version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 477
start: 4 21 119 1 16 30
data:
$ID,574
$MISSION,3
$DIVE,477
$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,39
$R_STBD_OVSHOOT,58
$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
$GPS1,210419,003931,-3422.5005,2533.4839,9,0.9,31,-27.9,1.1,254.9,10,5.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.23
$_SM_ANGLEo,0.9
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.77,-272.5,2823,1801,2143,2059,0.0,0.0,0,31,0.00,0.00,-5.62,0.000,16386,0.000,0.000,2823,1802,2290,2336,2245,0,0,0,0,0,0,15.07,28.83,15.07
$GC,34,-0.77,-272.5,2823,1802,2337,2245,4.9,0.0,1,80,1.38,2.42,-37.67,0.000,20996,0.078,0.083,2522,408,3813,3828,3798,0,0,0,0,0,0,14.81,13.50,14.87
$GC,120,-0.77,-272.5,2522,408,3829,3798,15.4,-12.6,16,126,0.00,2.30,0.00,0.000,5126,0.000,0.033,2522,1809,3813,3829,3798,0,0,0,0,0,0,14.86,14.78,14.88
$GC,191,-0.77,-272.5,2522,1811,3830,3798,24.7,-13.5,29,197,0.00,0.00,0.00,0.000,4102,0.000,0.000,2522,1810,3814,3830,3798,0,0,0,0,0,0,15.10,15.11,15.11
$GC,260,-0.77,-272.5,2522,1811,3830,3798,34.0,-13.2,42,267,0.00,2.38,0.00,0.000,4356,0.000,0.054,2519,3217,3814,3830,3798,0,0,0,0,0,0,15.11,14.77,15.11
$GC,300,-0.77,-272.5,2522,3217,3830,3798,38.7,-10.6,49,306,0.00,2.35,0.00,0.000,5126,0.000,0.041,2522,1805,3814,3830,3798,0,0,0,0,0,0,14.87,14.77,14.88
$GC,371,-0.77,-272.5,2522,1805,3830,3798,46.8,-12.0,62,377,0.00,0.00,0.00,0.000,4102,0.000,0.000,2522,1805,3814,3831,3798,0,0,0,0,0,0,15.11,15.11,15.11
$GC,440,-0.77,-272.5,2522,1805,3830,3798,54.5,-10.6,75,447,0.00,0.00,0.00,0.000,4102,0.000,0.000,2522,1804,3814,3831,3798,0,0,0,0,0,0,15.11,15.12,15.12
$GC,512,-0.77,-272.5,2521,1805,3831,3798,61.2,-9.0,88,518,0.00,0.00,0.00,0.000,4102,0.000,0.000,2522,1805,3814,3831,3798,0,0,0,0,0,0,15.11,15.12,15.12
$GC,581,-0.77,-272.5,2522,1805,3831,3798,67.5,-9.0,101,587,0.00,0.00,0.00,0.000,4102,0.000,0.000,2522,1805,3814,3831,3798,0,0,0,0,0,0,15.11,15.12,15.12
$GC,651,-0.77,-272.5,2522,1805,3831,3798,73.8,-9.2,114,657,0.00,0.00,0.00,0.000,4102,0.000,0.000,2522,1805,3814,3831,3798,0,0,0,0,0,0,15.12,15.12,15.12
$GC,724,-0.77,-272.5,2522,1805,3832,3798,80.2,-8.8,127,731,0.00,2.40,0.00,0.000,4356,0.000,0.054,2522,3210,3815,3832,3798,0,0,0,0,0,0,15.11,14.85,15.11
$GC,764,-0.77,-272.5,2522,3210,3831,3798,84.0,-8.2,134,771,0.00,2.33,0.00,0.000,5126,0.000,0.039,2522,1812,3814,3831,3798,0,0,0,0,0,0,14.89,14.80,14.89
$GC,836,-0.77,-272.5,2521,1812,3831,3798,90.1,-9.6,147,843,0.00,2.40,0.00,0.000,4612,0.000,0.059,2522,402,3814,3831,3797,0,0,0,0,0,0,15.13,14.85,15.13
$GC,857,-0.77,-272.5,2522,403,3831,3798,91.8,-8.0,150,863,0.00,2.33,0.00,0.000,5126,0.000,0.033,2522,1816,3814,3831,3798,0,0,0,0,0,0,14.99,14.90,15.00
$STATE,868,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,868,begin apogee
$GC,874,-0.17,0.0,2522,1819,3831,3797,93.2,-10.0,152,1081,0.88,0.00,198.43,1.054,10246,0.126,0.000,2701,1819,2700,2733,2667,0,0,0,0,0,0,14.76,14.44,13.96
$STATE,1083,end apogee,CONTROL_FINISHED_OK
