version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 541
start: 4 22 119 22 12 36
data:
$ID,574
$MISSION,3
$DIVE,541
$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,120
$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,39
$R_STBD_OVSHOOT,54
$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
$GPS1,220419,213249,-3415.5681,2542.0986,8,0.9,40,-27.8,0.6,269.3,9,4.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,3.0
$GPS2,220419,213249,-3415.5681,2542.0986,8,0.9,40,-27.8,0.6,269.3,9,4.2
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3420.968,2553.426
$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,147.8,20000,-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,-272.5,2803,1803,2314,2234,0.0,0.0,0,86,0.00,0.00,-59.42,0.000,16386,0.000,0.000,2804,1804,3796,3818,3774,0,0,0,0,0,0,15.08,28.83,15.05
$GC,90,-0.77,-272.5,2803,1804,3818,3774,3.4,-6.6,11,98,1.30,2.45,-0.43,0.000,20996,0.081,0.085,2520,405,3812,3834,3790,0,0,0,0,0,0,14.70,13.37,14.75
$GC,126,-0.77,-272.5,2520,405,3834,3790,8.0,-11.1,17,133,0.00,2.33,0.00,0.000,5126,0.000,0.035,2519,1807,3812,3834,3790,0,0,0,0,0,0,14.90,14.81,14.91
$GC,198,-0.77,-272.5,2519,1809,3834,3791,18.0,-15.4,30,205,0.00,2.38,0.00,0.000,4356,0.000,0.054,2519,3210,3812,3834,3790,0,0,0,0,0,0,15.06,14.83,15.07
$GC,243,-0.77,-272.5,2518,3208,3834,3791,24.4,-10.5,38,250,0.00,2.35,0.00,0.000,5126,0.000,0.043,2519,1810,3812,3834,3791,0,0,0,0,0,0,14.95,14.83,14.97
$GC,316,-0.77,-272.5,2518,1811,3834,3791,32.9,-13.3,51,322,0.00,2.42,0.00,0.000,4612,0.000,0.065,2519,405,3812,3834,3791,0,0,0,0,0,0,15.09,14.77,15.09
$GC,336,-0.77,-272.5,2518,405,3834,3791,35.5,-12.8,54,342,0.00,2.33,0.00,0.000,5126,0.000,0.034,2518,1813,3812,3834,3790,0,0,0,0,0,0,14.91,14.82,14.92
$GC,406,-0.77,-272.5,2518,1815,3834,3791,43.8,-12.8,67,412,0.00,2.38,0.00,0.000,4356,0.000,0.054,2519,3213,3812,3834,3791,0,0,0,0,0,0,15.09,14.78,15.10
$GC,456,-0.77,-272.5,2518,3213,3834,3791,49.4,-10.4,76,465,0.00,2.35,0.00,0.000,5126,0.000,0.040,2520,1806,3813,3835,3791,0,0,0,0,0,0,14.90,14.80,14.92
$GC,532,-0.77,-272.5,2518,1807,3835,3791,58.0,-11.1,89,538,0.00,2.40,0.00,0.000,4612,0.000,0.063,2519,412,3811,3834,3789,0,0,0,0,0,0,15.09,14.83,15.11
$GC,562,-0.77,-272.5,2518,415,3834,3790,61.3,-9.9,94,568,0.00,2.33,0.00,0.000,5126,0.000,0.034,2519,1820,3813,3835,3791,0,0,0,0,0,0,14.97,14.88,14.97
$GC,634,-0.77,-272.5,2518,1824,3834,3791,68.6,-10.6,107,640,0.00,2.35,0.00,0.000,4356,0.000,0.054,2519,3212,3812,3834,3791,0,0,0,0,0,0,15.09,14.83,15.07
$GC,669,-0.77,-272.5,2518,3213,3835,3791,72.5,-10.1,113,675,0.00,2.33,0.00,0.000,5126,0.000,0.041,2519,1813,3813,3835,3791,0,0,0,0,0,0,14.96,14.86,14.97
$GC,743,-0.77,-272.5,2518,1813,3835,3792,79.2,-9.6,126,749,0.00,2.40,0.00,0.000,4612,0.000,0.063,2525,411,3812,3835,3790,0,0,0,0,0,0,15.09,14.82,15.10
$GC,769,-0.77,-272.5,2518,411,3835,3791,82.2,-10.2,130,775,0.00,2.30,0.00,0.000,5126,0.000,0.034,2519,1812,3813,3835,3791,0,0,0,0,0,0,14.97,14.88,14.98
$GC,841,-0.77,-272.5,2518,1816,3835,3791,88.7,-9.4,143,848,0.00,2.38,0.00,0.000,4356,0.000,0.055,2517,3211,3812,3835,3790,0,0,0,0,0,0,15.10,14.79,15.11
$GC,872,-0.77,-272.5,2518,3211,3835,3791,91.2,-8.5,148,878,0.00,2.35,0.00,0.000,5126,0.000,0.038,2519,1805,3813,3835,3791,0,0,0,0,0,0,14.96,14.86,14.97
$GC,944,-0.77,-272.5,2518,1802,3834,3791,97.5,-9.3,161,951,0.00,2.38,0.00,0.000,4612,0.000,0.061,2520,406,3813,3835,3791,0,0,0,0,0,0,15.09,14.81,15.09
$STATE,977,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,977,begin apogee
