version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 495
start: 4 21 119 13 45 32
data:
$ID,574
$MISSION,3
$DIVE,495
$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,37
$R_STBD_OVSHOOT,51
$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
$GPS1,210419,131306,-3419.8081,2543.5713,7,1.2,47,-27.9,0.4,106.5,7,4.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.98
$_SM_ANGLEo,2.5
$GPS2,210419,131306,-3419.8081,2543.5713,7,1.2,47,-27.9,0.4,106.5,7,4.4
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3413.614,2554.271
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.77,-272.5,2807,1796,2323,2230,0.0,0.0,0,32,0.00,0.00,-6.45,0.000,16386,0.000,0.000,2807,1796,2508,2552,2464,0,0,0,0,0,0,15.09,28.83,15.10
$GC,35,-0.77,-272.5,2806,1799,2552,2465,5.3,0.0,1,76,1.30,2.38,-32.30,0.000,20996,0.090,0.083,2526,409,3812,3832,3792,0,0,0,0,0,0,14.72,14.04,14.78
$GC,89,-0.77,-272.5,2526,409,3832,3796,10.8,-13.3,10,96,0.00,2.30,0.00,0.000,5126,0.000,0.034,2526,1813,3812,3831,3793,0,0,0,0,0,0,14.89,14.81,14.90
$GC,161,-0.77,-272.5,2526,1816,3832,3793,20.0,-13.0,23,167,0.00,0.00,0.00,0.000,4102,0.000,0.000,2526,1816,3812,3832,3792,0,0,0,0,0,0,15.11,15.11,15.11
$GC,230,-0.77,-272.5,2526,1816,3831,3793,29.2,-13.4,36,236,0.00,2.35,0.00,0.000,4356,0.000,0.055,2526,3210,3812,3831,3793,0,0,0,0,0,0,15.11,14.76,15.12
$GC,270,-0.77,-272.5,2525,3210,3833,3793,34.1,-11.4,43,276,0.00,2.33,0.00,0.000,5126,0.000,0.041,2526,1812,3812,3832,3792,0,0,0,0,0,0,14.87,14.77,14.88
$GC,342,-0.77,-272.5,2526,1812,3832,3793,42.2,-11.4,56,348,0.00,2.40,0.00,0.000,4612,0.000,0.063,2526,410,3812,3832,3793,0,0,0,0,0,0,15.12,14.85,15.12
$GC,381,-0.77,-272.5,2525,410,3832,3793,46.3,-9.4,63,388,0.00,2.33,0.00,0.000,5126,0.000,0.034,2525,1823,3812,3832,3793,0,0,0,0,0,0,14.94,14.85,14.95
$GC,454,-0.77,-272.5,2525,1825,3832,3793,52.9,-9.1,76,460,0.00,2.35,0.00,0.000,4356,0.000,0.054,2525,3215,3812,3832,3793,0,0,0,0,0,0,15.10,14.86,15.12
$GC,504,-0.77,-272.5,2525,3216,3832,3793,57.9,-9.1,85,511,0.00,2.33,0.00,0.000,5126,0.000,0.037,2525,1804,3812,3832,3793,0,0,0,0,0,0,14.99,14.89,15.00
$GC,578,-0.77,-272.5,2525,1804,3832,3793,65.0,-10.5,98,584,0.00,2.38,0.00,0.000,4612,0.000,0.060,2525,408,3812,3832,3793,0,0,0,0,0,0,15.11,14.86,15.11
$GC,622,-0.77,-272.5,2525,408,3832,3793,70.0,-10.7,106,629,0.00,2.30,0.00,0.000,5126,0.000,0.034,2526,1815,3812,3832,3793,0,0,0,0,0,0,14.98,14.90,15.00
$GC,696,-0.77,-272.5,2525,1815,3832,3793,77.1,-9.8,119,702,0.00,2.35,0.00,0.000,4356,0.000,0.052,2525,3212,3812,3832,3793,0,0,0,0,0,0,15.12,14.81,15.12
$GC,721,-0.77,-272.5,2525,3212,3832,3793,79.2,-8.4,123,728,0.00,2.33,0.00,0.000,5126,0.000,0.036,2525,1805,3812,3832,3792,0,0,0,0,0,0,14.93,14.85,14.95
$GC,793,-0.77,-272.5,2531,1805,3832,3793,85.1,-8.3,136,800,0.00,2.38,0.00,0.000,4612,0.000,0.061,2525,410,3812,3832,3793,0,0,0,0,0,0,15.10,14.85,15.10
$STATE,830,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,830,begin apogee
$GC,839,-0.17,0.0,2526,1807,3832,3793,88.8,-9.2,143,1050,0.85,0.00,199.70,1.056,10246,0.135,0.000,2698,1806,2698,2734,2662,0,0,0,0,0,0,14.73,14.27,13.90
