version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 497
start: 4 21 119 15 7 31
data:
$ID,574
$MISSION,3
$DIVE,497
$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,30
$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,49
$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
$GPS1,210419,143322,-3419.7546,2544.4248,7,1.0,15,-27.9,0.0,14.1,9,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.97
$_SM_ANGLEo,-0.5
$GPS2,210419,143322,-3419.7546,2544.4248,7,1.0,15,-27.9,0.0,14.1,9,9.9
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3410.402,2550.951
$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,57.9,20000,-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,-272.5,2816,1822,2218,2127,0.0,0.0,0,31,0.00,0.00,-6.25,0.000,16386,0.000,0.000,2816,1822,2378,2423,2333,0,0,0,0,0,0,15.09,28.83,15.10
$GC,35,-0.77,-272.5,2815,1822,2424,2333,4.4,0.0,1,80,1.33,2.33,-36.78,0.000,20740,0.076,0.073,2516,3213,3811,3830,3793,0,0,0,0,0,0,14.75,14.04,14.79
$GC,155,-0.77,-272.5,2516,3213,3829,3793,18.8,-12.1,23,162,0.00,2.35,0.00,0.000,5126,0.000,0.041,2517,1806,3811,3830,3793,0,0,0,0,0,0,14.94,14.83,14.95
$GC,227,-0.77,-272.5,2516,1806,3830,3793,28.0,-13.6,36,233,0.00,0.00,0.00,0.000,4102,0.000,0.000,2517,1805,3811,3830,3793,0,0,0,0,0,0,15.08,15.10,15.10
$GC,296,-0.77,-272.5,2516,1805,3830,3793,37.1,-13.5,49,302,0.00,0.00,0.00,0.000,4102,0.000,0.000,2517,1806,3811,3830,3793,0,0,0,0,0,0,15.10,15.11,15.11
$GC,365,-0.77,-272.5,2516,1806,3830,3793,47.7,-14.6,62,372,0.00,2.40,0.00,0.000,4612,0.000,0.063,2516,406,3811,3830,3793,0,0,0,0,0,0,15.11,14.81,15.12
$GC,395,-0.77,-272.5,2515,406,3830,3793,51.6,-12.7,67,402,0.00,2.30,0.00,0.000,1030,0.000,0.034,2512,1810,3811,3830,3793,0,0,0,0,0,0,14.92,14.85,14.95
$GC,467,-0.77,-272.5,2512,1812,3830,3793,58.9,-10.4,80,474,0.00,2.35,0.00,0.000,260,0.000,0.054,2512,3212,3811,3830,3793,0,0,0,0,0,0,15.09,14.86,15.11
$GC,528,-0.77,-272.5,2512,3209,3830,3793,64.7,-7.4,91,538,0.00,2.33,0.00,0.000,1030,0.000,0.039,2512,1804,3812,3831,3793,0,0,0,0,0,0,14.97,14.89,14.99
$GC,604,-0.77,-272.5,2512,1804,3831,3793,71.1,-9.3,104,610,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1803,3812,3831,3793,0,0,0,0,0,0,15.11,15.13,15.12
$GC,674,-0.77,-272.5,2512,1804,3830,3793,77.4,-8.7,117,680,0.00,2.35,0.00,0.000,260,0.000,0.052,2512,3210,3811,3830,3793,0,0,0,0,0,0,15.12,14.75,15.13
$GC,734,-0.77,-272.5,2512,3210,3830,3793,82.5,-8.1,128,740,0.00,2.33,0.00,0.000,1030,0.000,0.038,2512,1805,3811,3830,3793,0,0,0,0,0,0,14.85,14.76,14.86
$STATE,751,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,751,begin apogee
$GC,757,-0.17,0.0,2512,1805,3830,3793,84.4,-8.7,131,967,0.93,0.00,198.75,1.043,10246,0.119,0.000,2702,1805,2698,2734,2662,0,0,0,0,0,0,14.75,14.31,13.95
$STATE,969,end apogee,CONTROL_FINISHED_OK
$STATE,969,begin climb
