version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 487
start: 4 21 119 8 11 38
data:
$ID,574
$MISSION,3
$DIVE,487
$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,55
$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,46
$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
$GPS1,210419,073612,-3420.4043,2538.8220,7,1.0,17,-27.9,0.6,88.6,8,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.95
$_SM_ANGLEo,2.2
$GPS2,210419,073612,-3420.4043,2538.8220,7,1.0,17,-27.9,0.6,88.6,8,9.8
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3414.210,2549.522
$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,82.9,20000,-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,-272.5,2811,1801,2255,2160,0.0,0.0,0,31,0.00,0.00,-6.38,0.000,16386,0.000,0.000,2811,1802,2426,2470,2383,0,0,0,0,0,0,15.11,28.83,15.12
$GC,34,-0.77,-272.5,2811,1803,2472,2383,4.9,0.0,1,75,1.33,0.00,-34.90,0.000,20998,0.084,0.000,2522,1802,3814,3832,3796,0,0,0,0,0,0,14.74,13.50,14.81
$GC,138,-0.77,-272.5,2520,1802,3834,3796,17.6,-15.4,20,144,0.00,0.00,0.00,0.000,4102,0.000,0.000,2522,1802,3814,3833,3796,0,0,0,0,0,0,15.13,15.14,15.14
$GC,207,-0.77,-272.5,2522,1802,3833,3796,27.1,-13.3,33,214,0.00,2.38,0.00,0.000,4356,0.000,0.054,2522,3207,3814,3833,3796,0,0,0,0,0,0,15.12,14.86,15.12
$GC,242,-0.77,-272.5,2522,3209,3833,3796,31.4,-11.2,39,248,0.00,2.35,0.00,0.000,5126,0.000,0.041,2522,1799,3814,3833,3796,0,0,0,0,0,0,15.00,14.89,15.01
$GC,313,-0.77,-272.5,2522,1799,3833,3796,39.2,-12.2,52,320,0.00,2.38,0.00,0.000,4612,0.000,0.063,2522,412,3814,3833,3796,0,0,0,0,0,0,15.11,14.76,15.12
$GC,364,-0.77,-272.5,2522,409,3833,3796,45.4,-10.7,61,371,0.00,2.30,0.00,0.000,5126,0.000,0.034,2522,1810,3814,3833,3796,0,0,0,0,0,0,14.88,14.79,14.88
$GC,435,-0.77,-272.5,2522,1812,3833,3796,52.9,-10.7,74,442,0.00,2.38,0.00,0.000,4356,0.000,0.054,2519,3218,3814,3833,3796,0,0,0,0,0,0,15.12,14.82,15.13
$GC,484,-0.77,-272.5,2522,3218,3834,3796,57.2,-7.8,83,491,0.00,2.35,0.00,0.000,5126,0.000,0.039,2523,1805,3814,3833,3796,0,0,0,0,0,0,14.89,14.80,14.90
$GC,556,-0.77,-272.5,2522,1804,3833,3796,63.2,-9.3,96,562,0.00,0.00,0.00,0.000,4102,0.000,0.000,2521,1804,3814,3833,3796,0,0,0,0,0,0,15.12,15.13,15.12
$GC,628,-0.77,-272.5,2521,1804,3833,3796,70.1,-9.6,109,634,0.00,2.38,0.00,0.000,4612,0.000,0.063,2520,411,3813,3833,3794,0,0,0,0,0,0,15.10,14.85,15.10
$GC,658,-0.77,-272.5,2521,411,3833,3796,73.8,-11.4,114,664,0.00,2.30,0.00,0.000,5126,0.000,0.034,2522,1812,3814,3833,3796,0,0,0,0,0,0,14.99,14.90,15.01
$GC,733,-0.77,-272.5,2522,1818,3833,3796,80.0,-9.6,127,740,0.00,2.35,0.00,0.000,4356,0.000,0.054,2522,3215,3814,3833,3796,0,0,0,0,0,0,15.14,14.77,15.14
$GC,774,-0.77,-272.5,2521,3217,3834,3796,84.3,-8.5,134,780,0.00,2.33,0.00,0.000,5126,0.000,0.035,2522,1800,3815,3834,3797,0,0,0,0,0,0,14.87,14.77,14.88
$GC,846,-0.77,-272.5,2522,1801,3833,3795,90.7,-9.4,147,852,0.00,2.38,0.00,0.000,4612,0.000,0.062,2522,413,3815,3834,3796,0,0,0,0,0,0,15.13,14.85,15.13
$STATE,878,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,878,begin apogee
$GC,887,-0.17,0.0,2522,1815,3833,3796,94.4,-11.3,153,1099,0.88,0.00,199.25,1.063,10246,0.125,0.000,2701,1815,2698,2734,2662,0,0,0,0,0,0,14.74,14.43,13.94
$STATE,1100,end apogee,CONTROL_FINISHED_OK
$STATE,1101,begin climb