$STATE,1083,begin climb
$GC,1085,0.77,272.5,2701,1819,2730,2665,106.4,0.0,189,1306,1.40,2.38,207.05,1.043,11012,0.054,0.043,3019,3204,1587,1628,1546,0,0,0,0,0,0,14.47,14.29,13.91
$GC,1390,0.77,272.5,3019,3204,1622,1544,77.2,14.8,243,1397,0.08,2.40,0.00,0.000,5126,0.286,0.050,3009,1807,1582,1622,1543,0,0,0,0,0,0,14.51,14.63,14.67
$GC,1462,0.77,272.5,3008,1807,1622,1542,66.3,15.3,256,1468,0.00,0.00,0.00,0.000,4102,0.000,0.000,3009,1808,1582,1622,1542,0,0,0,0,0,0,14.92,14.94,14.94
$GC,1531,0.77,272.5,3008,1808,1622,1541,55.8,16.4,269,1538,0.00,2.45,0.00,0.000,4612,0.000,0.070,3017,394,1581,1622,1541,0,0,0,0,0,0,14.98,14.66,14.98
$GC,1571,0.77,272.5,3016,395,1621,1541,49.8,15.3,276,1577,0.00,2.33,0.00,0.000,5126,0.000,0.031,3017,1807,1581,1621,1541,0,0,0,0,0,0,14.79,14.73,14.81
$GC,1643,0.77,272.5,3016,1810,1621,1540,39.0,15.0,289,1649,0.00,2.33,0.00,0.000,4356,0.000,0.046,3017,3204,1580,1620,1540,0,0,0,0,0,0,15.04,14.81,15.04
$GC,1683,0.77,272.5,3016,3203,1621,1540,32.8,14.0,296,1690,0.00,2.40,0.00,0.000,5126,0.000,0.049,3017,1791,1580,1621,1540,0,0,0,0,0,0,14.92,14.81,14.93
$GC,1755,0.77,272.5,3017,1792,1619,1540,24.5,10.6,309,1761,0.00,2.40,0.00,0.000,4612,0.000,0.069,3017,396,1580,1621,1540,0,0,0,0,0,0,15.04,14.80,15.04
$GC,1769,0.77,272.5,3017,396,1621,1538,22.9,10.1,311,1775,0.00,2.30,0.00,0.000,5126,0.000,0.031,3017,1809,1580,1621,1540,0,0,0,0,0,0,14.95,14.86,14.96
$GC,1841,0.80,292.6,3016,1812,1621,1538,15.9,9.5,324,1860,0.00,2.53,12.73,0.861,12804,0.000,0.070,3016,388,1504,1549,1460,0,0,0,0,0,0,15.07,14.79,14.28
$GC,1883,0.80,292.6,3016,388,1548,1460,11.6,10.0,331,1889,0.00,2.33,0.00,0.000,5126,0.000,0.031,3017,1810,1504,1548,1460,0,0,0,0,0,0,14.92,14.83,14.93
$GC,1955,0.84,332.1,3016,1813,1548,1458,4.6,9.0,344,1973,0.00,0.00,16.15,0.782,10498,0.000,0.000,3017,1813,1403,1452,1354,0,0,0,0,0,0,15.04,28.83,15.04
$STATE,1974,end climb,SURFACE_DEPTH_REACHED
$STATE,1974,begin surface coast
$FINISH,0.2,1.011830
$STATE,2010,end surface coast,CONTROL_FINISHED_OK
$STATE,2010,begin surface
$SM_CCo,2037,130.55,0.791,0,0,598,515.37
$SM_GC,0.92,13.55,0.00,130.55,0.041,0.000,0.791,125,1813,598,-8.18,0.03,515.37,0,0,0,0,0,0,14.81,15.03,14.13
$IRIDIUM_FIX,-3409.50,2527.35,200419,230529
$TT8_MAMPS,0.021721,0.945238
$HUMID,45.70
$INTERNAL_PRESSURE,9.33186
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,32.8
$SC_FREEKB,3671488
$24V_AH,13.50,146.342
$10V_AH,13.51,0.000
$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,17.275,45.075,434.350,130.550,0.000,0.000,0.000,0.000,2.000,0.000,0.000,686.493,284.938,579.948,624.617,135.542,0.000,968.882,0.000,535.140,0.000,14.651,0.000
$DEVICE_MAMPS,286.110,83.385,1054.170,791.010,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2061.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.289,0.000,0.000,0.000
$MEM,341056
$DATA_FILE_SIZE,10116,354
$CAP_FILE_SIZE,67723,0
$CFSIZE,2097086464,2003140608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210419,015340,-3421.888,2534.550,8,1.3,20,-27.9,1.1,84.2,8,9.7