version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 476
start: 4 21 119 0 39 57
data:
$ID,574
$MISSION,3
$DIVE,476
$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,30
$R_STBD_OVSHOOT,49
$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
$GPS1,210419,002738,-3422.6274,2533.4167,8,1.2,22,-27.9,0.9,10.4,8,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-72.9
$GPS2,210419,003931,-3422.5005,2533.4839,9,0.9,31,-27.9,1.1,254.9,10,5.9
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3414.864,2542.722
$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,-272.5,52,1795,628,542,0.0,0.0,0,112,0.00,0.00,-86.72,0.000,16386,0.000,0.000,52,1795,2821,2779,2863,0,0,0,0,0,0,14.97,28.83,14.99
$GC,118,-0.77,-272.5,52,1795,2779,2863,3.2,-7.0,16,159,14.43,2.42,-17.20,0.000,18692,0.295,0.073,2493,3206,3815,3834,3796,0,0,0,0,0,0,14.51,13.45,14.78
$GC,278,-0.77,-272.5,2491,3206,3834,3797,31.0,-12.0,46,286,0.05,2.35,0.00,0.000,3078,0.290,0.044,2502,1803,3815,3834,3797,0,0,0,0,0,0,14.76,14.83,14.78
$GC,351,-0.77,-272.5,2506,1803,3831,3797,39.9,-13.5,59,357,0.00,2.42,0.00,0.000,2564,0.000,0.063,2508,399,3815,3833,3797,0,0,0,0,0,0,15.07,14.81,15.07
$GC,375,-0.77,-272.5,2507,399,3833,3796,43.5,-13.9,63,382,0.00,2.33,0.00,0.000,3078,0.000,0.036,2507,1805,3815,3834,3797,0,0,0,0,0,0,14.90,14.81,14.91
$GC,447,-0.77,-272.5,2507,1808,3833,3797,52.3,-12.9,76,453,0.00,2.38,0.00,0.000,2308,0.000,0.056,2508,3213,3815,3833,3797,0,0,0,0,0,0,15.08,14.83,15.08
$GC,488,-0.77,-272.5,2507,3213,3833,3797,57.4,-11.2,83,494,0.00,2.33,0.00,0.000,3078,0.000,0.039,2507,1808,3815,3834,3797,0,0,0,0,0,0,14.96,14.86,14.97
$GC,560,-0.77,-272.5,2507,1807,3833,3796,64.0,-9.6,96,566,0.00,2.40,0.00,0.000,2564,0.000,0.062,2507,407,3815,3833,3797,0,0,0,0,0,0,15.10,14.78,15.10
$GC,584,-0.77,-272.5,2507,407,3833,3797,66.6,-10.1,100,591,0.00,2.35,0.00,0.000,3078,0.000,0.035,2507,1821,3814,3833,3796,0,0,0,0,0,0,14.88,14.78,14.88
$GC,657,-0.77,-272.5,2507,1823,3833,3797,73.2,-9.8,113,663,0.00,2.35,0.00,0.000,2308,0.000,0.055,2507,3214,3815,3833,3797,0,0,0,0,0,0,15.10,14.85,15.10
$GC,692,-0.77,-272.5,2507,3215,3833,3797,76.7,-9.0,119,699,0.00,2.33,0.00,0.000,3078,0.000,0.040,2507,1811,3815,3833,3797,0,0,0,0,0,0,14.97,14.88,14.98
$GC,765,-0.77,-272.5,2507,1812,3833,3794,84.2,-10.6,132,772,0.00,2.38,0.00,0.000,2308,0.000,0.052,2507,3211,3815,3833,3797,0,0,0,0,0,0,15.11,14.81,15.11
$GC,789,-0.77,-272.5,2507,3211,3833,3797,86.6,-9.7,136,796,0.00,2.33,0.00,0.000,3078,0.000,0.041,2507,1814,3815,3833,3797,0,0,0,0,0,0,14.88,14.78,14.89
$GC,861,-0.77,-272.5,2507,1814,3833,3797,93.5,-9.8,149,867,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1815,3815,3833,3797,0,0,0,0,0,0,15.11,15.11,15.11
$STATE,872,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,873,begin apogee
$GC,879,-0.17,0.0,2507,1814,3833,3796,95.2,-11.4,151,1086,0.95,0.00,197.93,1.020,10246,0.127,0.000,2703,1814,2696,2728,2664,0,0,0,0,0,0,14.74,14.33,13.96