$GC,972,0.77,272.5,2703,1805,2732,2660,99.4,0.0,169,1192,1.40,2.47,208.25,1.029,10500,0.044,0.044,3034,3207,1587,1629,1545,0,0,0,0,0,0,14.50,14.40,13.95
$GC,1240,0.77,272.5,3034,3207,1622,1543,76.9,15.9,216,1247,0.12,2.42,0.00,0.000,5126,0.238,0.052,3012,1810,1582,1622,1543,0,0,0,0,0,0,14.45,14.56,14.61
$GC,1313,0.77,272.5,3012,1810,1622,1541,68.1,12.1,229,1319,0.00,2.47,0.00,0.000,4612,0.000,0.069,3020,390,1581,1622,1541,0,0,0,0,0,0,14.89,14.58,14.89
$GC,1391,0.77,272.5,3019,391,1621,1541,57.7,13.9,243,1398,0.00,2.33,0.00,0.000,5126,0.000,0.031,3020,1807,1581,1621,1541,0,0,0,0,0,0,14.85,14.77,14.87
$GC,1463,0.77,272.5,3019,1807,1621,1540,46.5,14.8,256,1469,0.00,2.33,0.00,0.000,4356,0.000,0.045,3020,3202,1579,1620,1539,0,0,0,0,0,0,15.00,14.71,15.01
$GC,1487,0.77,272.5,3019,3207,1620,1539,43.0,13.5,260,1494,0.00,2.40,0.00,0.000,5126,0.000,0.047,3020,1788,1580,1621,1539,0,0,0,0,0,0,14.80,14.70,14.82
$GC,1559,0.77,272.5,3019,1787,1621,1539,34.6,12.4,273,1565,0.00,0.00,0.00,0.000,4102,0.000,0.000,3019,1787,1580,1621,1539,0,0,0,0,0,0,15.04,15.04,15.04
$GC,1628,0.77,272.5,3019,1787,1621,1538,24.5,14.2,286,1635,0.00,2.40,0.00,0.000,4612,0.000,0.070,3020,396,1579,1621,1538,0,0,0,0,0,0,15.06,14.76,15.06
$GC,1668,0.77,272.5,3019,396,1620,1538,18.8,13.8,293,1675,0.00,2.30,0.00,0.000,5126,0.000,0.030,3020,1798,1579,1620,1538,0,0,0,0,0,0,14.90,14.83,14.92
$GC,1740,0.77,272.5,3020,1801,1620,1537,10.9,10.1,306,1746,0.00,0.00,0.00,0.000,4102,0.000,0.000,3020,1801,1578,1620,1537,0,0,0,0,0,0,15.07,15.07,15.07
$GC,1809,0.77,272.5,3020,1800,1621,1536,4.2,10.2,319,1815,0.00,2.42,0.00,0.000,4612,0.000,0.068,3022,396,1578,1620,1536,0,0,0,0,0,0,15.09,14.81,15.09
$STATE,1820,end climb,SURFACE_DEPTH_REACHED
$STATE,1820,begin surface coast
$FINISH,0.2,1.024904
$STATE,1846,end surface coast,CONTROL_FINISHED_OK
$STATE,1847,begin surface
$SM_CCo,1874,158.32,0.785,0,0,599,515.37
$SM_GC,0.89,13.62,2.38,158.32,0.041,0.034,0.785,111,1810,599,-8.22,-1.27,515.37,0,0,0,0,0,0,14.88,14.89,14.13
$IRIDIUM_FIX,-3406.89,2543.73,210419,130523
$TT8_MAMPS,0.021721,0.826896
$HUMID,44.88
$INTERNAL_PRESSURE,9.33186
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.4,33.9
$SC_FREEKB,3661248
$24V_AH,13.95,150.060
$10V_AH,13.41,0.000
$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,17.400,45.000,407.000,158.325,0.000,0.000,0.000,0.000,1.500,0.000,0.000,628.632,262.759,583.314,578.097,126.522,0.000,942.910,0.000,499.275,0.000,13.577,0.000
$DEVICE_MAMPS,237.915,72.675,1043.460,784.890,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1897.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.201,0.000,0.000,0.000
$MEM,341056
$DATA_FILE_SIZE,6820,326
$CAP_FILE_SIZE,61593,0
$CFSIZE,2097086464,1999896576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210419,154226,-3419.579,2545.059,8,0.9,18,-27.9,0.5,134.9,9,9.1