version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 581
start: 4 24 119 4 9 11
data:
$ID,574
$MISSION,3
$DIVE,581
$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,38
$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
$GPS1,240419,032801,-3415.6653,2514.2153,8,0.9,42,-27.6,0.9,254.3,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.79
$_SM_ANGLEo,2.1
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.78,-292.0,2808,1804,2310,2233,0.0,0.0,0,32,0.00,0.00,-5.75,0.000,16386,0.000,0.000,2808,1805,2508,2547,2469,0,0,0,0,0,0,15.04,28.83,15.04
$GC,35,-0.78,-292.0,2808,1804,2549,2470,7.6,0.0,1,75,1.33,2.38,-29.98,0.000,20996,0.088,0.083,2522,409,3894,3912,3876,0,0,0,0,0,0,14.65,13.33,14.72
$GC,109,-0.78,-292.0,2522,409,3913,3877,16.2,-11.4,14,116,0.00,2.33,0.00,0.000,5126,0.000,0.034,2522,1816,3894,3913,3876,0,0,0,0,0,0,14.83,14.74,14.84
$GC,182,-0.78,-292.0,2522,1819,3913,3877,24.7,-10.9,27,188,0.00,2.38,0.00,0.000,4356,0.000,0.054,2522,3217,3895,3913,3877,0,0,0,0,0,0,15.07,14.82,15.08
$GC,217,-0.78,-292.0,2522,3217,3913,3877,27.6,-6.7,33,223,0.00,2.35,0.00,0.000,5126,0.000,0.041,2522,1812,3895,3913,3877,0,0,0,0,0,0,14.95,14.85,14.97
$GC,287,-0.78,-292.0,2522,1812,3913,3877,36.1,-15.9,46,294,0.00,2.40,0.00,0.000,4612,0.000,0.063,2522,412,3894,3913,3876,0,0,0,0,0,0,15.07,14.82,15.08
$GC,317,-0.78,-292.0,2522,412,3913,3876,41.2,-16.3,51,324,0.00,2.33,0.00,0.000,5126,0.000,0.033,2522,1819,3895,3913,3877,0,0,0,0,0,0,14.96,14.86,14.97
$GC,390,-0.78,-292.0,2522,1821,3913,3877,51.8,-14.4,64,396,0.00,2.35,0.00,0.000,4356,0.000,0.054,2522,3206,3895,3913,3877,0,0,0,0,0,0,15.09,14.72,15.09
$GC,430,-0.78,-292.0,2522,3205,3913,3876,56.6,-10.5,71,436,0.00,2.33,0.00,0.000,5126,0.000,0.037,2522,1808,3895,3914,3877,0,0,0,0,0,0,14.85,14.76,14.86
$GC,502,-0.78,-292.0,2522,1809,3913,3876,62.4,-7.5,84,508,0.00,0.00,0.00,0.000,4102,0.000,0.000,2522,1809,3895,3914,3877,0,0,0,0,0,0,15.09,15.09,15.09
$GC,572,-0.78,-292.0,2522,1809,3914,3877,66.9,-6.5,97,579,0.00,2.40,0.00,0.000,4612,0.000,0.062,2522,412,3895,3914,3876,0,0,0,0,0,0,15.09,14.83,15.09
$GC,624,-0.78,-292.0,2522,412,3914,3877,71.5,-9.9,106,630,0.00,2.30,0.00,0.000,5126,0.000,0.035,2522,1812,3895,3914,3877,0,0,0,0,0,0,14.92,14.88,14.92
$GC,696,-0.78,-292.0,2522,1812,3914,3877,77.4,-8.0,119,702,0.00,2.38,0.00,0.000,4356,0.000,0.054,2522,3207,3896,3915,3877,0,0,0,0,0,0,15.10,14.78,15.10
$GC,746,-0.78,-292.0,2522,3207,3914,3877,81.5,-8.9,128,752,0.00,2.33,0.00,0.000,5126,0.000,0.036,2522,1807,3895,3914,3877,0,0,0,0,0,0,14.90,14.81,14.92
$GC,820,-0.78,-292.0,2522,1807,3916,3876,86.8,-7.6,141,826,0.00,2.40,0.00,0.000,4612,0.000,0.060,2522,405,3895,3914,3876,0,0,0,0,0,0,15.10,14.72,15.10
$GC,875,-0.78,-292.0,2522,405,3914,3876,92.0,-9.1,151,882,0.00,2.33,0.00,0.000,5126,0.000,0.034,2522,1815,3895,3914,3876,0,0,0,0,0,0,14.90,14.82,14.92
$STATE,912,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,912,begin apogee
$GC,919,-0.17,0.0,2522,1816,3916,3876,95.8,-9.8,158,1143,0.85,0.00,214.60,1.063,10246,0.089,0.000,2706,1817,2698,2734,2662,0,0,0,0,0,0,14.77,14.39,13.86
$STATE,1145,end apogee,CONTROL_FINISHED_OK
$STATE,1145,begin climb
