version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 491
start: 4 21 119 11 1 16
data:
$ID,574
$MISSION,3
$DIVE,491
$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,31
$R_STBD_OVSHOOT,43
$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
$GPS1,210419,102648,-3420.0916,2541.3435,7,1.2,47,-27.9,0.5,307.2,7,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.95
$_SM_ANGLEo,0.2
$GPS2,210419,102648,-3420.0916,2541.3435,7,1.2,47,-27.9,0.5,307.2,7,4.5
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3413.897,2552.043
$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,24,-0.77,-272.5,2810,1812,2258,2165,0.0,0.0,0,31,0.00,0.00,-5.72,0.000,16386,0.000,0.000,2810,1815,2398,2445,2351,0,0,0,0,0,0,15.09,28.83,15.10
$GC,34,-0.77,-272.5,2810,1815,2445,2353,4.3,0.0,1,80,1.30,2.35,-37.17,0.000,20740,0.078,0.073,2525,3218,3812,3832,3792,0,0,0,0,0,0,14.83,14.04,14.88
$GC,140,-0.77,-272.5,2521,3218,3832,3794,15.6,-11.1,20,147,0.00,2.35,0.00,0.000,5126,0.000,0.041,2522,1807,3813,3832,3794,0,0,0,0,0,0,14.94,14.83,14.97
$GC,212,-0.77,-272.5,2522,1807,3832,3793,25.1,-14.3,33,219,0.00,2.40,0.00,0.000,4612,0.000,0.064,2522,406,3813,3832,3794,0,0,0,0,0,0,15.11,14.85,15.11
$GC,242,-0.77,-272.5,2522,406,3832,3793,29.2,-12.0,38,249,0.00,2.33,0.00,0.000,5126,0.000,0.034,2522,1821,3812,3830,3794,0,0,0,0,0,0,14.99,14.90,15.00
$GC,314,-0.77,-272.5,2522,1823,3832,3794,37.1,-12.3,51,320,0.00,2.33,0.00,0.000,4356,0.000,0.054,2522,3208,3813,3832,3794,0,0,0,0,0,0,15.10,14.86,15.10
$GC,378,-0.77,-272.5,2522,3210,3832,3794,45.1,-10.8,63,385,0.00,2.33,0.00,0.000,5126,0.000,0.041,2522,1810,3813,3832,3794,0,0,0,0,0,0,14.99,14.88,15.00
$GC,450,-0.77,-272.5,2521,1810,3832,3794,52.8,-12.0,76,456,0.00,2.40,0.00,0.000,4612,0.000,0.063,2522,408,3813,3832,3794,0,0,0,0,0,0,15.12,14.76,15.12
$GC,484,-0.77,-272.5,2522,409,3832,3793,56.6,-10.3,82,491,0.00,2.30,0.00,0.000,5126,0.000,0.033,2522,1819,3813,3832,3794,0,0,0,0,0,0,14.91,14.90,14.92
$GC,555,-0.77,-272.5,2521,1821,3832,3793,64.0,-10.4,95,562,0.00,2.35,0.00,0.000,4356,0.000,0.053,2522,3213,3813,3832,3794,0,0,0,0,0,0,15.11,14.81,15.11
$GC,590,-0.77,-272.5,2522,3213,3832,3793,67.1,-8.5,101,597,0.00,2.35,0.00,0.000,5126,0.000,0.039,2522,1802,3813,3832,3794,0,0,0,0,0,0,14.93,14.81,14.94
$GC,664,-0.77,-272.5,2522,1801,3832,3794,73.0,-8.7,114,671,0.00,2.38,0.00,0.000,4612,0.000,0.063,2522,409,3813,3832,3794,0,0,0,0,0,0,15.12,14.73,15.12
$GC,709,-0.77,-272.5,2522,409,3832,3794,77.7,-9.3,122,716,0.00,2.30,0.00,0.000,5126,0.000,0.033,2522,1818,3812,3832,3793,0,0,0,0,0,0,14.88,14.80,14.89
$GC,781,-0.77,-272.5,2522,1819,3832,3794,84.2,-9.3,135,788,0.00,2.35,0.00,0.000,4356,0.000,0.052,2522,3214,3813,3832,3794,0,0,0,0,0,0,15.12,14.84,15.13
$STATE,798,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,799,begin apogee
$GC,807,-0.17,0.0,2522,1792,3832,3794,86.0,-8.0,138,1018,0.85,0.00,199.02,1.047,10246,0.122,0.000,2696,1791,2699,2735,2663,0,0,0,0,0,0,14.70,14.31,13.94
