version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 580
start: 4 24 119 3 28 26
data:
$ID,574
$MISSION,3
$DIVE,580
$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,30
$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,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
$GPS1,240419,031443,-3415.5918,2514.4958,9,1.0,18,-27.6,1.2,285.0,9,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-64.8
$GPS2,240419,032801,-3415.6653,2514.2153,8,0.9,42,-27.6,0.9,254.3,10,4.8
$SPEED_LIMITS,0.173,0.352
$TGT_NAME,HEADING
$TGT_LATLONG,-3405.517,2509.755
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.78,-292.0,52,1801,639,529,0.0,0.0,0,125,0.00,0.00,-96.95,0.000,16386,0.000,0.000,48,1802,2981,2941,3022,0,0,0,0,0,0,14.97,28.83,14.97
$GC,131,-0.78,-292.0,52,1802,2943,3022,3.6,-7.8,18,167,14.65,2.45,-15.50,0.000,18692,0.303,0.070,2493,3214,3895,3912,3878,0,0,0,0,0,0,14.49,13.33,14.78
$GC,241,-0.78,-292.0,2493,3214,3915,3878,26.6,-12.5,38,249,0.05,2.38,0.00,0.000,3078,0.291,0.041,2506,1805,3895,3913,3877,0,0,0,0,0,0,14.59,14.73,14.77
$GC,316,-0.78,-292.0,2505,1805,3913,3878,35.8,-13.3,51,322,0.00,2.42,0.00,0.000,2564,0.000,0.063,2507,401,3895,3913,3878,0,0,0,0,0,0,15.05,14.67,15.06
$GC,351,-0.78,-292.0,2506,401,3913,3878,41.4,-13.7,57,357,0.00,2.35,0.00,0.000,1030,0.000,0.034,2506,1811,3895,3912,3878,0,0,0,0,0,0,14.78,14.71,14.80
$GC,424,-0.78,-292.0,2506,1812,3912,3877,50.3,-12.5,70,430,0.00,2.38,0.00,0.000,2308,0.000,0.054,2506,3213,3895,3913,3878,0,0,0,0,0,0,15.04,14.79,15.04
$GC,459,-0.78,-292.0,2506,3213,3913,3878,53.8,-8.4,76,465,0.00,2.35,0.00,0.000,1030,0.000,0.041,2506,1806,3895,3913,3878,0,0,0,0,0,0,14.92,14.83,14.93
$GC,531,-0.78,-292.0,2506,1802,3913,3878,59.2,-8.0,89,538,0.00,2.40,0.00,0.000,2564,0.000,0.062,2507,410,3895,3913,3878,0,0,0,0,0,0,15.07,14.74,15.07
$GC,552,-0.78,-292.0,2506,411,3913,3878,61.1,-8.5,92,559,0.00,2.33,0.00,0.000,3078,0.000,0.032,2506,1820,3895,3912,3878,0,0,0,0,0,0,14.94,14.85,14.95
$GC,625,-0.78,-292.0,2506,1822,3912,3878,66.7,-7.9,105,631,0.00,2.35,0.00,0.000,2308,0.000,0.054,2506,3211,3895,3912,3878,0,0,0,0,0,0,15.07,14.70,15.08
$GC,655,-0.78,-292.0,2507,3211,3912,3877,69.8,-9.3,110,663,0.00,2.33,0.00,0.000,1030,0.000,0.037,2507,1810,3895,3913,3878,0,0,0,0,0,0,14.81,14.73,14.82
$GC,730,-0.78,-292.0,2506,1810,3912,3878,76.2,-8.7,123,737,0.00,2.40,0.00,0.000,2564,0.000,0.061,2506,405,3895,3912,3878,0,0,0,0,0,0,15.09,14.68,15.09
$GC,769,-0.78,-292.0,2506,405,3912,3878,80.5,-10.3,130,776,0.00,2.30,0.00,0.000,3078,0.000,0.033,2506,1812,3895,3912,3878,0,0,0,0,0,0,14.95,14.87,14.97
$GC,845,-0.78,-292.0,2506,1814,3912,3878,87.6,-9.7,143,852,0.00,2.35,0.00,0.000,2308,0.000,0.052,2506,3207,3895,3912,3878,0,0,0,0,0,0,15.09,14.69,15.10
$GC,918,-0.78,-292.0,2506,3207,3912,3878,93.3,-8.9,156,925,0.00,2.35,0.00,0.000,3078,0.000,0.041,2507,1803,3895,3912,3878,0,0,0,0,0,0,14.95,14.85,14.97
$STATE,965,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,965,begin apogee
$GC,972,-0.17,0.0,2503,1804,3912,3878,98.0,-10.8,165,1195,0.95,0.00,213.82,1.039,10246,0.129,0.000,2698,1803,2699,2735,2664,0,0,0,0,0,0,14.59,14.40,13.88
