version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 499
start: 4 21 119 16 28 54
data:
$ID,574
$MISSION,3
$DIVE,499
$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,39
$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
$GPS1,210419,155352,-3419.5691,2545.1589,8,0.9,19,-27.9,0.0,221.5,9,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.75
$_SM_ANGLEo,-2.6
$GPS2,210419,155352,-3419.5691,2545.1589,8,0.9,19,-27.9,0.0,221.5,9,9.4
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3410.217,2551.685
$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,-272.5,2813,1820,2214,2117,0.0,0.0,0,32,0.00,0.00,-6.62,0.000,16386,0.000,0.000,2813,1820,2390,2436,2345,0,0,0,0,0,0,15.04,28.83,15.06
$GC,35,-0.77,-272.5,2813,1820,2437,2346,4.7,0.0,1,80,1.38,2.35,-36.10,0.000,20740,0.070,0.068,2498,3228,3812,3830,3795,0,0,0,0,0,0,14.71,14.01,14.76
$GC,105,-0.77,-272.5,2498,3228,3828,3797,12.4,-14.8,13,115,0.00,2.35,0.00,0.000,3078,0.000,0.041,2498,1808,3814,3831,3797,0,0,0,0,0,0,14.92,14.81,14.94
$GC,179,-0.77,-272.5,2498,1807,3830,3797,25.1,-18.0,26,185,0.00,0.00,0.00,0.000,2054,0.000,0.000,2498,1808,3813,3830,3797,0,0,0,0,0,0,15.09,15.10,15.10
$GC,248,-0.77,-272.5,2498,1808,3831,3797,35.7,-14.0,39,254,0.00,2.40,0.00,0.000,2564,0.000,0.063,2498,402,3813,3831,3796,0,0,0,0,0,0,15.09,14.84,15.09
$GC,267,-0.77,-272.5,2498,402,3831,3797,38.4,-14.4,42,274,0.00,2.33,0.00,0.000,3078,0.000,0.034,2498,1818,3813,3830,3797,0,0,0,0,0,0,14.97,14.89,14.98
$GC,339,-0.77,-272.5,2498,1820,3831,3797,47.1,-13.5,55,346,0.00,2.35,0.00,0.000,2308,0.000,0.053,2498,3213,3814,3831,3797,0,0,0,0,0,0,15.10,14.76,15.11
$GC,407,-0.77,-272.5,2498,3213,3831,3797,54.3,-9.8,67,415,0.00,2.35,0.00,0.000,3078,0.000,0.041,2499,1805,3814,3831,3797,0,0,0,0,0,0,14.98,14.88,14.99
$GC,480,-0.77,-272.5,2498,1805,3831,3797,62.7,-11.8,80,486,0.00,2.40,0.00,0.000,2564,0.000,0.063,2497,405,3813,3831,3796,0,0,0,0,0,0,15.11,14.80,15.11
$GC,500,-0.77,-272.5,2498,405,3831,3797,65.0,-12.1,83,507,0.00,2.33,0.00,0.000,3078,0.000,0.032,2498,1820,3813,3831,3795,0,0,0,0,0,0,14.93,14.85,14.95
$GC,574,-0.77,-272.5,2497,1822,3831,3797,72.8,-11.6,96,580,0.00,2.35,0.00,0.000,2308,0.000,0.053,2495,3217,3814,3831,3797,0,0,0,0,0,0,15.11,14.74,15.12
$GC,608,-0.77,-272.5,2494,3217,3831,3797,76.8,-9.5,102,615,0.05,2.33,0.00,0.000,3078,0.290,0.040,2509,1812,3814,3831,3797,0,0,0,0,0,0,14.73,14.88,14.91
$STATE,673,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,673,begin apogee
$GC,679,-0.17,0.0,2509,1812,3829,3797,83.1,-9.2,114,890,0.93,0.00,198.48,1.031,10246,0.129,0.000,2699,1812,2700,2736,2665,0,0,0,0,0,0,14.74,14.30,13.94
$STATE,892,end apogee,CONTROL_FINISHED_OK
$STATE,892,begin climb