$STATE,1088,end apogee,CONTROL_FINISHED_OK
$STATE,1088,begin climb
$GC,1091,0.77,272.5,2703,1814,2730,2664,108.3,0.0,188,1310,1.40,0.00,206.35,1.015,10758,0.056,0.000,3017,1814,1587,1628,1546,0,0,0,0,0,0,14.50,14.41,13.95
$GC,1373,0.77,272.5,3017,1814,1625,1543,78.6,17.8,238,1379,0.00,2.38,0.00,0.000,4356,0.000,0.045,3015,3203,1583,1624,1542,0,0,0,0,0,0,14.81,14.57,14.81
$GC,1417,0.77,272.5,3017,3203,1622,1542,71.0,17.4,246,1424,0.00,2.40,0.00,0.000,5126,0.000,0.052,3017,1807,1581,1622,1540,0,0,0,0,0,0,14.69,14.59,14.71
$GC,1489,0.77,272.5,3017,1807,1622,1541,59.2,17.2,259,1495,0.00,2.47,0.00,0.000,4612,0.000,0.070,3020,391,1582,1622,1542,0,0,0,0,0,0,14.95,14.71,14.95
$GC,1548,0.77,272.5,3019,390,1621,1541,48.2,15.6,270,1555,0.00,2.33,0.00,0.000,5126,0.000,0.032,3020,1803,1581,1621,1541,0,0,0,0,0,0,14.88,14.81,14.89
$GC,1620,0.77,272.5,3019,1806,1621,1540,39.7,11.0,283,1627,0.00,2.33,0.00,0.000,4356,0.000,0.045,3020,3209,1580,1621,1540,0,0,0,0,0,0,15.01,14.81,15.01
$GC,1670,0.77,272.5,3019,3209,1620,1539,33.9,11.2,292,1677,0.00,2.40,0.00,0.000,5126,0.000,0.049,3020,1792,1580,1620,1540,0,0,0,0,0,0,14.92,14.81,14.94
$GC,1741,0.77,272.5,3019,1792,1620,1539,26.4,11.4,305,1747,0.00,0.00,0.00,0.000,4102,0.000,0.000,3020,1792,1579,1621,1538,0,0,0,0,0,0,15.07,15.06,15.07
$GC,1810,0.77,272.5,3019,1792,1620,1538,18.5,11.8,318,1817,0.00,2.40,0.00,0.000,4612,0.000,0.068,3020,392,1579,1621,1538,0,0,0,0,0,0,15.07,14.82,15.08
$GC,1845,0.82,311.6,3019,392,1621,1537,14.8,9.0,324,1880,0.00,2.30,24.75,0.845,9222,0.000,0.031,3020,1811,1426,1474,1378,0,0,0,0,0,0,14.95,14.89,14.30
$GC,1945,0.94,411.7,3019,1812,1472,1375,6.1,7.5,342,1963,0.08,0.00,15.95,0.764,10498,0.184,0.000,3063,1812,1322,1375,1269,0,0,0,0,0,0,14.76,28.83,14.80
$STATE,1964,end climb,FINISH_DEPTH_REACHED
$STATE,1965,begin subsurface finish
$FINISH1,4.7,1.024607,148
$GC,1972,0.18,148.4,3064,1812,1373,1267,4.7,7.4,345,2013,1.23,2.35,-28.83,0.000,20740,0.155,0.069,2823,3189,2099,2143,2056,0,0,0,0,0,0,14.64,13.56,14.73
$FINISH2,2.5
$STATE,2014,end subsurface finish,CONTROL_FINISHED_OK
$STATE,2014,begin surface
$IRIDIUM_FIX,-3409.50,2527.35,200419,230529
$TT8_MAMPS,0.020972,0.950481
$HUMID,45.23
$INTERNAL_PRESSURE,9.47834
$TCM_TEMP,20.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.0,33.9
$SC_FREEKB,3672000
$24V_AH,13.45,146.150
$10V_AH,13.59,0.000
$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,18.125,49.700,444.975,0.000,0.000,22.223,39.512,350.468,2.000,0.000,32.890,638.693,252.630,520.111,1040.533,282.740,0.000,931.465,0.000,533.096,0.000,14.663,0.000
$DEVICE_MAMPS,295.290,73.440,1019.745,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2064.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.236,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,10119,352
$CAP_FILE_SIZE,72742,0
$CFSIZE,2097086464,2003304448
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,1038.25,0x23609a,2,24
$GPS,210419,003931,-3422.500,2533.484,9,0.9,31,-27.9,1.1,254.9,10,5.9