$GC,986,-0.17,0.0,2518,1802,3834,3791,101.3,-9.0,167,1194,0.90,0.00,199.75,1.060,10246,0.138,0.000,2699,1803,2700,2736,2664,0,0,0,0,0,0,14.59,14.42,13.91
$STATE,1195,end apogee,CONTROL_FINISHED_OK
$STATE,1196,begin climb
$GC,1198,0.77,272.5,2699,1803,2734,2662,115.5,0.0,204,1421,1.38,2.58,209.57,1.041,11012,0.072,0.068,3002,394,1586,1629,1543,0,0,0,0,0,0,14.42,14.36,13.88
$GC,1566,0.77,272.5,3002,394,1622,1543,84.1,14.6,270,1572,0.00,2.35,0.00,0.000,1030,0.000,0.034,3003,1803,1582,1621,1543,0,0,0,0,0,0,14.78,14.69,14.79
$GC,1638,0.77,272.5,3001,1806,1622,1541,74.0,13.9,283,1644,0.00,2.35,0.00,0.000,260,0.000,0.047,3002,3207,1580,1621,1540,0,0,0,0,0,0,14.93,14.74,14.95
$GC,1652,0.77,272.5,3002,3208,1621,1540,71.7,13.8,285,1658,0.00,2.40,0.00,0.000,1030,0.000,0.049,3003,1800,1580,1621,1540,0,0,0,0,0,0,14.84,14.74,14.86
$GC,1724,0.77,272.5,3002,1800,1621,1536,62.3,13.6,298,1730,0.00,2.42,0.00,0.000,2564,0.000,0.069,3003,395,1580,1621,1540,0,0,0,0,0,0,15.00,14.66,15.00
$GC,1784,0.77,272.5,3001,394,1621,1540,54.1,13.5,309,1790,0.00,2.33,0.00,0.000,1030,0.000,0.032,3002,1811,1580,1621,1540,0,0,0,0,0,0,14.79,14.71,14.81
$GC,1856,0.77,272.5,3002,1813,1621,1539,46.2,11.2,322,1863,0.00,2.30,0.00,0.000,2308,0.000,0.046,3003,3193,1580,1621,1539,0,0,0,0,0,0,15.04,14.81,15.05
$GC,1896,0.77,272.5,3002,3192,1621,1538,41.1,11.6,329,1902,0.00,2.38,0.00,0.000,1030,0.000,0.049,3003,1798,1579,1621,1538,0,0,0,0,0,0,14.91,14.81,14.93
$GC,1968,0.77,272.5,3002,1798,1621,1539,33.5,11.2,342,1974,0.00,2.42,0.00,0.000,2564,0.000,0.070,3003,391,1579,1621,1538,0,0,0,0,0,0,15.04,14.80,15.04
$GC,1992,0.77,272.5,3002,391,1621,1545,30.3,11.8,346,1999,0.00,2.30,0.00,0.000,3078,0.000,0.032,3003,1798,1579,1620,1539,0,0,0,0,0,0,14.95,14.87,14.96
$GC,2065,0.77,273.7,3002,1801,1621,1538,22.8,10.0,359,2071,0.00,2.33,0.00,0.000,260,0.000,0.047,3004,3200,1579,1621,1538,0,0,0,0,0,0,15.07,14.79,15.07
$GC,2080,0.83,317.1,3002,3200,1621,1538,21.3,8.9,361,2119,0.00,2.38,30.75,0.916,11270,0.000,0.048,3003,1798,1403,1453,1354,0,0,0,0,0,0,14.88,14.75,14.23
$GC,2183,0.83,317.1,3003,1798,1451,1353,11.9,10.5,380,2190,0.00,2.45,0.00,0.000,2564,0.000,0.070,3003,393,1402,1452,1353,0,0,0,0,0,0,14.98,14.72,14.98
$GC,2243,0.91,386.4,3002,393,1451,1351,6.3,8.3,391,2268,0.12,2.33,19.08,0.784,11266,0.123,0.033,3053,1809,1286,1341,1232,0,0,0,0,0,0,14.71,14.82,14.79
$STATE,2269,end climb,SURFACE_DEPTH_REACHED
$STATE,2270,begin surface coast
$FINISH,0.8,1.025439
$STATE,2280,end surface coast,CONTROL_FINISHED_OK
$STATE,2281,begin surface
$SM_CCo,2308,113.47,0.785,0,0,598,515.37
$SM_GC,0.89,13.75,0.00,113.47,0.041,0.000,0.785,129,1809,598,-8.17,-0.08,515.37,0,0,0,0,0,0,14.76,14.98,14.09
$IRIDIUM_FIX,-3401.68,2542.60,220419,194916
$TT8_MAMPS,0.021721,0.916027
$HUMID,45.07
$INTERNAL_PRESSURE,9.31233
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.7,35.3
$SC_FREEKB,3638688
$24V_AH,13.37,158.299
$10V_AH,13.33,0.000
$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,17.450,78.175,459.150,113.475,0.000,0.000,0.000,0.000,2.000,0.000,0.000,777.460,313.482,617.947,696.381,168.540,0.000,1054.037,0.000,596.996,0.000,14.653,0.000
$DEVICE_MAMPS,137.700,84.915,1060.290,784.890,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2336.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.437,0.000,0.000,0.000
$MEM,341064
$DATA_FILE_SIZE,10115,397
$CAP_FILE_SIZE,78301,0
$CFSIZE,2097086464,1992654848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220419,225358,-3415.860,2541.495,8,1.2,16,-27.8,0.0,322.7,8,9.7