version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 473
start: 4 20 119 22 21 47
data:
$ID,574
$MISSION,3
$DIVE,473
$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,280
$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,45
$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,32
$R_STBD_OVSHOOT,36
$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
$GPS1,200419,214312,-3424.0698,2530.8486,8,1.0,18,-27.9,0.4,113.6,8,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.14
$_SM_ANGLEo,-2.1
$GPS2,200419,214312,-3424.0698,2530.8486,8,1.0,18,-27.9,0.4,113.6,8,9.4
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3416.434,2540.089
$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,72.9,20000,-13.1,-10.010,-16.32,4154
$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,20,begin dive
$GC,23,-0.77,-272.5,2820,1825,2136,2045,0.0,0.0,0,31,0.00,0.00,-6.05,0.000,16386,0.000,0.000,2816,1825,2309,2353,2265,0,0,0,0,0,0,15.06,28.83,15.06
$GC,34,-0.77,-272.5,2816,1826,2357,2265,5.8,0.0,1,80,1.38,2.33,-36.03,0.000,20740,0.062,0.074,2495,3218,3813,3830,3797,0,0,0,0,0,0,14.83,13.45,14.86
$GC,180,-0.77,-272.5,2494,3219,3830,3798,23.2,-12.3,28,187,0.05,2.35,0.00,0.000,3078,0.294,0.041,2507,1809,3814,3831,3798,0,0,0,0,0,0,14.64,14.78,14.81
$GC,252,-0.77,-272.5,2507,1809,3830,3797,33.0,-15.9,41,257,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1809,3814,3831,3798,0,0,0,0,0,0,15.10,15.10,15.10
$GC,320,-0.77,-272.5,2507,1809,3831,3798,42.9,-13.9,54,326,0.00,0.00,0.00,0.000,2054,0.000,0.000,2507,1809,3814,3831,3797,0,0,0,0,0,0,15.11,15.11,15.11
$GC,389,-0.77,-272.5,2507,1809,3831,3797,52.1,-12.4,67,395,0.00,2.40,0.00,0.000,2308,0.000,0.054,2507,3221,3814,3831,3797,0,0,0,0,0,0,15.11,14.76,15.11
$GC,421,-0.77,-272.5,2507,3221,3831,3797,55.2,-11.4,72,427,0.00,2.38,0.00,0.000,3078,0.000,0.041,2508,1801,3814,3831,3798,0,0,0,0,0,0,14.92,14.83,14.94
$GC,493,-0.77,-272.5,2508,1801,3831,3798,62.3,-9.1,85,499,0.00,2.38,0.00,0.000,2564,0.000,0.063,2508,411,3814,3831,3797,0,0,0,0,0,0,15.09,14.85,15.10
$GC,507,-0.77,-272.5,2507,410,3831,3798,64.0,-10.7,87,514,0.00,2.33,0.00,0.000,3078,0.000,0.032,2508,1833,3814,3831,3797,0,0,0,0,0,0,14.98,14.90,15.00
$GC,579,-0.77,-272.5,2507,1835,3831,3797,71.5,-10.9,100,586,0.00,2.33,0.00,0.000,2308,0.000,0.054,2506,3208,3814,3831,3798,0,0,0,0,0,0,15.11,14.74,15.11
$GC,619,-0.77,-272.5,2507,3208,3831,3798,76.0,-10.0,107,626,0.00,2.35,0.00,0.000,3078,0.000,0.041,2507,1804,3814,3831,3797,0,0,0,0,0,0,14.86,14.76,14.87
$GC,692,-0.77,-272.5,2508,1803,3831,3797,83.1,-10.1,120,699,0.00,2.38,0.00,0.000,2564,0.000,0.063,2508,410,3814,3831,3798,0,0,0,0,0,0,15.09,14.85,15.10
$GC,714,-0.77,-272.5,2507,409,3831,3798,85.4,-10.3,123,721,0.00,2.30,0.00,0.000,3078,0.000,0.032,2508,1818,3814,3831,3797,0,0,0,0,0,0,14.86,14.78,14.88
$GC,787,-0.77,-272.5,2508,1821,3831,3798,92.1,-8.5,136,793,0.00,2.35,0.00,0.000,2308,0.000,0.054,2508,3211,3814,3831,3797,0,0,0,0,0,0,15.11,14.85,15.11
$GC,853,-0.77,-272.5,2507,3211,3832,3798,98.2,-8.9,148,860,0.00,2.33,0.00,0.000,3078,0.000,0.037,2508,1804,3814,3831,3797,0,0,0,0,0,0,14.98,14.89,14.99
$STATE,911,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,911,begin apogee
$GC,917,-0.17,0.0,2507,1802,3831,3797,103.1,-7.6,159,1129,0.95,0.00,199.93,1.063,10246,0.125,0.000,2702,1802,2698,2729,2667,0,0,0,0,0,0,14.69,14.31,13.93
