version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 577
start: 4 24 119 0 59 29
data:
$ID,574
$MISSION,3
$DIVE,577
$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,300
$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,340
$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,40
$R_STBD_OVSHOOT,51
$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
$GPS1,240419,001926,-3416.4021,2517.3733,8,1.3,25,-27.6,0.8,2.7,8,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.82
$_SM_ANGLEo,0.1
$GPS2,240419,001926,-3416.4021,2517.3733,8,1.3,25,-27.6,0.8,2.7,8,9.3
$SPEED_LIMITS,0.173,0.352
$TGT_NAME,HEADING
$TGT_LATLONG,-3406.254,2512.913
$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,7.6,20000,-12.6,-10.010,-15.87,4448
$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,-0.78,-292.0,2807,1800,2305,2223,0.0,0.0,0,33,0.00,0.00,-6.20,0.000,16386,0.000,0.000,2807,1801,2588,2627,2550,0,0,0,0,0,0,15.09,28.83,15.10
$GC,36,-0.78,-292.0,2807,1801,2627,2550,12.3,0.0,1,71,1.33,2.40,-23.15,0.000,20996,0.083,0.081,2523,410,3894,3912,3877,0,0,0,0,0,0,14.71,13.33,14.76
$GC,107,-0.78,-292.0,2522,410,3912,3876,19.8,-11.8,13,114,0.00,2.30,0.00,0.000,5126,0.000,0.034,2522,1810,3895,3913,3877,0,0,0,0,0,0,14.98,14.89,15.00
$GC,179,-0.78,-292.0,2522,1811,3913,3876,26.8,-10.5,26,185,0.00,0.00,0.00,0.000,4102,0.000,0.000,2522,1811,3895,3913,3877,0,0,0,0,0,0,15.09,15.10,15.09
$GC,249,-0.78,-292.0,2522,1811,3911,3877,36.1,-13.8,39,255,0.00,2.35,0.00,0.000,4356,0.000,0.054,2521,3206,3894,3913,3876,0,0,0,0,0,0,15.10,14.83,15.11
$GC,273,-0.78,-292.0,2521,3206,3913,3877,39.6,-13.7,43,280,0.00,2.33,0.00,0.000,5126,0.000,0.041,2522,1811,3895,3913,3877,0,0,0,0,0,0,14.97,14.88,14.98
$GC,346,-0.78,-292.0,2521,1811,3913,3877,46.5,-8.8,56,352,0.00,2.40,0.00,0.000,4612,0.000,0.063,2522,410,3895,3913,3877,0,0,0,0,0,0,15.11,14.77,15.11
$GC,366,-0.78,-292.0,2521,410,3913,3877,48.9,-9.5,59,373,0.00,2.33,0.00,0.000,5126,0.000,0.033,2522,1819,3895,3913,3877,0,0,0,0,0,0,14.92,14.83,14.92
$GC,438,-0.78,-292.0,2522,1821,3913,3877,56.6,-11.7,72,445,0.00,2.35,0.00,0.000,4356,0.000,0.054,2522,3213,3894,3913,3876,0,0,0,0,0,0,15.10,14.83,15.10
$GC,478,-0.78,-292.0,2522,3213,3913,3877,61.6,-10.5,79,485,0.00,2.33,0.00,0.000,5126,0.000,0.037,2522,1806,3895,3913,3877,0,0,0,0,0,0,14.97,14.87,14.98
$GC,551,-0.78,-292.0,2522,1807,3913,3877,68.7,-8.8,92,558,0.00,2.40,0.00,0.000,4612,0.000,0.061,2522,406,3894,3912,3877,0,0,0,0,0,0,15.10,14.78,15.11
$GC,607,-0.78,-292.0,2522,406,3913,3875,73.9,-9.4,102,614,0.00,2.33,0.00,0.000,5126,0.000,0.034,2522,1816,3895,3913,3877,0,0,0,0,0,0,14.97,14.88,14.98
$GC,681,-0.78,-292.0,2522,1816,3913,3877,80.3,-9.1,115,688,0.00,2.38,0.00,0.000,4356,0.000,0.055,2522,3211,3895,3913,3877,0,0,0,0,0,0,15.11,14.77,15.11
$GC,770,-0.78,-292.0,2522,3212,3914,3877,88.9,-8.7,131,776,0.00,2.33,0.00,0.000,5126,0.000,0.040,2522,1815,3894,3913,3876,0,0,0,0,0,0,14.82,14.73,14.83
$GC,842,-0.78,-292.0,2522,1815,3913,3877,95.4,-9.8,144,849,0.00,2.42,0.00,0.000,4612,0.000,0.060,2522,402,3895,3914,3877,0,0,0,0,0,0,15.09,14.82,15.10
$STATE,900,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,900,begin apogee
$GC,912,-0.17,0.0,2522,1801,3913,3877,101.8,-11.0,155,1135,0.88,0.00,215.10,1.076,10246,0.120,0.000,2700,1801,2700,2736,2665,0,0,0,0,0,0,14.60,14.40,13.89
$STATE,1137,end apogee,CONTROL_FINISHED_OK
$STATE,1137,begin climb
