version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 480
start: 4 21 119 3 27 33
data:
$ID,574
$MISSION,3
$DIVE,480
$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,59
$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
$GPS1,210419,031601,-3421.3950,2535.6213,8,0.9,15,-27.9,0.4,359.3,10,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-72.0
$GPS2,210419,032707,-3421.3315,2535.6780,7,0.9,15,-27.9,0.5,224.9,10,9.6
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3413.695,2544.914
$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,21,begin dive
$GC,24,-0.77,-272.5,52,1809,628,543,0.0,0.0,0,118,0.00,0.00,-91.55,0.000,16386,0.000,0.000,53,1809,2957,2916,2999,0,0,0,0,0,0,14.97,28.83,14.98
$GC,124,-0.77,-272.5,53,1809,2918,2998,3.6,-7.9,17,159,14.40,2.35,-14.10,0.000,18692,0.291,0.073,2494,3197,3812,3831,3794,0,0,0,0,0,0,14.51,13.90,14.78
$GC,305,-0.77,-272.5,2492,3197,3831,3796,38.2,-12.8,51,313,0.05,2.33,0.00,0.000,3078,0.294,0.040,2506,1805,3813,3831,3795,0,0,0,0,0,0,14.60,14.75,14.78
$GC,378,-0.77,-272.5,2506,1805,3831,3796,47.1,-13.0,64,383,0.00,0.00,0.00,0.000,2054,0.000,0.000,2506,1805,3814,3833,3796,0,0,0,0,0,0,15.07,15.07,15.07
$GC,446,-0.77,-272.5,2505,1805,3831,3795,56.0,-12.0,77,453,0.00,2.40,0.00,0.000,2564,0.000,0.063,2506,411,3813,3831,3795,0,0,0,0,0,0,15.09,14.78,15.09
$GC,488,-0.77,-272.5,2506,411,3831,3795,60.5,-10.8,84,495,0.00,2.28,0.00,0.000,3078,0.000,0.035,2505,1799,3813,3831,3795,0,0,0,0,0,0,14.96,14.88,14.97
$GC,559,-0.77,-272.5,2505,1802,3831,3795,67.7,-10.5,97,566,0.00,2.38,0.00,0.000,2308,0.000,0.054,2505,3211,3813,3831,3795,0,0,0,0,0,0,15.08,14.79,15.09
$GC,609,-0.77,-272.5,2504,3211,3830,3796,72.6,-8.0,106,616,0.00,2.33,0.00,0.000,3078,0.000,0.041,2505,1812,3813,3831,3795,0,0,0,0,0,0,14.97,14.87,14.98
$GC,685,-0.77,-272.5,2505,1811,3831,3795,79.1,-9.3,119,691,0.00,0.00,0.00,0.000,2054,0.000,0.000,2505,1812,3813,3831,3795,0,0,0,0,0,0,15.11,15.11,15.11
$GC,754,-0.77,-272.5,2504,1812,3831,3795,86.7,-11.6,132,760,0.00,2.38,0.00,0.000,2308,0.000,0.051,2505,3217,3812,3830,3795,0,0,0,0,0,0,15.11,14.85,15.11
$GC,788,-0.77,-272.5,2505,3217,3830,3796,90.0,-9.9,138,794,0.00,2.35,0.00,0.000,3078,0.000,0.041,2505,1805,3813,3831,3795,0,0,0,0,0,0,14.97,14.88,14.99
$STATE,805,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,805,begin apogee
$GC,811,-0.17,0.0,2505,1804,3831,3795,91.9,-8.7,141,1019,0.95,0.00,197.95,1.021,10246,0.127,0.000,2698,1804,2698,2732,2664,0,0,0,0,0,0,14.66,14.30,13.93
$STATE,1020,end apogee,CONTROL_FINISHED_OK
$STATE,1020,begin climb
$GC,1023,0.77,272.5,2698,1804,2730,2662,105.4,0.0,178,1241,1.38,0.00,207.00,1.013,10758,0.070,0.000,2995,1804,1587,1630,1545,0,0,0,0,0,0,14.46,14.40,13.94
$GC,1304,0.77,272.5,2994,1804,1622,1542,80.5,14.0,228,1310,0.00,0.00,0.00,0.000,2054,0.000,0.000,2995,1804,1584,1626,1542,0,0,0,0,0,0,14.80,14.81,14.80
