version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 475
start: 4 20 119 23 49 13
data:
$ID,574
$MISSION,3
$DIVE,475
$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,31
$R_STBD_OVSHOOT,53
$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
$GPS1,200419,231251,-3423.2979,2532.2666,8,0.9,14,-27.9,1.1,60.6,10,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.77
$_SM_ANGLEo,-1.1
$GPS2,200419,231251,-3423.2979,2532.2666,8,0.9,14,-27.9,1.1,60.6,10,9.5
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3415.662,2541.506
$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,-272.5,2820,1815,2150,2057,0.0,0.0,0,31,0.00,0.00,-6.25,0.000,16386,0.000,0.000,2819,1815,2348,2394,2302,0,0,0,0,0,0,15.05,28.83,15.06
$GC,34,-0.77,-272.5,2820,1815,2394,2304,6.8,0.0,1,75,1.42,2.38,-32.97,0.000,20740,0.070,0.073,2495,3203,3813,3828,3798,0,0,0,0,0,0,14.82,13.50,14.87
$GC,129,-0.77,-272.5,2495,3203,3829,3798,18.0,-11.7,18,136,0.05,2.33,0.00,0.000,3078,0.293,0.042,2508,1809,3813,3829,3798,0,0,0,0,0,0,14.64,14.77,14.81
$GC,201,-0.77,-272.5,2507,1809,3833,3798,27.5,-15.3,31,207,0.00,2.42,0.00,0.000,2564,0.000,0.064,2508,399,3813,3828,3798,0,0,0,0,0,0,15.09,14.79,15.09
$GC,245,-0.77,-272.5,2508,399,3828,3798,33.7,-12.9,39,252,0.00,2.33,0.00,0.000,3078,0.000,0.035,2508,1806,3813,3828,3798,0,0,0,0,0,0,14.92,14.84,14.94
$GC,317,-0.77,-272.5,2508,1808,3828,3798,42.4,-13.4,52,324,0.00,2.38,0.00,0.000,2308,0.000,0.054,2508,3211,3813,3828,3798,0,0,0,0,0,0,15.09,14.85,15.09
$GC,382,-0.77,-272.5,2508,3211,3829,3798,49.8,-10.2,64,389,0.00,2.35,0.00,0.000,3078,0.000,0.041,2508,1804,3813,3828,3798,0,0,0,0,0,0,14.97,14.88,15.00
$GC,454,-0.77,-272.5,2508,1804,3829,3798,57.3,-10.7,77,460,0.00,2.38,0.00,0.000,2564,0.000,0.063,2508,410,3811,3828,3794,0,0,0,0,0,0,15.11,14.84,15.11
$GC,484,-0.77,-272.5,2508,409,3829,3798,60.8,-11.1,82,491,0.00,2.30,0.00,0.000,3078,0.000,0.034,2508,1814,3812,3827,3798,0,0,0,0,0,0,14.87,14.78,14.88
$GC,556,-0.77,-272.5,2508,1816,3829,3798,68.1,-10.5,95,563,0.00,2.38,0.00,0.000,2308,0.000,0.053,2508,3215,3813,3829,3798,0,0,0,0,0,0,15.11,14.85,15.11
$GC,605,-0.77,-272.5,2508,3218,3829,3798,73.0,-9.1,104,612,0.00,2.35,0.00,0.000,3078,0.000,0.039,2508,1805,3813,3829,3798,0,0,0,0,0,0,14.93,14.83,14.95
$GC,677,-0.77,-272.5,2508,1805,3829,3798,80.0,-10.6,117,687,0.00,2.40,0.00,0.000,2564,0.000,0.063,2508,406,3813,3829,3798,0,0,0,0,0,0,15.10,14.85,15.11
$GC,705,-0.77,-272.5,2507,406,3829,3798,83.1,-10.5,121,712,0.00,2.33,0.00,0.000,3078,0.000,0.034,2508,1820,3814,3830,3798,0,0,0,0,0,0,14.93,14.85,14.95
$GC,777,-0.77,-272.5,2508,1822,3829,3798,89.8,-10.0,134,784,0.00,2.33,0.00,0.000,2308,0.000,0.050,2508,3211,3813,3828,3798,0,0,0,0,0,0,15.09,14.86,15.11
$GC,853,-0.77,-272.5,2508,3211,3829,3798,96.6,-8.7,148,860,0.00,2.33,0.00,0.000,3078,0.000,0.037,2508,1801,3813,3829,3798,0,0,0,0,0,0,14.99,14.89,15.00
$STATE,870,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,871,begin apogee
$GC,877,-0.17,0.0,2508,1801,3829,3798,99.2,-11.1,151,1084,0.95,0.00,198.95,1.052,10246,0.124,0.000,2702,1801,2700,2732,2669,0,0,0,0,0,0,14.71,14.43,13.95
$STATE,1085,end apogee,CONTROL_FINISHED_OK
$STATE,1085,begin climb