$GC,1103,0.77,272.5,2700,1815,2733,2661,110.7,0.0,191,1324,1.42,2.58,208.48,1.047,10756,0.060,0.070,3016,408,1588,1630,1546,0,0,0,0,0,0,14.47,14.38,13.90
$GC,1367,0.77,272.5,3016,409,1626,1546,89.3,16.7,237,1374,0.00,2.35,0.00,0.000,5126,0.000,0.034,3017,1803,1585,1625,1545,0,0,0,0,0,0,14.65,14.57,14.66
$GC,1439,0.77,272.5,3015,1806,1625,1542,78.0,16.7,250,1445,0.00,2.35,0.00,0.000,4356,0.000,0.045,3017,3207,1583,1625,1542,0,0,0,0,0,0,14.87,14.59,14.88
$GC,1468,0.77,272.5,3016,3207,1622,1541,72.5,17.9,255,1475,0.00,2.40,0.00,0.000,5126,0.000,0.053,3016,1813,1579,1623,1536,0,0,0,0,0,0,14.72,14.62,14.73
$GC,1540,0.77,272.5,3016,1813,1622,1541,62.3,14.7,268,1547,0.00,2.47,0.00,0.000,4612,0.000,0.070,3015,390,1581,1622,1541,0,0,0,0,0,0,14.97,14.72,14.97
$GC,1575,0.77,272.5,3018,386,1622,1541,56.8,14.3,274,1582,0.00,2.35,0.00,0.000,5126,0.000,0.032,3018,1809,1581,1622,1541,0,0,0,0,0,0,14.84,14.76,14.85
$GC,1648,0.77,272.5,3018,1812,1622,1540,47.1,13.9,287,1655,0.00,2.30,0.00,0.000,4356,0.000,0.046,3018,3198,1581,1622,1540,0,0,0,0,0,0,15.02,14.72,15.02
$GC,1678,0.77,272.5,3018,3198,1621,1540,42.9,12.6,292,1685,0.00,2.38,0.00,0.000,5126,0.000,0.050,3020,1795,1580,1621,1540,0,0,0,0,0,0,14.91,14.80,14.92
$GC,1750,0.77,272.5,3020,1795,1621,1540,35.1,11.4,305,1756,0.00,2.42,0.00,0.000,4612,0.000,0.069,3020,389,1581,1622,1540,0,0,0,0,0,0,15.05,14.76,15.05
$GC,1789,0.77,272.5,3019,389,1621,1540,29.7,12.0,312,1796,0.00,2.33,0.00,0.000,5126,0.000,0.031,3020,1813,1580,1621,1540,0,0,0,0,0,0,14.89,14.79,14.90
$GC,1861,0.77,272.5,3019,1816,1621,1540,22.5,10.9,325,1868,0.00,2.28,0.00,0.000,4356,0.000,0.046,3019,3190,1580,1621,1539,0,0,0,0,0,0,15.07,14.84,15.07
$GC,1886,0.77,272.5,3019,3190,1621,1539,19.5,11.6,329,1893,0.00,2.35,0.00,0.000,5126,0.000,0.048,3020,1798,1580,1621,1539,0,0,0,0,0,0,14.95,14.85,14.97
$GC,1958,0.77,272.5,3020,1798,1622,1539,11.9,11.6,342,1965,0.00,2.42,0.00,0.000,4612,0.000,0.070,3023,392,1582,1626,1539,0,0,0,0,0,0,15.07,14.82,15.07
$GC,1998,0.77,272.5,3023,392,1621,1539,7.6,10.9,349,2005,0.08,2.30,0.00,0.000,5126,0.256,0.034,3007,1792,1580,1621,1539,0,0,0,0,0,0,14.73,14.89,14.92
$STATE,2041,end climb,SURFACE_DEPTH_REACHED
$STATE,2041,begin surface coast
$FINISH,0.2,1.011642
$STATE,2073,end surface coast,CONTROL_FINISHED_OK
$STATE,2073,begin surface
$SM_CCo,2098,160.48,0.790,0,0,597,515.37
$SM_GC,1.03,13.52,0.00,160.48,0.043,0.000,0.790,108,1794,597,-8.22,-0.51,515.37,0,0,0,0,0,0,14.90,15.12,14.13
$IRIDIUM_FIX,-3406.89,2537.90,210419,060513
$TT8_MAMPS,0.020972,0.919023
$HUMID,45.43
$INTERNAL_PRESSURE,9.32209
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.0,34.1
$SC_FREEKB,3666368
$24V_AH,13.50,148.214
$10V_AH,13.39,0.000
$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,17.225,61.475,407.725,160.475,0.000,0.000,0.000,0.000,2.000,0.000,0.000,721.721,295.032,601.606,638.384,146.549,0.000,997.690,0.000,546.694,0.000,16.556,0.000
$DEVICE_MAMPS,255.510,70.380,1062.585,790.245,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2122.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.211,0.000,0.000,0.000
$MEM,341064
$DATA_FILE_SIZE,10120,363
$CAP_FILE_SIZE,71498,0
$CFSIZE,2097086464,2001502208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210419,085031,-3420.196,2539.993,8,0.8,29,-27.9,0.2,147.0,9,6.2