version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 583
start: 4 24 119 5 41 14
data:
$ID,574
$MISSION,3
$DIVE,583
$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,31
$R_STBD_OVSHOOT,46
$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
$GPS1,240419,050201,-3415.3804,2512.6750,8,1.0,28,-27.6,0.6,299.4,8,7.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.71
$_SM_ANGLEo,1.1
$GPS2,240419,050201,-3415.3804,2512.6750,8,1.0,28,-27.6,0.6,299.4,8,7.8
$SPEED_LIMITS,0.173,0.352
$TGT_NAME,HEADING
$TGT_LATLONG,-3405.232,2508.215
$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,-292.0,2803,1798,2327,2256,0.0,0.0,0,33,0.00,0.00,-6.30,0.000,16386,0.000,0.000,2803,1798,2517,2555,2480,0,0,0,0,0,0,15.03,28.83,15.04
$GC,36,-0.78,-292.0,2803,1798,2556,2480,5.3,0.0,1,77,1.30,2.45,-33.00,0.000,20996,0.076,0.081,2520,392,3892,3910,3875,0,0,0,0,0,0,14.69,13.37,14.73
$GC,104,-0.78,-292.0,2520,395,3913,3876,13.0,-14.1,12,110,0.00,2.33,0.00,0.000,5126,0.000,0.032,2519,1813,3893,3912,3875,0,0,0,0,0,0,14.94,14.85,14.95
$GC,173,-0.78,-292.0,2518,1815,3912,3876,22.2,-14.1,25,180,0.00,2.35,0.00,0.000,4356,0.000,0.054,2518,3208,3893,3912,3875,0,0,0,0,0,0,15.07,14.85,15.07
$GC,213,-0.78,-292.0,2518,3209,3912,3876,27.3,-11.7,32,220,0.00,2.35,0.00,0.000,5126,0.000,0.041,2519,1802,3894,3913,3876,0,0,0,0,0,0,14.95,14.85,14.96
$GC,286,-0.78,-292.0,2518,1801,3913,3876,36.3,-13.1,45,292,0.00,2.40,0.00,0.000,4612,0.000,0.064,2519,409,3894,3913,3875,0,0,0,0,0,0,15.09,14.76,15.09
$GC,326,-0.78,-292.0,2518,409,3913,3876,40.6,-9.9,52,332,0.00,2.33,0.00,0.000,5126,0.000,0.033,2519,1819,3893,3912,3875,0,0,0,0,0,0,14.90,14.82,14.91
$GC,396,-0.78,-292.0,2518,1821,3913,3875,48.0,-10.8,65,402,0.00,2.35,0.00,0.000,4356,0.000,0.054,2519,3209,3894,3913,3876,0,0,0,0,0,0,15.09,14.78,15.10
$GC,441,-0.78,-292.0,2519,3209,3913,3876,52.6,-9.3,73,447,0.00,2.33,0.00,0.000,5126,0.000,0.037,2519,1809,3894,3913,3876,0,0,0,0,0,0,14.90,14.81,14.91
$GC,513,-0.78,-292.0,2517,1809,3913,3876,58.6,-8.3,86,520,0.00,2.40,0.00,0.000,4612,0.000,0.062,2519,404,3894,3913,3875,0,0,0,0,0,0,15.08,14.83,15.09
$GC,554,-0.78,-292.0,2518,403,3913,3875,62.8,-9.5,93,560,0.00,2.33,0.00,0.000,5126,0.000,0.034,2519,1819,3894,3913,3875,0,0,0,0,0,0,14.96,14.88,14.97
$GC,626,-0.78,-292.0,2518,1819,3914,3875,69.1,-8.7,106,632,0.00,2.35,0.00,0.000,4356,0.000,0.054,2519,3207,3894,3913,3876,0,0,0,0,0,0,15.09,14.78,15.09
$GC,652,-0.78,-292.0,2518,3208,3914,3879,71.3,-8.5,110,658,0.00,2.33,0.00,0.000,5126,0.000,0.036,2518,1806,3894,3913,3875,0,0,0,0,0,0,14.97,14.87,14.97
$GC,726,-0.78,-292.0,2519,1805,3913,3875,78.6,-9.7,123,733,0.00,2.38,0.00,0.000,4612,0.000,0.061,2519,415,3893,3912,3875,0,0,0,0,0,0,15.09,14.78,15.09
$GC,796,-0.78,-292.0,2518,415,3913,3875,85.4,-10.9,135,803,0.00,2.30,0.00,0.000,5126,0.000,0.032,2518,1817,3894,3913,3875,0,0,0,0,0,0,14.90,14.83,14.92
$GC,868,-0.78,-292.0,2519,1817,3914,3875,93.1,-10.4,148,875,0.00,2.35,0.00,0.000,4356,0.000,0.054,2519,3210,3895,3914,3876,0,0,0,0,0,0,15.07,14.83,15.08
$STATE,921,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,921,begin apogee
$GC,930,-0.17,0.0,2519,1798,3914,3876,99.1,-9.6,158,1153,0.88,0.00,214.20,1.069,10246,0.112,0.000,2701,1795,2698,2736,2661,0,0,0,0,0,0,14.72,14.38,13.87