$STATE,1019,end apogee,CONTROL_FINISHED_OK
$STATE,1019,begin climb
$GC,1022,0.77,272.5,2697,1791,2734,2662,101.9,0.0,176,1243,1.45,2.53,209.15,1.026,10756,0.060,0.068,3021,398,1587,1629,1545,0,0,0,0,0,0,14.47,14.38,13.90
$GC,1353,0.77,272.5,3021,398,1621,1545,66.7,15.9,235,1360,0.05,2.33,0.00,0.000,5126,0.320,0.032,3011,1801,1582,1621,1544,0,0,0,0,0,0,14.47,14.63,14.64
$GC,1425,0.77,272.5,3011,1805,1621,1542,56.2,15.9,248,1432,0.00,2.33,0.00,0.000,4356,0.000,0.044,3011,3198,1581,1621,1541,0,0,0,0,0,0,14.94,14.73,14.95
$GC,1460,0.77,272.5,3011,3198,1621,1540,50.9,13.9,254,1467,0.00,2.38,0.00,0.000,5126,0.000,0.048,3011,1805,1580,1621,1540,0,0,0,0,0,0,14.85,14.75,14.87
$GC,1532,0.77,272.5,3010,1805,1621,1540,42.7,10.9,267,1539,0.00,2.42,0.00,0.000,4612,0.000,0.069,3011,394,1580,1621,1540,0,0,0,0,0,0,15.00,14.69,15.00
$GC,1546,0.81,302.0,3010,395,1621,1540,41.3,9.3,269,1576,0.00,2.30,24.42,0.926,11270,0.000,0.030,3011,1800,1470,1516,1424,0,0,0,0,0,0,14.90,14.83,14.19
$GC,1640,0.81,302.0,3011,1800,1513,1421,30.3,12.2,286,1645,0.00,0.00,0.00,0.000,2054,0.000,0.000,3011,1801,1467,1513,1421,0,0,0,0,0,0,14.97,14.97,14.97
$GC,1708,0.81,302.0,3010,1800,1513,1419,21.6,12.9,299,1714,0.00,0.00,0.00,0.000,2054,0.000,0.000,3011,1800,1465,1512,1419,0,0,0,0,0,0,15.00,15.01,15.01
$GC,1777,0.81,302.0,3011,1800,1512,1418,14.4,10.3,312,1784,0.00,2.47,0.00,0.000,2564,0.000,0.069,3017,386,1465,1512,1418,0,0,0,0,0,0,15.04,14.70,15.04
$GC,1791,0.81,302.0,3017,387,1512,1418,13.0,10.7,314,1798,0.00,2.33,0.00,0.000,1030,0.000,0.033,3017,1809,1464,1511,1418,0,0,0,0,0,0,14.91,14.83,14.92
$GC,1865,0.81,302.0,3017,1812,1511,1417,5.4,10.3,327,1871,0.00,2.45,0.00,0.000,516,0.000,0.069,3017,396,1464,1511,1417,0,0,0,0,0,0,15.06,14.79,15.07
$STATE,1882,end climb,SURFACE_DEPTH_REACHED
$STATE,1882,begin surface coast
$FINISH,0.2,1.024699
$STATE,1907,end surface coast,CONTROL_FINISHED_OK
$STATE,1907,begin surface
$SM_CCo,1937,140.07,0.785,0,0,599,515.37
$SM_GC,0.97,13.52,2.35,140.07,0.043,0.033,0.785,125,1802,599,-8.18,-1.75,515.37,0,0,0,0,0,0,14.85,14.84,14.14
$IRIDIUM_FIX,-3406.89,2541.38,210419,085448
$TT8_MAMPS,0.020972,0.932505
$HUMID,45.03
$INTERNAL_PRESSURE,9.33186
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.4,35.5
$SC_FREEKB,3664320
$24V_AH,13.90,148.955
$10V_AH,13.47,0.000
$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,17.175,59.125,432.600,140.075,0.000,0.000,0.000,0.000,1.500,0.000,0.000,645.626,258.834,588.012,593.003,137.013,0.000,961.194,0.000,508.944,0.000,11.621,0.000
$DEVICE_MAMPS,319.770,73.440,1046.520,784.890,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1955.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.374,0.000,0.000,0.000
$MEM,341064
$DATA_FILE_SIZE,6783,335
$CAP_FILE_SIZE,65115,0
$CFSIZE,2097086464,2000879616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210419,113719,-3419.911,2542.307,8,0.8,42,-27.9,0.6,90.8,9,4.1