version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 549
start: 4 23 119 3 59 45
data:
$ID,574
$MISSION,3
$DIVE,549
$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,32
$R_STBD_OVSHOOT,43
$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
$GPS1,230419,032447,-3416.8345,2538.4658,7,1.1,19,-27.8,0.8,295.2,9,9.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.89
$_SM_ANGLEo,2.6
$GPS2,230419,032447,-3416.8345,2538.4658,7,1.1,19,-27.8,0.8,295.2,9,9.7
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3422.234,2549.796
$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,-272.5,2808,1805,2313,2218,0.0,0.0,0,32,0.00,0.00,-6.12,0.000,16386,0.000,0.000,2808,1805,2469,2512,2427,0,0,0,0,0,0,15.07,28.83,15.07
$GC,36,-0.77,-272.5,2808,1805,2514,2427,4.4,0.0,1,81,1.33,2.38,-36.10,0.000,20996,0.086,0.083,2523,405,3812,3832,3793,0,0,0,0,0,0,14.69,13.40,14.75
$GC,101,-0.77,-272.5,2523,405,3832,3792,9.7,-11.7,12,108,0.00,2.33,0.00,0.000,5126,0.000,0.035,2522,1814,3812,3833,3792,0,0,0,0,0,0,14.93,14.83,14.96
$GC,174,-0.77,-272.5,2522,1815,3833,3793,19.5,-15.6,25,180,0.00,2.35,0.00,0.000,4356,0.000,0.054,2522,3211,3813,3833,3793,0,0,0,0,0,0,15.08,14.85,15.08
$GC,223,-0.77,-272.5,2522,3211,3834,3793,27.0,-11.3,34,230,0.00,2.33,0.00,0.000,5126,0.000,0.040,2522,1807,3813,3833,3793,0,0,0,0,0,0,14.97,14.88,14.98
$GC,295,-0.77,-272.5,2521,1807,3833,3793,34.6,-10.1,47,302,0.00,2.40,0.00,0.000,4612,0.000,0.063,2522,405,3813,3833,3793,0,0,0,0,0,0,15.11,14.75,15.11
$GC,325,-0.77,-272.5,2522,406,3833,3793,38.1,-11.1,52,332,0.00,2.33,0.00,0.000,5126,0.000,0.034,2522,1821,3813,3834,3793,0,0,0,0,0,0,14.88,14.80,14.90
$GC,398,-0.77,-272.5,2522,1828,3833,3793,44.9,-9.7,65,404,0.00,2.35,0.00,0.000,4356,0.000,0.053,2522,3218,3813,3833,3793,0,0,0,0,0,0,15.09,14.85,15.10
$GC,448,-0.77,-272.5,2522,3218,3832,3793,49.3,-8.1,74,455,0.00,2.33,0.00,0.000,5126,0.000,0.036,2522,1807,3813,3833,3793,0,0,0,0,0,0,14.98,14.89,15.00
$GC,521,-0.77,-272.5,2522,1807,3833,3793,55.1,-8.3,87,528,0.00,2.40,0.00,0.000,4612,0.000,0.062,2522,408,3813,3833,3793,0,0,0,0,0,0,15.12,14.82,15.12
$GC,556,-0.77,-272.5,2522,408,3833,3793,58.2,-8.1,93,563,0.00,2.33,0.00,0.000,5126,0.000,0.034,2522,1820,3813,3833,3793,0,0,0,0,0,0,14.99,14.89,15.00
$GC,629,-0.77,-272.5,2522,1823,3833,3793,64.3,-9.0,106,637,0.00,2.35,0.00,0.000,4356,0.000,0.053,2522,3219,3813,3833,3793,0,0,0,0,0,0,15.10,14.74,15.11
$GC,670,-0.77,-272.5,2522,3219,3834,3793,68.0,-7.6,113,677,0.00,2.33,0.00,0.000,5126,0.000,0.038,2522,1817,3813,3834,3793,0,0,0,0,0,0,14.92,14.81,14.94
$GC,744,-0.77,-272.5,2522,1817,3834,3793,73.9,-9.2,126,751,0.00,2.40,0.00,0.000,4612,0.000,0.062,2522,411,3813,3833,3793,0,0,0,0,0,0,15.12,14.72,15.13
$GC,785,-0.77,-272.5,2522,410,3833,3792,78.2,-8.9,133,791,0.00,2.30,0.00,0.000,5126,0.000,0.033,2522,1816,3811,3831,3792,0,0,0,0,0,0,14.85,14.78,14.86
$GC,860,-0.77,-272.5,2522,1818,3834,3793,84.2,-8.8,146,867,0.00,2.35,0.00,0.000,4356,0.000,0.053,2522,3210,3813,3834,3793,0,0,0,0,0,0,15.12,14.75,15.13
$GC,906,-0.77,-272.5,2522,3210,3834,3793,88.3,-7.9,154,912,0.00,2.33,0.00,0.000,5126,0.000,0.036,2522,1804,3813,3834,3792,0,0,0,0,0,0,14.92,14.83,14.94
$GC,978,-0.77,-272.5,2522,1804,3834,3793,94.5,-8.3,167,985,0.00,2.35,0.00,0.000,4612,0.000,0.058,2522,411,3813,3833,3793,0,0,0,0,0,0,15.11,14.85,15.11
$STATE,990,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,990,begin apogee
