version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 483
start: 4 21 119 5 25 42
data:
$ID,574
$MISSION,3
$DIVE,483
$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,38
$R_STBD_OVSHOOT,50
$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
$GPS1,210419,045053,-3420.9131,2536.6917,8,0.9,18,-27.9,0.0,233.3,10,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.14
$_SM_ANGLEo,1.1
$GPS2,210419,045053,-3420.9131,2536.6917,8,0.9,18,-27.9,0.0,233.3,10,9.7
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3413.277,2545.927
$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,-272.5,2824,1799,2143,2063,0.0,0.0,0,32,0.00,0.00,-6.35,0.000,16386,0.000,0.000,2824,1799,2335,2377,2293,0,0,0,0,0,0,15.11,28.83,15.11
$GC,35,-0.77,-272.5,2824,1799,2378,2293,6.0,0.0,1,80,1.40,2.40,-34.22,0.000,20996,0.083,0.083,2519,413,3814,3833,3796,0,0,0,0,0,0,14.75,13.47,14.81
$GC,88,-0.77,-272.5,2518,414,3833,3797,12.5,-15.8,10,95,0.00,2.30,0.00,0.000,5126,0.000,0.033,2516,1812,3815,3833,3797,0,0,0,0,0,0,15.00,14.91,15.01
$GC,160,-0.77,-272.5,2515,1815,3834,3797,22.9,-14.9,23,166,0.00,2.35,0.00,0.000,4356,0.000,0.053,2516,3209,3815,3833,3797,0,0,0,0,0,0,15.12,14.78,15.12
$GC,214,-0.77,-272.5,2515,3209,3834,3797,30.0,-10.4,33,221,0.00,2.33,0.00,0.000,5126,0.000,0.041,2515,1813,3815,3833,3797,0,0,0,0,0,0,14.88,14.78,14.89
$GC,286,-0.77,-272.5,2515,1812,3831,3797,38.6,-12.8,46,292,0.00,2.40,0.00,0.000,4612,0.000,0.063,2515,409,3814,3833,3796,0,0,0,0,0,0,15.13,14.86,15.13
$GC,320,-0.77,-272.5,2515,409,3834,3796,42.9,-11.7,52,326,0.00,2.30,0.00,0.000,5126,0.000,0.032,2515,1813,3815,3834,3797,0,0,0,0,0,0,14.93,14.82,14.95
$GC,391,-0.77,-272.5,2515,1816,3834,3797,50.6,-10.9,65,398,0.00,2.38,0.00,0.000,260,0.000,0.054,2516,3213,3815,3834,3797,0,0,0,0,0,0,15.11,14.86,15.12
$GC,448,-0.77,-272.5,2515,3214,3833,3796,56.1,-8.7,75,454,0.00,2.33,0.00,0.000,1030,0.000,0.041,2515,1811,3815,3833,3797,0,0,0,0,0,0,14.98,14.89,14.99
$GC,519,-0.77,-272.5,2515,1810,3834,3797,62.9,-9.7,88,526,0.00,2.40,0.00,0.000,4612,0.000,0.063,2516,410,3815,3834,3796,0,0,0,0,0,0,15.11,14.77,15.12
$GC,560,-0.77,-272.5,2515,410,3834,3796,67.2,-9.6,95,567,0.00,2.30,0.00,0.000,5126,0.000,0.033,2516,1814,3815,3834,3796,0,0,0,0,0,0,14.94,14.85,14.95
$GC,632,-0.77,-272.5,2515,1817,3834,3796,74.0,-9.9,108,638,0.00,2.35,0.00,0.000,4356,0.000,0.054,2516,3209,3815,3834,3797,0,0,0,0,0,0,15.12,14.86,15.12
$GC,673,-0.77,-272.5,2515,3209,3834,3797,78.1,-9.7,115,680,0.00,2.33,0.00,0.000,5126,0.000,0.039,2515,1809,3815,3834,3797,0,0,0,0,0,0,14.99,14.89,15.00
$GC,746,-0.77,-272.5,2515,1809,3834,3797,84.8,-9.9,128,752,0.00,2.38,0.00,0.000,516,0.000,0.063,2516,411,3815,3834,3797,0,0,0,0,0,0,15.11,14.83,15.13
$GC,771,-0.77,-272.5,2515,411,3834,3796,87.1,-8.8,132,777,0.00,2.30,0.00,0.000,5126,0.000,0.033,2515,1810,3815,3834,3797,0,0,0,0,0,0,14.94,14.85,14.95
$STATE,798,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,798,begin apogee
