version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 579
start: 4 24 119 2 33 40
data:
$ID,574
$MISSION,3
$DIVE,579
$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,36
$R_STBD_OVSHOOT,61
$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
$GPS1,240419,015406,-3416.0227,2515.8408,8,0.9,16,-27.6,0.5,344.1,9,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.11
$_SM_ANGLEo,4.7
$GPS2,240419,015406,-3416.0227,2515.8408,8,0.9,16,-27.6,0.5,344.1,9,9.5
$SPEED_LIMITS,0.173,0.352
$TGT_NAME,HEADING
$TGT_LATLONG,-3405.875,2511.380
$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,25,-0.78,-292.0,2808,1806,2306,2229,0.0,0.0,0,33,0.00,0.00,-5.85,0.000,16386,0.000,0.000,2808,1806,2495,2533,2457,0,0,0,0,0,0,15.04,28.83,15.04
$GC,36,-0.78,-292.0,2807,1806,2535,2457,6.6,0.0,1,77,1.35,2.45,-32.25,0.000,20996,0.093,0.082,2521,405,3894,3912,3877,0,0,0,0,0,0,14.66,13.35,14.73
$GC,127,-0.78,-292.0,2521,405,3912,3877,16.4,-12.0,17,133,0.00,2.30,0.00,0.000,5126,0.000,0.034,2519,1801,3894,3912,3877,0,0,0,0,0,0,14.95,14.85,14.95
$GC,198,-0.78,-292.0,2518,1800,3912,3877,27.0,-15.0,30,205,0.00,2.38,0.00,0.000,4356,0.000,0.054,2519,3204,3894,3912,3877,0,0,0,0,0,0,15.06,14.81,15.06
$GC,223,-0.78,-292.0,2519,3204,3913,3877,30.9,-14.2,34,230,0.00,2.35,0.00,0.000,5126,0.000,0.042,2519,1806,3894,3912,3877,0,0,0,0,0,0,14.95,14.84,14.96
$GC,296,-0.78,-292.0,2518,1804,3912,3877,39.0,-12.0,47,302,0.00,0.00,0.00,0.000,4102,0.000,0.000,2519,1806,3894,3912,3877,0,0,0,0,0,0,15.09,15.09,15.09
$GC,365,-0.78,-292.0,2519,1806,3913,3877,46.1,-9.2,60,371,0.00,0.00,0.00,0.000,4102,0.000,0.000,2519,1806,3895,3913,3877,0,0,0,0,0,0,15.09,15.10,15.10
$GC,435,-0.78,-292.0,2519,1806,3913,3877,52.5,-9.1,73,441,0.00,0.00,0.00,0.000,4102,0.000,0.000,2519,1806,3895,3913,3877,0,0,0,0,0,0,15.10,15.11,15.10
$GC,505,-0.78,-292.0,2518,1805,3913,3877,60.6,-11.0,86,510,0.00,0.00,0.00,0.000,4102,0.000,0.000,2519,1806,3895,3913,3877,0,0,0,0,0,0,15.10,15.11,15.11
$GC,576,-0.78,-292.0,2519,1806,3913,3877,67.7,-8.8,99,582,0.00,2.40,0.00,0.000,4356,0.000,0.054,2516,3208,3895,3913,3877,0,0,0,0,0,0,15.10,14.77,15.10
$GC,606,-0.78,-292.0,2519,3209,3913,3877,69.9,-7.4,104,613,0.00,2.35,0.00,0.000,5126,0.000,0.038,2519,1799,3895,3913,3877,0,0,0,0,0,0,14.90,14.81,14.92
$GC,680,-0.78,-292.0,2518,1799,3913,3877,75.3,-7.9,117,687,0.00,2.38,0.00,0.000,4612,0.000,0.062,2519,412,3899,3922,3877,0,0,0,0,0,0,15.10,14.77,15.10
$GC,731,-0.78,-292.0,2519,411,3913,3877,80.3,-9.5,126,738,0.00,2.30,0.00,0.000,5126,0.000,0.033,2519,1816,3893,3912,3874,0,0,0,0,0,0,14.97,14.88,14.97
$GC,807,-0.78,-292.0,2519,1816,3913,3877,87.6,-10.1,139,814,0.00,2.35,0.00,0.000,4356,0.000,0.054,2519,3205,3895,3913,3877,0,0,0,0,0,0,15.09,14.82,15.09
$STATE,926,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,926,begin apogee
$GC,936,-0.17,0.0,2520,1799,3913,3877,100.1,-9.7,162,1159,0.82,0.00,214.38,1.063,10246,0.054,0.000,2731,1799,2700,2735,2665,0,0,0,0,0,0,14.74,14.38,13.88
$STATE,1160,end apogee,CONTROL_FINISHED_OK
$STATE,1161,begin climb