$GC,1373,0.77,272.5,2995,1804,1625,1536,70.2,15.2,241,1379,0.00,2.38,0.00,0.000,2308,0.000,0.045,2995,3204,1582,1624,1540,0,0,0,0,0,0,14.90,14.70,14.90
$GC,1417,0.77,272.5,2995,3204,1622,1540,63.4,14.1,249,1424,0.00,2.40,0.00,0.000,3078,0.000,0.050,2996,1798,1580,1621,1540,0,0,0,0,0,0,14.83,14.73,14.85
$GC,1488,0.77,272.5,2995,1797,1622,1540,53.6,13.7,262,1495,0.00,2.42,0.00,0.000,2564,0.000,0.070,2999,393,1581,1622,1540,0,0,0,0,0,0,14.99,14.66,14.99
$GC,1543,0.77,272.5,2995,394,1621,1540,46.4,13.5,272,1550,0.00,2.33,0.00,0.000,3078,0.000,0.031,2996,1817,1580,1621,1539,0,0,0,0,0,0,14.83,14.81,14.84
$GC,1615,0.77,272.5,2995,1820,1621,1538,38.2,11.7,285,1622,0.00,2.30,0.00,0.000,2308,0.000,0.046,2996,3198,1579,1621,1538,0,0,0,0,0,0,15.05,14.78,15.05
$GC,1655,0.77,272.5,2996,3198,1620,1537,32.9,11.5,292,1661,0.00,2.38,0.00,0.000,3078,0.000,0.049,2996,1799,1580,1624,1537,0,0,0,0,0,0,14.89,14.78,14.90
$GC,1726,0.77,272.5,2995,1799,1621,1537,25.6,10.2,305,1733,0.00,2.42,0.00,0.000,2564,0.000,0.068,2996,389,1579,1622,1537,0,0,0,0,0,0,15.06,14.81,15.06
$GC,1741,0.78,282.2,2996,389,1621,1537,24.0,9.8,307,1754,0.00,2.30,7.53,0.777,11270,0.000,0.030,2996,1795,1548,1593,1504,0,0,0,0,0,0,14.95,14.88,14.21
$GC,1819,0.81,300.7,2995,1795,1591,1502,17.0,9.6,321,1837,0.00,2.47,12.15,0.843,10756,0.000,0.068,2996,395,1471,1518,1425,0,0,0,0,0,0,15.07,14.78,14.25
$GC,1855,0.84,325.8,2995,394,1518,1425,13.5,9.4,327,1880,0.05,2.33,16.60,0.831,11270,0.254,0.031,3032,1810,1368,1419,1318,0,0,0,0,0,0,14.73,14.83,14.26
$GC,1944,0.87,353.7,3032,1809,1417,1314,5.3,9.3,343,1952,0.00,0.00,5.75,0.656,10498,0.000,0.000,3032,1810,1328,1380,1277,0,0,0,0,0,0,15.00,28.83,15.00
$STATE,1953,end climb,FINISH_DEPTH_REACHED
$STATE,1953,begin subsurface finish
$FINISH1,4.5,1.024677,145
$GC,1961,0.18,144.8,3032,1810,1379,1274,4.5,9.5,344,2001,1.05,2.38,-28.67,0.000,20740,0.148,0.069,2824,3196,2114,2158,2070,0,0,0,0,0,0,14.63,13.51,14.71
$FINISH2,2.5
$STATE,2002,end subsurface finish,CONTROL_FINISHED_OK
$STATE,2002,begin surface
$IRIDIUM_FIX,-3406.89,2533.19,210419,015756
$TT8_MAMPS,0.021721,0.782705
$HUMID,45.74
$INTERNAL_PRESSURE,9.47834
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,75.2,36.4
$SC_FREEKB,3669952
$24V_AH,13.51,146.908
$10V_AH,13.43,0.000
$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,17.875,44.875,446.975,0.000,0.000,23.443,27.776,335.888,1.750,0.000,16.747,638.937,254.626,512.733,989.618,280.362,0.000,919.198,0.000,535.174,0.000,13.150,0.000
$DEVICE_MAMPS,293.760,72.675,1020.510,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2048.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.332,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,10124,351
$CAP_FILE_SIZE,71429,0
$CFSIZE,2097086464,2002649088
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,876.27,0x23609a,2,24
$GPS,210419,032707,-3421.332,2535.678,7,0.9,15,-27.9,0.5,224.9,10,9.6