2697,1796,2735,2664,122.3,0.0,214,1468,1.48,2.45,210.73,1.053,10500,0.079,0.047,3009,3186,1586,1629,1544,0,0,0,0,0,0,14.43,14.38,13.90
$GC,1537,0.77,272.5,3009,3186,1623,1542,100.9,15.7,266,1544,0.00,2.40,0.00,0.000,5126,0.000,0.052,3009,1803,1582,1623,1542,0,0,0,0,0,0,14.61,14.51,14.62
$GC,1610,0.77,272.5,3009,1803,1623,1541,90.0,16.2,279,1617,0.00,2.47,0.00,0.000,4612,0.000,0.072,3010,395,1582,1623,1541,0,0,0,0,0,0,14.90,14.65,14.90
$GC,1635,0.77,272.5,3009,394,1622,1541,85.1,17.5,283,1642,0.00,2.33,0.00,0.000,5126,0.000,0.033,3009,1795,1581,1622,1541,0,0,0,0,0,0,14.81,14.73,14.84
$GC,1707,0.77,272.5,3009,1796,1622,1540,74.0,15.7,296,1714,0.00,2.35,0.00,0.000,4356,0.000,0.045,3010,3197,1580,1622,1539,0,0,0,0,0,0,14.97,14.68,14.97
$GC,1732,0.77,272.5,3010,3197,1621,1539,69.9,15.1,300,1739,0.00,2.40,0.00,0.000,5126,0.000,0.052,3010,1799,1580,1622,1539,0,0,0,0,0,0,14.78,14.66,14.80
$GC,1804,0.77,272.5,3009,1800,1622,1540,59.7,14.8,313,1811,0.00,2.45,0.00,0.000,4612,0.000,0.072,3010,389,1581,1622,1540,0,0,0,0,0,0,15.01,14.75,15.02
$GC,1886,0.77,272.5,3010,389,1621,1539,47.3,14.5,328,1893,0.00,2.33,0.00,0.000,5126,0.000,0.032,3010,1806,1580,1621,1540,0,0,0,0,0,0,14.92,14.85,14.94
$GC,1960,0.77,272.5,3010,1809,1621,1538,38.7,11.9,341,1965,0.00,0.00,0.00,0.000,4102,0.000,0.000,3010,1809,1579,1621,1538,0,0,0,0,0,0,15.05,15.05,15.05
$GC,2029,0.77,272.5,3009,1809,1621,1538,30.2,10.4,354,2034,0.00,0.00,0.00,0.000,4102,0.000,0.000,3010,1809,1579,1621,1538,0,0,0,0,0,0,15.07,15.07,15.07
$GC,2098,0.77,272.5,3010,1809,1621,1538,23.1,11.5,367,2104,0.00,0.00,0.00,0.000,4102,0.000,0.000,3010,1809,1579,1621,1538,0,0,0,0,0,0,15.08,15.08,15.08
$GC,2167,0.77,272.5,3009,1809,1622,1537,15.3,10.4,380,2174,0.00,2.47,0.00,0.000,4612,0.000,0.070,3010,389,1579,1621,1537,0,0,0,0,0,0,15.09,14.71,15.09
$GC,2227,0.82,310.0,3010,389,1621,1537,9.5,9.1,391,2262,0.00,2.33,24.95,0.845,11270,0.000,0.034,3010,1799,1432,1481,1384,0,0,0,0,0,0,14.86,14.78,14.27
$STATE,2302,end climb,SURFACE_DEPTH_REACHED
$STATE,2302,begin surface coast
$FINISH,0.2,1.025424
$STATE,2329,end surface coast,CONTROL_FINISHED_OK
$STATE,2329,begin surface
$SM_CCo,2354,139.25,0.794,0,0,598,515.37
$SM_GC,0.97,13.62,0.00,139.25,0.044,0.000,0.794,124,1800,598,-8.18,-0.37,515.37,0,0,0,0,0,0,14.81,15.04,14.09
$IRIDIUM_FIX,-3404.29,2542.60,220419,181238
$TT8_MAMPS,0.021721,0.885318
$HUMID,46.10
$INTERNAL_PRESSURE,9.30256
$TCM_TEMP,19.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.1,37.1
$SC_FREEKB,3639712
$24V_AH,13.32,157.898
$10V_AH,13.29,0.000
$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,17.275,64.100,436.400,139.250,0.000,0.000,0.000,0.000,2.250,0.000,0.000,816.739,344.823,606.893,713.898,163.016,0.000,1041.736,0.000,624.760,0.000,16.166,0.000
$DEVICE_MAMPS,117.045,82.620,1077.885,794.070,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2381.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.334,0.000,0.000,0.000
$MEM,341056
$DATA_FILE_SIZE,10106,410
$CAP_FILE_SIZE,76904,0
$CFSIZE,2097086464,1992982528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220419,211955,-3415.519,2542.311,9,0.9,39,-27.8,0.5,297.7,9,8.8