$GC,804,-0.17,0.0,2516,1812,3834,3797,89.9,-9.6,137,1011,0.90,0.00,198.68,1.052,10246,0.124,0.000,2701,1813,2700,2736,2665,0,0,0,0,0,0,14.76,14.39,13.93
$STATE,1013,end apogee,CONTROL_FINISHED_OK
$STATE,1013,begin climb
$GC,1016,0.77,272.5,2701,1813,2733,2664,101.7,0.0,174,1235,1.42,0.00,207.93,1.034,10758,0.054,0.000,3026,1813,1588,1629,1547,0,0,0,0,0,0,14.47,14.29,13.93
$GC,1298,0.77,272.5,3025,1813,1626,1544,74.1,19.0,224,1305,0.08,2.35,0.00,0.000,4356,0.284,0.044,3008,3200,1584,1626,1543,0,0,0,0,0,0,14.47,14.59,14.57
$GC,1348,0.77,272.5,3007,3199,1622,1541,65.7,14.9,233,1355,0.00,2.40,0.00,0.000,1030,0.000,0.051,3011,1808,1582,1622,1542,0,0,0,0,0,0,14.75,14.66,14.77
$GC,1421,0.77,272.5,3007,1808,1623,1541,55.3,15.4,246,1428,0.00,2.45,0.00,0.000,516,0.000,0.069,3013,394,1582,1623,1541,0,0,0,0,0,0,14.95,14.64,14.95
$GC,1451,0.77,272.5,3013,393,1622,1541,50.1,15.9,251,1458,0.00,2.33,0.00,0.000,5126,0.000,0.032,3013,1802,1581,1622,1541,0,0,0,0,0,0,14.77,14.70,14.78
$GC,1523,0.77,272.5,3014,1805,1622,1540,39.8,14.2,264,1530,0.00,2.33,0.00,0.000,4356,0.000,0.044,3013,3199,1581,1622,1540,0,0,0,0,0,0,15.01,14.79,15.01
$GC,1543,0.77,272.5,3013,3200,1621,1540,36.4,16.0,267,1550,0.00,2.40,0.00,0.000,5126,0.000,0.052,3017,1796,1581,1622,1540,0,0,0,0,0,0,14.89,14.77,14.90
$GC,1615,0.77,272.5,3017,1796,1622,1540,28.0,10.6,280,1621,0.00,2.42,0.00,0.000,4612,0.000,0.069,3017,388,1580,1620,1540,0,0,0,0,0,0,15.02,14.78,15.02
$GC,1670,0.79,290.3,3017,388,1622,1540,22.3,9.6,290,1689,0.00,2.33,13.52,0.860,13318,0.000,0.032,3017,1807,1516,1560,1472,0,0,0,0,0,0,14.94,14.88,14.26
$GC,1752,0.79,290.3,3017,1808,1558,1468,13.3,12.2,305,1757,0.00,0.00,0.00,0.000,4102,0.000,0.000,3017,1807,1512,1558,1467,0,0,0,0,0,0,15.02,15.03,15.03
$GC,1821,0.88,361.7,3017,1807,1558,1475,7.0,8.2,318,1877,0.00,2.38,46.95,0.809,10500,0.000,0.048,3017,3195,1222,1282,1162,0,0,0,0,0,0,15.05,14.66,14.21
$STATE,1884,end climb,SURFACE_DEPTH_REACHED
$STATE,1884,begin surface coast
$FINISH,0.2,1.024865
$STATE,1915,end surface coast,CONTROL_FINISHED_OK
$STATE,1915,begin surface
$SM_CCo,1942,100.70,0.786,0,0,598,515.37
$SM_GC,0.95,13.68,2.40,100.70,0.044,0.043,0.786,118,1804,598,-8.18,0.74,515.37,0,0,0,0,0,0,14.77,14.73,14.11
$IRIDIUM_FIX,-3409.50,2258.89,210419,032011
$TT8_MAMPS,0.021721,0.934752
$HUMID,45.31
$INTERNAL_PRESSURE,9.33186
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,75.4,34.3
$SC_FREEKB,3668416
$24V_AH,13.47,147.466
$10V_AH,13.42,0.000
$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,17.475,58.975,467.075,100.700,0.000,0.000,0.000,0.000,1.750,0.000,0.000,636.663,249.553,573.965,594.077,132.757,0.000,959.159,0.000,504.951,0.000,13.141,0.000
$DEVICE_MAMPS,283.815,82.620,1051.875,786.420,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1964.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.236,0.000,0.000,0.000
$MEM,341064
$DATA_FILE_SIZE,6796,335
$CAP_FILE_SIZE,66159,0
$CFSIZE,2097086464,2002157568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210419,060101,-3420.650,2537.692,10,0.9,33,-27.9,0.3,99.4,9,6.0