$STATE,1155,end apogee,CONTROL_FINISHED_OK
$STATE,1155,begin climb
$GC,1158,0.78,292.0,2701,1795,2733,2659,119.2,0.0,198,1396,1.45,2.45,225.07,1.045,11012,0.068,0.047,3017,3187,1505,1551,1460,0,0,0,0,0,0,14.43,14.36,13.86
$GC,1447,0.78,292.0,3017,3187,1548,1458,94.6,15.9,248,1454,0.00,2.40,0.00,0.000,5126,0.000,0.052,3017,1808,1503,1548,1458,0,0,0,0,0,0,14.65,14.54,14.66
$GC,1519,0.78,292.0,3017,1809,1548,1456,83.0,16.1,261,1526,0.00,2.47,0.00,0.000,4612,0.000,0.070,3019,395,1501,1548,1455,0,0,0,0,0,0,14.88,14.59,14.88
$GC,1554,0.78,292.0,3019,395,1548,1456,76.0,19.3,267,1561,0.00,2.33,0.00,0.000,5126,0.000,0.031,3019,1798,1501,1547,1456,0,0,0,0,0,0,14.76,14.69,14.78
$GC,1628,0.78,292.0,3019,1800,1548,1455,64.0,17.2,280,1635,0.00,2.33,0.00,0.000,4356,0.000,0.045,3019,3194,1501,1547,1455,0,0,0,0,0,0,14.97,14.65,14.97
$GC,1648,0.78,292.0,3019,3194,1547,1455,60.2,15.6,283,1655,0.00,2.40,0.00,0.000,5126,0.000,0.051,3020,1790,1504,1547,1462,0,0,0,0,0,0,14.73,14.66,14.77
$GC,1720,0.78,292.0,3020,1791,1547,1455,49.7,14.3,296,1726,0.00,0.00,0.00,0.000,4102,0.000,0.000,3020,1790,1501,1547,1455,0,0,0,0,0,0,15.01,15.02,15.02
$GC,1789,0.78,292.0,3019,1790,1547,1455,40.2,12.5,309,1795,0.00,0.00,0.00,0.000,4102,0.000,0.000,3020,1790,1499,1544,1455,0,0,0,0,0,0,15.04,15.04,15.04
$GC,1859,0.78,292.0,3019,1791,1547,1455,31.9,12.1,322,1865,0.00,0.00,0.00,0.000,4102,0.000,0.000,3020,1791,1501,1547,1455,0,0,0,0,0,0,15.05,15.06,15.06
$GC,1928,0.78,292.0,3020,1791,1544,1454,24.4,11.0,335,1935,0.00,2.42,0.00,0.000,4612,0.000,0.070,3020,385,1500,1547,1454,0,0,0,0,0,0,15.07,14.68,15.07
$GC,1963,0.78,295.5,3019,385,1546,1455,20.9,9.9,341,1969,0.00,2.33,0.00,0.000,5126,0.000,0.034,3020,1797,1500,1546,1454,0,0,0,0,0,0,14.96,14.86,14.95
$GC,2035,0.85,347.4,3020,1800,1546,1454,14.1,8.8,354,2081,0.00,2.35,38.08,0.867,10500,0.000,0.044,3020,3198,1279,1335,1224,0,0,0,0,0,0,15.07,14.58,14.17
$GC,2107,0.85,347.4,3020,3198,1334,1222,6.4,10.7,366,2114,0.00,2.40,0.00,0.000,3078,0.000,0.051,3020,1796,1278,1334,1222,0,0,0,0,0,0,14.82,14.73,14.83
$STATE,2134,end climb,SURFACE_DEPTH_REACHED
$STATE,2134,begin surface coast
$FINISH,0.1,1.025595
$STATE,2155,end surface coast,CONTROL_FINISHED_OK
$STATE,2158,begin surface
$SM_CCo,2184,115.25,0.788,0,0,599,515.37
$SM_GC,0.92,13.57,0.00,115.25,0.034,0.000,0.788,116,1795,599,-8.18,-0.45,515.37,0,0,0,0,0,0,14.83,15.00,14.08
$IRIDIUM_FIX,-3401.68,2513.45,240419,031932
$TT8_MAMPS,0.021721,0.940744
$HUMID,45.27
$INTERNAL_PRESSURE,9.2928
$TCM_TEMP,19.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.4,33.5
$SC_FREEKB,3617184
$24V_AH,13.37,166.723
$10V_AH,13.32,0.000
$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,17.200,63.950,477.350,115.250,0.000,0.000,0.000,0.000,2.250,0.000,0.000,724.177,295.346,604.367,661.384,166.510,0.000,1020.428,0.000,565.527,0.000,18.406,0.000
$DEVICE_MAMPS,111.690,81.090,1068.705,787.950,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2213.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.250,0.000,0.000,0.000
$MEM,341056
$DATA_FILE_SIZE,10124,375
$CAP_FILE_SIZE,72596,0
$CFSIZE,2097086464,1985773568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240419,062055,-3415.109,2511.481,8,0.9,38,-27.6,0.7,325.1,8,5.5