$GC,999,-0.17,0.0,2522,1811,3833,3793,95.9,-8.5,169,1211,0.88,0.00,200.15,1.043,10246,0.123,0.000,2701,1810,2699,2736,2662,0,0,0,0,0,0,14.73,14.29,13.92
$STATE,1212,end apogee,CONTROL_FINISHED_OK
$STATE,1213,begin climb
$GC,1215,0.77,272.5,2701,1810,2735,2661,111.4,0.0,207,1437,1.40,2.53,208.30,1.030,10756,0.042,0.066,3040,397,1586,1628,1545,0,0,0,0,0,0,14.50,14.30,13.92
$GC,1502,0.77,272.5,3039,398,1623,1545,84.2,17.5,257,1510,0.15,2.35,0.00,0.000,5126,0.215,0.033,3011,1810,1584,1623,1545,0,0,0,0,0,0,14.50,14.61,14.65
$GC,1575,0.77,272.5,3010,1812,1623,1542,72.3,15.6,270,1581,0.00,0.00,0.00,0.000,4102,0.000,0.000,3011,1812,1579,1617,1542,0,0,0,0,0,0,14.92,14.92,14.92
$GC,1645,0.77,272.5,3014,1812,1623,1536,61.8,14.8,283,1651,0.00,2.45,0.00,0.000,4612,0.000,0.067,3018,402,1582,1624,1541,0,0,0,0,0,0,14.97,14.73,14.97
$GC,1669,0.77,272.5,3017,401,1622,1541,58.3,14.5,287,1677,0.03,2.30,0.00,0.000,5126,0.463,0.032,3012,1798,1582,1623,1541,0,0,0,0,0,0,14.64,14.80,14.82
$GC,1743,0.77,272.5,3011,1800,1622,1540,48.3,15.1,300,1749,0.00,2.35,0.00,0.000,4356,0.000,0.047,3011,3200,1581,1622,1540,0,0,0,0,0,0,15.03,14.79,15.03
$GC,1763,0.77,272.5,3011,3200,1622,1540,44.8,16.3,303,1769,0.00,2.38,0.00,0.000,5126,0.000,0.047,3017,1802,1581,1622,1540,0,0,0,0,0,0,14.91,14.80,14.92
$GC,1835,0.77,272.5,3016,1802,1622,1540,35.7,12.5,316,1841,0.00,0.00,0.00,0.000,4102,0.000,0.000,3017,1802,1581,1622,1540,0,0,0,0,0,0,15.03,15.04,15.04
$GC,1904,0.77,272.5,3016,1802,1622,1539,27.2,11.8,329,1910,0.00,0.00,0.00,0.000,4102,0.000,0.000,3017,1802,1581,1622,1540,0,0,0,0,0,0,15.06,15.07,15.06
$GC,1973,0.77,272.5,3016,1802,1622,1539,19.5,10.7,342,1980,0.00,2.42,0.00,0.000,4612,0.000,0.070,3017,396,1580,1622,1539,0,0,0,0,0,0,15.08,14.81,15.08
$GC,1993,0.77,272.5,3016,396,1622,1539,17.6,10.0,345,2000,0.00,2.30,0.00,0.000,5126,0.000,0.031,3017,1810,1580,1622,1539,0,0,0,0,0,0,14.96,14.88,15.00
$GC,2066,0.84,328.1,3016,1811,1622,1538,11.5,8.6,358,2111,0.00,2.33,36.42,0.828,10500,0.000,0.045,3017,3186,1359,1410,1308,0,0,0,0,0,0,15.09,14.73,14.26
$GC,2132,0.84,328.1,3016,3186,1409,1307,5.1,10.6,369,2138,0.00,2.38,0.00,0.000,3078,0.000,0.049,3017,1793,1358,1409,1307,0,0,0,0,0,0,14.80,14.69,14.82
$STATE,2143,end climb,SURFACE_DEPTH_REACHED
$STATE,2143,begin surface coast
$FINISH,0.9,1.025386
$STATE,2164,end surface coast,CONTROL_FINISHED_OK
$STATE,2164,begin surface
$SM_CCo,2190,123.43,0.780,0,0,598,515.37
$SM_GC,0.92,13.55,0.00,123.43,0.041,0.000,0.780,118,1793,598,-8.18,-0.54,515.37,0,0,0,0,0,0,14.83,15.01,14.12
$IRIDIUM_FIX,-3401.68,2536.77,230419,031438
$TT8_MAMPS,0.021721,0.931007
$HUMID,45.51
$INTERNAL_PRESSURE,9.33186
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.3,34.5
$SC_FREEKB,3634592
$24V_AH,13.40,159.849
$10V_AH,13.35,0.000
$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,17.325,66.000,444.875,123.425,0.000,0.000,0.000,0.000,2.000,0.000,0.000,736.385,297.616,602.514,658.004,165.066,0.000,1017.886,0.000,572.249,0.000,16.805,0.000
$DEVICE_MAMPS,462.825,83.385,1042.695,779.535,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2216.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.872,0.000,0.000,0.000
$MEM,341064
$DATA_FILE_SIZE,10118,375
$CAP_FILE_SIZE,75008,0
$CFSIZE,2097086464,1991344128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230419,043933,-3417.255,2537.728,9,0.9,31,-27.8,0.5,26.2,10,9.2