$GC,1088,0.77,272.5,2702,1801,2728,2666,114.3,0.0,188,1308,1.42,2.53,207.62,1.047,11012,0.059,0.068,3019,406,1587,1629,1546,0,0,0,0,0,0,14.46,14.35,13.92
$GC,1321,0.77,272.5,3026,406,1626,1546,98.1,18.0,228,1328,0.00,2.35,0.00,0.000,5126,0.000,0.030,3019,1807,1585,1626,1545,0,0,0,0,0,0,14.57,14.51,14.58
$GC,1393,0.77,272.5,3019,1810,1624,1543,86.8,16.5,241,1399,0.00,2.35,0.00,0.000,4356,0.000,0.047,3019,3198,1582,1623,1542,0,0,0,0,0,0,14.82,14.63,14.83
$GC,1443,0.77,272.5,3019,3198,1622,1542,78.6,16.5,250,1449,0.00,2.38,0.00,0.000,5126,0.000,0.053,3020,1814,1581,1621,1542,0,0,0,0,0,0,14.79,14.69,14.81
$GC,1514,0.77,272.5,3019,1814,1621,1541,67.3,17.2,263,1520,0.00,2.47,0.00,0.000,4612,0.000,0.070,3020,389,1581,1621,1542,0,0,0,0,0,0,14.96,14.65,14.96
$GC,1548,0.77,272.5,3019,389,1625,1542,61.4,18.0,269,1554,0.00,2.33,0.00,0.000,5126,0.000,0.031,3020,1803,1581,1621,1542,0,0,0,0,0,0,14.88,14.81,14.88
$GC,1619,0.77,272.5,3019,1806,1621,1541,49.9,16.0,282,1626,0.00,2.33,0.00,0.000,4356,0.000,0.045,3020,3200,1580,1621,1540,0,0,0,0,0,0,15.02,14.75,15.02
$GC,1664,0.77,272.5,3019,3200,1621,1540,43.5,12.7,290,1671,0.00,2.40,0.00,0.000,5126,0.000,0.050,3020,1788,1580,1620,1540,0,0,0,0,0,0,14.83,14.73,14.85
$GC,1735,0.77,272.5,3019,1788,1621,1540,34.8,12.9,303,1742,0.00,2.40,0.00,0.000,4612,0.000,0.069,3022,393,1580,1621,1540,0,0,0,0,0,0,15.06,14.80,15.06
$GC,1770,0.77,272.5,3023,394,1621,1540,30.4,11.9,309,1777,0.08,2.30,0.00,0.000,5126,0.266,0.031,3008,1812,1579,1619,1540,0,0,0,0,0,0,14.66,14.81,14.85
$GC,1842,0.77,272.5,3006,1813,1621,1540,22.5,11.5,322,1848,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1813,1580,1621,1539,0,0,0,0,0,0,15.06,15.07,15.07
$GC,1911,0.77,272.5,3007,1813,1618,1539,14.1,11.7,335,1917,0.00,2.45,0.00,0.000,516,0.000,0.069,3010,395,1580,1621,1539,0,0,0,0,0,0,15.08,14.82,15.09
$GC,1945,0.77,272.5,3009,395,1621,1539,10.3,11.0,341,1952,0.00,2.28,0.00,0.000,5126,0.000,0.031,3010,1788,1580,1621,1539,0,0,0,0,0,0,14.97,14.90,14.98
$GC,2018,0.91,386.1,3010,1790,1621,1538,4.8,7.2,354,2042,0.08,0.00,21.38,0.803,10498,0.178,0.000,3060,1791,1449,1495,1404,0,0,0,0,0,0,14.85,28.83,14.90
$STATE,2043,end climb,SURFACE_DEPTH_REACHED
$STATE,2043,begin surface coast
$FINISH,0.1,1.012994
$STATE,2076,end surface coast,CONTROL_FINISHED_OK
$STATE,2076,begin surface
$SM_CCo,2101,137.80,0.799,0,0,598,515.37
$SM_GC,0.93,13.70,0.00,137.80,0.038,0.000,0.799,117,1791,598,-8.18,-0.59,515.37,0,0,0,0,0,0,14.86,15.04,14.12
$IRIDIUM_FIX,-3409.50,2530.83,200419,213456
$TT8_MAMPS,0.021721,0.897302
$HUMID,45.51
$INTERNAL_PRESSURE,9.34163
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,81.1,37.2
$SC_FREEKB,3672512
$24V_AH,13.50,145.960
$10V_AH,13.52,0.000
$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,17.700,61.500,427.950,137.800,0.000,0.000,0.000,0.000,2.000,0.000,0.000,718.745,291.799,586.489,639.528,144.366,0.000,987.262,0.000,552.572,0.000,14.643,0.000
$DEVICE_MAMPS,292.995,73.440,1051.875,799.425,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2125.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.138,0.000,0.000,0.000
$MEM,341064
$DATA_FILE_SIZE,10088,364
$CAP_FILE_SIZE,71438,0
$CFSIZE,2097086464,2003468288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210419,002738,-3422.627,2533.417,8,1.2,22,-27.9,0.9,10.4,8,9.2