version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 493
start: 4 21 119 12 23 3
data:
$ID,574
$MISSION,3
$DIVE,493
$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,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
$GPS1,210419,114857,-3419.9849,2542.4714,7,0.8,15,-27.9,0.6,202.8,9,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.17
$_SM_ANGLEo,2.8
$GPS2,210419,114857,-3419.9849,2542.4714,7,0.8,15,-27.9,0.6,202.8,9,9.2
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3413.791,2553.171
$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,-272.5,2806,1812,2321,2227,0.0,0.0,0,31,0.00,0.00,-5.78,0.000,16386,0.000,0.000,2807,1814,2472,2518,2427,0,0,0,0,0,0,15.10,28.83,15.11
$GC,35,-0.77,-272.5,2805,1813,2526,2427,4.8,0.0,1,74,1.30,0.00,-34.08,0.000,20742,0.090,0.000,2524,1814,3814,3832,3797,0,0,0,0,0,0,14.83,13.54,14.88
$GC,138,-0.77,-272.5,2524,1814,3833,3797,17.8,-16.0,20,144,0.00,0.00,0.00,0.000,4102,0.000,0.000,2519,1814,3815,3833,3797,0,0,0,0,0,0,15.12,15.13,15.12
$GC,207,-0.77,-272.5,2524,1813,3833,3797,26.4,-12.8,33,214,0.00,2.42,0.00,0.000,4612,0.000,0.064,2524,406,3815,3833,3797,0,0,0,0,0,0,15.11,14.86,15.11
$GC,221,-0.77,-272.5,2524,406,3833,3797,28.1,-12.5,35,228,0.00,2.30,0.00,0.000,5126,0.000,0.034,2522,1805,3815,3833,3797,0,0,0,0,0,0,15.00,14.90,15.01
$GC,293,-0.77,-272.5,2522,1806,3829,3796,36.0,-11.5,48,300,0.00,2.35,0.00,0.000,4356,0.000,0.054,2522,3207,3815,3833,3797,0,0,0,0,0,0,15.10,14.86,15.10
$GC,353,-0.77,-272.5,2522,3208,3833,3797,42.5,-9.5,59,360,0.00,2.33,0.00,0.000,5126,0.000,0.041,2522,1806,3815,3833,3797,0,0,0,0,0,0,14.99,14.89,15.00
$GC,425,-0.77,-272.5,2522,1807,3833,3797,49.8,-10.5,72,433,0.00,2.40,0.00,0.000,4612,0.000,0.063,2529,405,3814,3832,3797,0,0,0,0,0,0,15.12,14.81,15.14
$GC,456,-0.77,-272.5,2522,405,3832,3796,52.8,-10.5,77,463,0.00,2.33,0.00,0.000,5126,0.000,0.033,2522,1818,3813,3832,3795,0,0,0,0,0,0,14.95,14.86,14.95
$GC,530,-0.77,-272.5,2522,1822,3832,3796,59.1,-8.7,90,537,0.00,2.35,0.00,0.000,4356,0.000,0.054,2522,3214,3814,3832,3796,0,0,0,0,0,0,15.12,14.77,15.13
$GC,570,-0.77,-272.5,2522,3214,3833,3797,62.7,-8.0,97,577,0.00,2.35,0.00,0.000,5126,0.000,0.040,2522,1802,3815,3833,3797,0,0,0,0,0,0,14.89,14.79,14.91
$GC,644,-0.77,-272.5,2522,1802,3832,3796,68.3,-7.6,110,650,0.00,2.38,0.00,0.000,4612,0.000,0.063,2522,410,3813,3832,3795,0,0,0,0,0,0,15.11,14.85,15.11
$GC,676,-0.77,-272.5,2522,411,3833,3796,71.1,-8.1,115,683,0.00,2.30,0.00,0.000,5126,0.000,0.032,2519,1815,3814,3832,3796,0,0,0,0,0,0,14.98,14.86,14.99
$GC,748,-0.77,-272.5,2522,1818,3832,3796,77.0,-8.3,128,755,0.00,2.35,0.00,0.000,4356,0.000,0.054,2522,3214,3813,3832,3794,0,0,0,0,0,0,15.10,14.85,15.11
$GC,779,-0.77,-272.5,2521,3214,3832,3797,80.0,-9.1,133,785,0.00,2.33,0.00,0.000,5126,0.000,0.038,2522,1808,3815,3833,3797,0,0,0,0,0,0,15.01,14.89,15.00
$GC,851,-0.77,-272.5,2522,1807,3832,3796,86.1,-8.4,146,857,0.00,2.40,0.00,0.000,4612,0.000,0.058,2522,405,3814,3832,3797,0,0,0,0,0,0,15.12,14.81,15.12
$STATE,863,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,863,begin apogee