$STATE,1197,end apogee,CONTROL_FINISHED_OK
$STATE,1197,begin climb
$GC,1200,0.78,292.0,2699,1804,2733,2662,115.6,0.0,205,1438,1.38,2.42,223.73,1.030,10500,0.063,0.044,2998,3200,1505,1551,1460,0,0,0,0,0,0,14.43,14.24,13.85
$GC,1503,0.78,292.0,2998,3200,1548,1458,89.7,14.5,258,1509,0.00,2.40,0.00,0.000,3078,0.000,0.047,2999,1805,1503,1548,1458,0,0,0,0,0,0,14.69,14.59,14.71
$GC,1575,0.78,292.0,2999,1805,1547,1456,78.5,16.1,271,1582,0.00,2.47,0.00,0.000,2564,0.000,0.070,2999,388,1501,1547,1456,0,0,0,0,0,0,14.90,14.57,14.90
$GC,1610,0.78,292.0,2999,387,1547,1455,73.4,14.2,277,1617,0.00,2.35,0.00,0.000,3078,0.000,0.031,2999,1813,1501,1547,1456,0,0,0,0,0,0,14.74,14.68,14.75
$GC,1684,0.78,292.0,2999,1812,1547,1455,63.3,15.0,290,1690,0.00,2.30,0.00,0.000,2308,0.000,0.044,2999,3194,1501,1547,1455,0,0,0,0,0,0,14.98,14.76,14.98
$GC,1729,0.78,292.0,2998,3194,1545,1455,55.7,13.9,298,1736,0.00,2.38,0.00,0.000,3078,0.000,0.049,2999,1796,1500,1546,1454,0,0,0,0,0,0,14.88,14.77,14.90
$GC,1801,0.78,292.0,2999,1796,1546,1455,46.5,13.4,311,1808,0.00,2.42,0.00,0.000,2564,0.000,0.070,3003,396,1500,1546,1455,0,0,0,0,0,0,15.03,14.72,15.03
$GC,1841,0.78,292.0,3003,396,1545,1455,41.0,12.2,318,1848,0.00,2.30,0.00,0.000,3078,0.000,0.031,3003,1802,1500,1546,1455,0,0,0,0,0,0,14.88,14.80,14.88
$GC,1914,0.78,292.0,3003,1805,1546,1454,33.3,10.6,331,1920,0.00,0.00,0.00,0.000,2054,0.000,0.000,3003,1805,1500,1546,1454,0,0,0,0,0,0,15.04,15.04,15.04
$GC,1983,0.80,310.4,2999,1805,1546,1454,26.0,9.6,344,2001,0.00,0.00,14.18,0.885,10246,0.000,0.000,3003,1804,1432,1481,1383,0,0,0,0,0,0,15.06,14.73,14.19
$GC,2066,0.88,375.6,3003,1805,1480,1382,19.3,8.5,359,2123,0.08,2.53,45.67,0.889,10756,0.184,0.071,3054,399,1165,1226,1104,0,0,0,0,0,0,14.81,14.62,14.11
$GC,2173,0.88,375.6,3053,398,1225,1101,5.4,11.5,378,2180,0.00,2.33,0.00,0.000,5126,0.000,0.032,3054,1795,1163,1225,1101,0,0,0,0,0,0,14.81,14.74,14.82
$STATE,2185,end climb,FINISH_DEPTH_REACHED
$STATE,2185,begin subsurface finish
$FINISH1,3.5,1.025435,106
$GC,2193,0.13,105.8,3054,1797,1225,1101,3.5,11.6,380,2250,1.25,2.42,-49.08,0.000,20740,0.150,0.075,2808,3192,2271,2317,2225,0,0,0,0,0,0,14.54,13.39,14.64
$FINISH2,0.8
$STATE,2251,end subsurface finish,CONTROL_FINISHED_OK
$STATE,2253,begin surface
$IRIDIUM_FIX,-3401.68,2513.45,240419,014639
$TT8_MAMPS,0.020972,0.939995
$HUMID,45.90
$INTERNAL_PRESSURE,9.45881
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.5,32.1
$SC_FREEKB,3618720
$24V_AH,13.33,166.091
$10V_AH,13.42,0.000
$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,18.350,59.450,497.400,0.000,0.000,25.817,42.563,387.966,2.250,0.000,43.922,698.494,278.346,581.682,1144.076,350.183,0.000,1037.073,0.000,590.554,0.000,16.165,0.000
$DEVICE_MAMPS,302.940,74.970,1038.870,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2310.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.056,0.000,0.000,0.000
$MEM,340920
$DATA_FILE_SIZE,10112,390
$CAP_FILE_SIZE,78581,0
$CFSIZE,2097086464,1986265088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,240419,032801,-3415.665,2514.215,8,0.9,42,-27.6,0.9,254.3,10,4.8