$STATE,1052,end apogee,CONTROL_FINISHED_OK
$STATE,1052,begin climb
$GC,1055,0.77,272.5,2698,1806,2733,2662,104.9,0.0,181,1273,1.42,0.00,209.70,1.037,10758,0.050,0.000,3024,1806,1587,1629,1546,0,0,0,0,0,0,14.48,14.38,13.90
$GC,1336,0.77,272.5,3024,1806,1625,1542,81.8,16.2,231,1342,0.08,0.00,0.00,0.000,4102,0.287,0.000,3007,1806,1583,1625,1542,0,0,0,0,0,0,14.46,14.61,14.56
$GC,1408,0.77,272.5,3006,1806,1624,1541,70.8,15.1,244,1414,0.00,2.47,0.00,0.000,516,0.000,0.068,3015,398,1582,1624,1541,0,0,0,0,0,0,14.88,14.66,14.87
$GC,1442,0.77,272.5,3014,398,1622,1541,64.8,17.0,250,1449,0.00,2.33,0.00,0.000,5126,0.000,0.034,3015,1798,1581,1622,1540,0,0,0,0,0,0,14.83,14.75,14.83
$GC,1515,0.77,272.5,3015,1801,1622,1540,53.0,17.1,263,1521,0.00,0.00,0.00,0.000,4102,0.000,0.000,3015,1801,1580,1621,1540,0,0,0,0,0,0,14.98,14.99,14.99
$GC,1584,0.77,272.5,3015,1801,1622,1539,42.0,14.8,276,1591,0.00,2.33,0.00,0.000,4356,0.000,0.046,3015,3201,1580,1622,1539,0,0,0,0,0,0,15.02,14.79,15.02
$GC,1609,0.77,272.5,3014,3200,1621,1539,38.5,13.5,280,1616,0.00,2.35,0.00,0.000,5126,0.000,0.049,3016,1811,1579,1621,1538,0,0,0,0,0,0,14.90,14.80,14.92
$GC,1681,0.77,272.5,3016,1811,1621,1538,30.7,11.0,293,1687,0.00,0.00,0.00,0.000,4102,0.000,0.000,3016,1811,1579,1621,1538,0,0,0,0,0,0,15.04,15.05,15.04
$GC,1750,0.77,272.5,3016,1811,1621,1538,22.1,12.4,306,1756,0.00,2.45,0.00,0.000,4612,0.000,0.070,3017,389,1579,1621,1538,0,0,0,0,0,0,15.07,14.71,15.07
$GC,1774,0.77,272.5,3016,388,1621,1538,19.1,11.9,310,1781,0.00,2.33,0.00,0.000,5126,0.000,0.033,3017,1804,1579,1621,1538,0,0,0,0,0,0,14.95,14.87,14.95
$GC,1847,0.77,272.5,3016,1807,1621,1537,10.8,10.9,323,1853,0.00,2.45,0.00,0.000,4612,0.000,0.069,3017,395,1579,1621,1537,0,0,0,0,0,0,15.08,14.83,15.08
$GC,1861,0.77,272.5,3017,395,1621,1537,8.9,12.1,325,1867,0.00,2.33,0.00,0.000,5126,0.000,0.031,3017,1805,1579,1621,1537,0,0,0,0,0,0,14.87,14.79,14.88
$STATE,1917,end climb,SURFACE_DEPTH_REACHED
$STATE,1917,begin surface coast
$FINISH,0.2,1.024771
$STATE,1950,end surface coast,CONTROL_FINISHED_OK
$STATE,1950,begin surface
$SM_CCo,1975,159.27,0.782,0,0,598,515.37
$SM_GC,0.92,13.55,0.00,159.27,0.042,0.000,0.782,122,1810,598,-8.18,-0.06,515.37,0,0,0,0,0,0,14.90,15.11,14.13
$IRIDIUM_FIX,-3404.29,2541.38,210419,114140
$TT8_MAMPS,0.021721,0.923517
$HUMID,45.03
$INTERNAL_PRESSURE,9.32209
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,75.4,33.1
$SC_FREEKB,3662272
$24V_AH,13.90,149.696
$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,17.200,51.825,409.400,159.275,0.000,0.000,0.000,0.000,1.750,0.000,0.000,671.637,273.708,591.796,600.461,137.094,0.000,968.922,0.000,521.142,0.000,15.104,0.000
$DEVICE_MAMPS,286.875,83.385,1055.700,781.830,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1995.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.193,0.000,0.000,0.000
$MEM,341064
$DATA_FILE_SIZE,6813,342
$CAP_FILE_SIZE,66817,0
$CFSIZE,2097086464,2000191488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210419,142231,-3419.664,2544.338,13,1.0,39,-27.9,0.5,100.9,8,5.4