$GC,1148,0.78,292.0,2707,1817,2732,2660,114.5,0.0,198,1386,1.35,2.45,225.05,1.048,10500,0.074,0.057,2993,3193,1505,1551,1460,0,0,0,0,0,0,14.41,14.35,13.86
$GC,1424,0.78,292.0,2993,3199,1549,1458,105.6,10.6,246,1431,0.00,2.40,0.00,0.000,3078,0.000,0.047,2996,1810,1503,1548,1458,0,0,0,0,0,0,14.57,14.46,14.59
$GC,1497,0.78,292.0,2996,1811,1548,1456,96.7,14.7,259,1503,0.00,2.47,0.00,0.000,2564,0.000,0.070,3003,394,1502,1548,1456,0,0,0,0,0,0,14.85,14.62,14.85
$GC,1521,0.78,292.0,3001,393,1548,1456,92.5,15.1,263,1528,0.00,2.35,0.00,0.000,3078,0.000,0.032,3003,1808,1499,1543,1456,0,0,0,0,0,0,14.78,14.69,14.80
$GC,1594,0.78,292.0,3003,1810,1548,1455,82.4,15.0,276,1601,0.00,2.33,0.00,0.000,2308,0.000,0.046,3003,3194,1501,1548,1455,0,0,0,0,0,0,14.95,14.68,14.95
$GC,1619,0.78,292.0,3002,3194,1547,1455,78.2,15.4,280,1626,0.00,2.40,0.00,0.000,3078,0.000,0.054,3003,1799,1501,1547,1455,0,0,0,0,0,0,14.81,14.69,14.82
$GC,1692,0.78,292.0,3003,1798,1547,1455,67.7,14.8,293,1698,0.00,2.45,0.00,0.000,2564,0.000,0.072,3003,389,1501,1547,1455,0,0,0,0,0,0,14.99,14.73,14.99
$GC,1742,0.78,292.0,3003,389,1547,1455,59.7,14.2,302,1748,0.00,2.33,0.00,0.000,3078,0.000,0.033,3003,1800,1501,1547,1455,0,0,0,0,0,0,14.90,14.82,14.92
$GC,1813,0.78,292.0,3004,1803,1547,1455,51.0,13.1,315,1819,0.00,0.00,0.00,0.000,2054,0.000,0.000,3003,1803,1500,1547,1454,0,0,0,0,0,0,15.04,15.04,15.04
$GC,1882,0.78,292.0,3003,1803,1547,1454,41.2,14.9,328,1889,0.00,2.33,0.00,0.000,2308,0.000,0.047,3003,3198,1500,1547,1454,0,0,0,0,0,0,15.04,14.82,15.05
$GC,1897,0.78,292.0,3003,3198,1546,1454,38.8,16.5,330,1904,0.00,2.38,0.00,0.000,3078,0.000,0.050,3003,1799,1500,1546,1454,0,0,0,0,0,0,14.92,14.81,14.95
$GC,1969,0.78,292.0,3003,1798,1546,1454,30.2,11.1,343,1975,0.00,0.00,0.00,0.000,2054,0.000,0.000,3003,1799,1500,1546,1454,0,0,0,0,0,0,15.07,15.07,15.06
$GC,2039,0.89,379.7,3003,1799,1546,1454,23.9,8.0,356,2114,0.08,2.47,64.82,0.926,10756,0.183,0.072,3050,396,1150,1211,1089,0,0,0,0,0,0,14.83,14.49,14.12
$STATE,2194,end climb,SURFACE_DEPTH_REACHED
$STATE,2195,begin surface coast
$FINISH,0.9,1.025482
$STATE,2208,end surface coast,CONTROL_FINISHED_OK
$STATE,2208,begin surface
$SM_CCo,2237,93.12,0.791,0,0,598,515.37
$SM_GC,0.87,13.85,2.40,93.12,0.042,0.035,0.791,117,1798,598,-8.17,-1.44,515.37,0,0,0,0,0,0,14.78,14.75,14.09
$IRIDIUM_FIX,-3401.68,2513.45,240419,014639
$TT8_MAMPS,0.021721,0.813414
$HUMID,45.55
$INTERNAL_PRESSURE,9.28303
$TCM_TEMP,19.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.2,30.4
$SC_FREEKB,3618208
$24V_AH,13.33,166.298
$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,17.450,64.050,504.475,93.125,0.000,0.000,0.000,0.000,2.250,0.000,0.000,736.405,300.602,601.328,681.896,164.448,0.000,1030.949,0.000,583.727,0.000,16.170,0.000
$DEVICE_MAMPS,182.835,83.385,1063.350,791.010,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2265.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.153,0.000,0.000,0.000
$MEM,341064
$DATA_FILE_SIZE,10115,387
$CAP_FILE_SIZE,73604,0
$CFSIZE,2097086464,1986101248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240419,044908,-3415.308,2512.929,9,1.2,23,-27.6,0.7,325.2,8,9.9