$GC,872,-0.17,0.0,2522,1807,3832,3797,87.0,-6.7,148,1083,0.88,0.00,199.77,1.056,10246,0.135,0.000,2698,1806,2698,2734,2662,0,0,0,0,0,0,14.64,14.31,13.93
$STATE,1085,end apogee,CONTROL_FINISHED_OK
$STATE,1085,begin climb
$GC,1088,0.77,272.5,2698,1806,2733,2661,101.8,0.0,186,1312,1.38,2.38,210.18,1.033,11012,0.073,0.045,2994,3195,1587,1629,1545,0,0,0,0,0,0,14.45,14.40,13.93
$GC,1360,0.77,272.5,2993,3196,1625,1543,80.9,14.2,234,1367,0.00,2.42,0.00,0.000,3078,0.000,0.047,2995,1805,1583,1625,1542,0,0,0,0,0,0,14.66,14.57,14.68
$GC,1432,0.77,272.5,2996,1805,1625,1541,70.6,14.6,247,1439,0.00,2.47,0.00,0.000,2564,0.000,0.070,2995,392,1583,1625,1541,0,0,0,0,0,0,14.87,14.65,14.87
$GC,1482,0.77,272.5,2996,392,1623,1541,63.7,14.1,256,1488,0.00,2.33,0.00,0.000,3078,0.000,0.033,2996,1802,1582,1623,1541,0,0,0,0,0,0,14.83,14.76,14.85
$GC,1553,0.77,272.5,2996,1804,1623,1539,53.6,14.5,269,1560,0.00,2.33,0.00,0.000,2308,0.000,0.044,2996,3197,1580,1622,1539,0,0,0,0,0,0,14.98,14.69,14.99
$GC,1573,0.77,272.5,2995,3197,1623,1539,50.0,15.2,272,1580,0.00,2.38,0.00,0.000,3078,0.000,0.050,2996,1798,1580,1622,1539,0,0,0,0,0,0,14.78,14.69,14.81
$GC,1645,0.77,272.5,2995,1799,1622,1538,40.2,12.7,285,1651,0.00,2.42,0.00,0.000,2564,0.000,0.070,2996,396,1580,1622,1539,0,0,0,0,0,0,15.03,14.77,15.04
$GC,1684,0.77,272.5,2995,395,1622,1539,34.6,13.1,292,1691,0.00,2.33,0.00,0.000,3078,0.000,0.032,2996,1815,1580,1622,1539,0,0,0,0,0,0,14.88,14.79,14.89
$GC,1756,0.77,272.5,2995,1817,1622,1538,26.7,11.4,305,1763,0.00,2.28,0.00,0.000,2308,0.000,0.047,2996,3189,1580,1622,1538,0,0,0,0,0,0,15.04,14.83,15.04
$GC,1781,0.77,272.5,2996,3189,1621,1538,23.7,11.8,309,1788,0.00,2.35,0.00,0.000,3078,0.000,0.049,2996,1801,1579,1622,1537,0,0,0,0,0,0,14.93,14.83,14.95
$GC,1853,0.77,272.5,2995,1800,1621,1537,16.2,10.7,322,1860,0.00,2.42,0.00,0.000,2564,0.000,0.069,2996,395,1579,1622,1537,0,0,0,0,0,0,15.07,14.71,15.07
$GC,1913,0.79,292.2,2996,395,1621,1537,10.2,9.5,333,1931,0.00,2.30,12.25,0.813,11270,0.000,0.032,2996,1807,1505,1549,1461,0,0,0,0,0,0,14.85,14.76,14.31
$STATE,1993,end climb,SURFACE_DEPTH_REACHED
$STATE,1993,begin surface coast
$FINISH,0.2,1.024632
$STATE,2029,end surface coast,CONTROL_FINISHED_OK
$STATE,2029,begin surface
$SM_CCo,2054,146.98,0.790,0,0,599,515.37
$SM_GC,0.91,13.50,0.00,146.98,0.040,0.000,0.790,112,1808,599,-8.22,-0.14,515.37,0,0,0,0,0,0,14.85,15.09,14.13
$IRIDIUM_FIX,-3404.29,2541.38,210419,101901
$TT8_MAMPS,0.020223,0.931756
$HUMID,45.70
$INTERNAL_PRESSURE,9.31233
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.5,35.9
$SC_FREEKB,3663296
$24V_AH,13.54,149.327
$10V_AH,13.46,0.000
$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,17.050,61.300,422.200,146.975,0.000,0.000,0.000,0.000,1.500,0.000,0.000,698.823,283.832,594.661,622.313,143.757,0.000,986.227,0.000,536.286,0.000,11.598,0.000
$DEVICE_MAMPS,135.405,70.380,1056.465,790.245,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2076.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.266,0.000,0.000,0.000
$MEM,341056
$DATA_FILE_SIZE,10145,355
$CAP_FILE_SIZE,69867,0
$CFSIZE,2097086464,2000519168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210419,130101,-3419.755,2543.378,8,0.9,32,-27.9,0.6,151.6,8,5.0