$STATE,1130,end apogee,CONTROL_FINISHED_OK
$STATE,1130,begin climb
$GC,1133,0.77,272.5,2702,1802,2728,2666,116.6,0.0,197,1353,1.38,2.47,207.27,1.057,10500,0.039,0.043,3031,3207,1587,1628,1547,0,0,0,0,0,0,14.48,14.37,13.92
$GC,1386,0.77,272.5,3031,3207,1623,1545,94.9,17.7,241,1393,0.12,2.42,0.00,0.000,5126,0.240,0.049,3009,1810,1584,1623,1545,0,0,0,0,0,0,14.41,14.52,14.57
$GC,1458,0.77,272.5,3009,1810,1623,1543,83.8,16.6,254,1464,0.00,2.38,0.00,0.000,4356,0.000,0.045,3009,3204,1582,1623,1542,0,0,0,0,0,0,14.85,14.66,14.85
$GC,1489,0.77,272.5,3009,3204,1621,1542,79.0,14.7,259,1495,0.00,2.42,0.00,0.000,5126,0.000,0.053,3010,1797,1581,1621,1542,0,0,0,0,0,0,14.70,14.60,14.71
$GC,1560,0.77,272.5,3009,1796,1621,1540,68.1,14.9,272,1567,0.00,2.45,0.00,0.000,4612,0.000,0.071,3010,395,1581,1621,1542,0,0,0,0,0,0,14.96,14.71,14.96
$GC,1594,0.77,272.5,3010,395,1621,1542,62.4,15.8,278,1601,0.00,2.33,0.00,0.000,5126,0.000,0.032,3010,1802,1581,1621,1541,0,0,0,0,0,0,14.79,14.72,14.81
$GC,1666,0.77,272.5,3010,1805,1621,1541,51.8,13.9,291,1673,0.00,2.33,0.00,0.000,4356,0.000,0.044,3010,3202,1581,1621,1541,0,0,0,0,0,0,15.01,14.80,15.01
$GC,1706,0.77,272.5,3010,3202,1620,1540,46.0,11.3,298,1713,0.00,2.40,0.00,0.000,5126,0.000,0.048,3010,1798,1580,1621,1540,0,0,0,0,0,0,14.91,14.80,14.92
$GC,1778,0.77,272.5,3009,1798,1621,1540,38.6,10.7,311,1784,0.00,2.35,0.00,0.000,4356,0.000,0.045,3010,3201,1580,1620,1540,0,0,0,0,0,0,15.03,14.83,15.04
$GC,1807,0.77,272.5,3010,3201,1620,1540,35.4,10.1,316,1814,0.00,2.38,0.00,0.000,5126,0.000,0.050,3010,1798,1580,1620,1540,0,0,0,0,0,0,14.93,14.83,14.95
$GC,1879,0.77,272.5,3010,1797,1620,1540,27.8,10.8,329,1886,0.00,2.42,0.00,0.000,4612,0.000,0.070,3010,396,1580,1620,1540,0,0,0,0,0,0,15.07,14.73,15.07
$GC,1924,0.77,272.5,3010,396,1620,1540,22.5,11.1,337,1931,0.00,2.33,0.00,0.000,5126,0.000,0.031,3008,1812,1579,1620,1539,0,0,0,0,0,0,14.87,14.80,14.88
$GC,1995,0.80,297.8,3009,1813,1620,1539,15.3,9.4,350,2018,0.00,0.00,16.42,0.871,10502,0.000,0.000,3010,1813,1482,1526,1438,0,0,0,0,0,0,15.09,14.69,14.31
$GC,2082,0.98,441.4,3009,1813,1525,1435,7.2,6.5,366,2123,0.17,0.00,37.17,0.812,10498,0.098,0.000,3076,1815,1254,1311,1197,0,0,0,0,0,0,14.83,28.83,14.86
$STATE,2124,end climb,SURFACE_DEPTH_REACHED
$STATE,2124,begin surface coast
$FINISH,0.1,1.024618
$STATE,2147,end surface coast,CONTROL_FINISHED_OK
$STATE,2147,begin surface
$SM_CCo,2172,106.62,0.783,0,0,597,515.37
$SM_GC,0.81,13.95,0.00,106.62,0.044,0.000,0.783,125,1814,597,-8.18,0.06,515.37,0,0,0,0,0,0,14.74,14.95,14.11
$IRIDIUM_FIX,-3409.50,2528.47,200419,195050
$TT8_MAMPS,0.021721,0.923517
$HUMID,44.95
$INTERNAL_PRESSURE,9.33186
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.4,37.3
$SC_FREEKB,3673536
$24V_AH,13.45,145.574
$10V_AH,13.48,0.000
$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,18.000,59.250,460.800,106.625,0.000,0.000,0.000,0.000,2.250,0.000,0.000,733.271,301.163,586.910,660.838,142.435,0.000,1000.045,0.000,572.045,0.000,16.178,0.000
$DEVICE_MAMPS,293.760,74.205,1062.585,783.360,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2197.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.348,0.000,0.000,0.000
$MEM,341056
$DATA_FILE_SIZE,10096,377
$CAP_FILE_SIZE,72493,0
$CFSIZE,2097086464,2003795968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200419,230101,-3423.417,2532.150,8,0.9,32,-27.9,1.0,17.4,10,6.7