$GC,1140,0.78,292.0,2700,1801,2733,2663,122.1,0.0,195,1378,1.45,2.42,226.27,1.057,11012,0.065,0.044,3011,3209,1507,1555,1460,0,0,0,0,0,0,14.42,14.33,13.86
$GC,1435,0.78,292.0,3010,3209,1548,1459,114.1,14.0,246,1442,0.00,2.45,0.00,0.000,5126,0.000,0.055,3012,1806,1504,1549,1459,0,0,0,0,0,0,14.57,14.47,14.59
$GC,1507,0.78,292.0,3012,1805,1550,1457,103.8,15.7,259,1513,0.00,0.00,0.00,0.000,4102,0.000,0.000,3013,1805,1504,1550,1458,0,0,0,0,0,0,14.92,14.89,14.89
$GC,1577,0.78,292.0,3012,1806,1549,1457,93.0,14.7,272,1582,0.00,0.00,0.00,0.000,4102,0.000,0.000,3013,1806,1503,1549,1457,0,0,0,0,0,0,14.95,14.95,14.95
$GC,1646,0.78,292.0,3012,1806,1549,1453,82.5,14.7,285,1651,0.00,0.00,0.00,0.000,4102,0.000,0.000,3012,1806,1503,1549,1457,0,0,0,0,0,0,15.00,15.00,14.99
$GC,1715,0.78,292.0,3012,1806,1548,1457,72.1,15.5,298,1721,0.00,2.47,0.00,0.000,4612,0.000,0.072,3017,386,1502,1548,1456,0,0,0,0,0,0,15.01,14.75,15.02
$GC,1739,0.78,292.0,3017,385,1548,1456,67.7,17.1,302,1746,0.00,2.35,0.00,0.000,5126,0.000,0.034,3017,1808,1502,1548,1456,0,0,0,0,0,0,14.90,14.82,14.92
$GC,1812,0.78,292.0,3017,1812,1548,1455,54.8,17.4,315,1818,0.00,2.33,0.00,0.000,4356,0.000,0.046,3017,3201,1502,1548,1456,0,0,0,0,0,0,15.04,14.76,15.04
$GC,1841,0.78,292.0,3017,3202,1547,1456,49.6,15.2,320,1848,0.00,2.40,0.00,0.000,5126,0.000,0.050,3017,1796,1501,1548,1455,0,0,0,0,0,0,14.88,14.76,14.91
$GC,1914,0.78,292.0,3017,1796,1548,1455,40.8,11.9,333,1921,0.00,2.42,0.00,0.000,4612,0.000,0.071,3018,393,1500,1548,1453,0,0,0,0,0,0,15.04,14.78,15.04
$GC,1944,0.78,292.0,3017,394,1548,1455,37.4,10.5,338,1951,0.00,2.33,0.00,0.000,5126,0.000,0.032,3017,1819,1501,1547,1455,0,0,0,0,0,0,14.93,14.84,14.95
$GC,2016,0.78,292.0,3017,1821,1548,1455,28.7,14.1,351,2023,0.00,2.30,0.00,0.000,4356,0.000,0.047,3017,3193,1501,1548,1455,0,0,0,0,0,0,15.07,14.78,15.07
$GC,2037,0.78,292.0,3017,3193,1547,1455,25.0,16.6,354,2043,0.00,2.38,0.00,0.000,5126,0.000,0.050,3018,1800,1501,1547,1455,0,0,0,0,0,0,14.89,14.78,14.90
$GC,2109,0.78,292.0,3017,1799,1547,1455,16.2,11.2,367,2116,0.00,2.42,0.00,0.000,4612,0.000,0.069,3020,396,1501,1548,1455,0,0,0,0,0,0,15.05,14.80,15.06
$GC,2231,0.94,421.8,3019,395,1548,1455,4.1,7.0,390,2251,0.10,2.30,13.90,0.810,11266,0.149,0.032,3059,1796,1421,1470,1373,0,0,0,0,0,0,14.76,14.78,14.87
$STATE,2252,end climb,SURFACE_DEPTH_REACHED
$STATE,2252,begin surface coast
$FINISH,0.2,1.025434
$STATE,2289,end surface coast,CONTROL_FINISHED_OK
$STATE,2289,begin surface
$SM_CCo,2315,139.88,0.802,0,0,598,515.37
$SM_GC,0.84,13.88,0.00,139.88,0.047,0.000,0.802,123,1797,598,-8.17,-0.42,515.37,0,0,0,0,0,0,14.84,15.07,14.07
$IRIDIUM_FIX,-3353.88,3037.30,230419,223919
$TT8_MAMPS,0.021721,0.946736
$HUMID,45.51
$INTERNAL_PRESSURE,9.2928
$TCM_TEMP,18.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.2,36.4
$SC_FREEKB,3620256
$24V_AH,13.33,165.459
$10V_AH,13.25,0.000
$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,17.625,63.900,455.275,139.875,0.000,0.000,0.000,0.000,2.250,0.000,0.000,789.707,332.336,609.919,702.766,176.937,0.000,1040.427,0.000,605.894,0.000,18.395,0.000
$DEVICE_MAMPS,149.175,81.090,1076.355,802.485,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2345.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.505,0.000,0.000,0.000
$MEM,341064
$DATA_FILE_SIZE,10107,400
$CAP_FILE_SIZE,76205,0
$CFSIZE,2097086464,1986756608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240419,014149,-3415.959,2516.085,11,0.8,39,-27.6,0.4,190.4,10,8.2