$GC,1164,0.78,292.0,2731,1799,2733,2664,117.3,0.0,202,1402,1.27,2.45,225.20,1.046,11012,0.048,0.046,3030,3195,1507,1551,1463,0,0,0,0,0,0,14.45,14.36,13.83
$GC,1471,0.78,292.0,3030,3195,1547,1459,104.3,15.9,256,1479,0.10,2.40,0.00,0.000,5126,0.257,0.052,3012,1811,1503,1548,1459,0,0,0,0,0,0,14.47,14.59,14.63
$GC,1544,0.78,292.0,3011,1810,1546,1457,92.1,16.6,269,1550,0.00,0.00,0.00,0.000,4102,0.000,0.000,3012,1810,1502,1548,1457,0,0,0,0,0,0,14.90,14.90,14.90
$GC,1614,0.78,292.0,3011,1810,1547,1456,81.5,15.4,282,1619,0.00,0.00,0.00,0.000,4102,0.000,0.000,3012,1811,1501,1547,1456,0,0,0,0,0,0,14.96,14.97,14.97
$GC,1683,0.78,292.0,3011,1810,1547,1456,72.3,13.6,295,1689,0.00,2.45,0.00,0.000,4612,0.000,0.070,3019,392,1501,1547,1456,0,0,0,0,0,0,14.99,14.73,15.00
$GC,1723,0.78,292.0,3018,392,1547,1456,66.6,14.4,302,1730,0.00,2.33,0.00,0.000,5126,0.000,0.033,3019,1803,1501,1547,1456,0,0,0,0,0,0,14.90,14.81,14.91
$GC,1795,0.78,292.0,3018,1806,1547,1455,55.5,15.8,315,1802,0.00,2.33,0.00,0.000,4356,0.000,0.046,3017,3200,1501,1547,1455,0,0,0,0,0,0,15.03,14.76,15.04
$GC,1845,0.78,292.0,3018,3199,1546,1455,46.7,15.3,324,1852,0.00,2.40,0.00,0.000,5126,0.000,0.050,3020,1792,1500,1545,1455,0,0,0,0,0,0,14.87,14.76,14.89
$GC,1918,0.78,292.0,3019,1792,1546,1455,36.7,13.9,337,1925,0.00,2.42,0.00,0.000,4612,0.000,0.071,3020,393,1500,1546,1455,0,0,0,0,0,0,15.04,14.77,15.07
$GC,1953,0.78,292.0,3019,394,1546,1455,32.2,11.2,343,1960,0.00,2.30,0.00,0.000,5126,0.000,0.032,3020,1805,1500,1546,1455,0,0,0,0,0,0,14.95,14.87,14.96
$GC,2026,0.80,306.1,3020,1807,1545,1455,24.9,9.7,356,2044,0.00,2.45,11.12,0.865,12804,0.000,0.069,3024,396,1449,1497,1402,0,0,0,0,0,0,15.07,14.63,14.20
$GC,2073,0.80,306.1,3024,396,1497,1402,19.3,11.9,364,2079,0.00,2.33,0.00,0.000,5126,0.000,0.034,3025,1805,1449,1497,1402,0,0,0,0,0,0,14.92,14.83,14.93
$GC,2147,0.80,306.1,3024,1808,1497,1401,11.1,11.3,377,2153,0.00,2.35,0.00,0.000,4356,0.000,0.047,3025,3208,1449,1497,1401,0,0,0,0,0,0,15.05,14.81,15.05
$STATE,2221,end climb,SURFACE_DEPTH_REACHED
$STATE,2221,begin surface coast
$FINISH,2.4,1.025415
$STATE,2226,end surface coast,CONTROL_FINISHED_OK
$STATE,2226,begin surface
$SM_CCo,2255,144.80,0.802,0,0,599,515.37
$SM_GC,0.84,13.93,2.42,144.80,0.067,0.052,0.802,124,1807,599,-8.18,0.79,515.37,0,0,0,0,0,0,14.85,14.83,14.07
$IRIDIUM_FIX,-3404.29,2516.93,240419,001157
$TT8_MAMPS,0.021721,0.86884
$HUMID,45.35
$INTERNAL_PRESSURE,9.28303
$TCM_TEMP,19.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.1,34.5
$SC_FREEKB,3619232
$24V_AH,13.35,165.875
$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,17.475,54.600,450.700,144.800,0.000,0.000,0.000,0.000,2.250,0.000,0.000,768.278,327.814,609.100,688.449,161.369,0.000,1030.082,0.000,599.223,0.000,16.167,0.000
$DEVICE_MAMPS,257.040,81.855,1062.585,801.720,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2281.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.287,0.000,0.000,0.000
$MEM,341056
$DATA_FILE_SIZE,10106,392
$CAP_FILE_SIZE,72500,0
$CFSIZE,2097086464,1986428928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240419,031443,-3415.592,2514.496,9,1.0,18,-27.6,1.2,285.0,9,9.5