$GC,895,0.77,272.5,2699,1812,2734,2664,98.2,0.0,152,1114,1.42,2.45,208.15,1.019,10500,0.055,0.044,3020,3201,1587,1629,1545,0,0,0,0,0,0,14.49,14.41,13.93
$GC,1142,0.77,272.5,3020,3201,1625,1544,77.8,16.0,195,1149,0.08,2.42,0.00,0.000,5126,0.279,0.051,3008,1810,1584,1625,1543,0,0,0,0,0,0,14.41,14.52,14.57
$GC,1215,0.77,272.5,3009,1809,1625,1541,67.2,14.1,208,1221,0.00,2.47,0.00,0.000,4612,0.000,0.067,3017,391,1582,1624,1541,0,0,0,0,0,0,14.87,14.56,14.87
$GC,1244,0.77,272.5,3017,391,1622,1541,62.6,14.5,213,1251,0.00,2.35,0.00,0.000,5126,0.000,0.031,3017,1805,1582,1623,1541,0,0,0,0,0,0,14.78,14.73,14.79
$GC,1317,0.77,272.5,3017,1807,1622,1540,52.0,15.1,226,1323,0.00,2.33,0.00,0.000,4356,0.000,0.044,3017,3200,1581,1622,1540,0,0,0,0,0,0,14.97,14.73,14.97
$GC,1342,0.77,272.5,3016,3198,1622,1545,47.7,15.7,230,1349,0.00,2.40,0.00,0.000,5126,0.000,0.048,3017,1789,1581,1622,1540,0,0,0,0,0,0,14.84,14.73,14.86
$GC,1414,0.77,272.5,3016,1789,1622,1540,38.2,13.5,243,1420,0.00,0.00,0.00,0.000,4102,0.000,0.000,3017,1789,1580,1622,1539,0,0,0,0,0,0,15.00,15.01,15.01
$GC,1483,0.77,272.5,3017,1783,1623,1538,28.2,14.9,256,1488,0.00,0.00,0.00,0.000,4102,0.000,0.000,3018,1789,1580,1622,1539,0,0,0,0,0,0,15.03,15.04,15.04
$GC,1551,0.77,272.5,3017,1789,1621,1538,19.1,11.5,269,1558,0.00,2.40,0.00,0.000,4612,0.000,0.067,3020,395,1580,1622,1538,0,0,0,0,0,0,15.06,14.77,15.07
$GC,1571,0.77,272.5,3019,395,1621,1538,17.0,10.3,272,1578,0.00,2.30,0.00,0.000,5126,0.000,0.030,3021,1799,1580,1622,1538,0,0,0,0,0,0,14.90,14.83,14.92
$GC,1643,0.83,321.6,3019,1802,1622,1537,10.3,8.8,285,1683,0.00,2.35,30.95,0.818,10500,0.000,0.044,3019,3197,1387,1438,1337,0,0,0,0,0,0,15.07,14.69,14.31
$STATE,1719,end climb,SURFACE_DEPTH_REACHED
$STATE,1719,begin surface coast
$FINISH,1.1,1.024938
$STATE,1736,end surface coast,CONTROL_FINISHED_OK
$STATE,1736,begin surface
$SM_CCo,1763,125.53,0.770,0,0,599,515.37
$SM_GC,0.89,13.55,2.38,125.53,0.039,0.041,0.770,126,1812,599,-8.17,0.90,515.37,0,0,0,0,0,0,14.82,14.79,14.14
$IRIDIUM_FIX,-3404.29,2546.08,210419,142647
$TT8_MAMPS,0.021721,0.954226
$HUMID,44.95
$INTERNAL_PRESSURE,9.35139
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.2,32.7
$SC_FREEKB,3660224
$24V_AH,13.93,150.434
$10V_AH,13.43,0.000
$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,17.400,49.750,437.575,125.525,0.000,0.000,0.000,0.000,1.500,0.000,0.000,564.321,224.827,573.139,540.013,129.945,0.000,926.294,0.000,465.486,0.000,11.605,0.000
$DEVICE_MAMPS,289.935,68.085,1031.220,769.590,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1783.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.858,0.000,0.000,0.000
$MEM,341064
$DATA_FILE_SIZE,6816,302
$CAP_FILE_SIZE,59709,0
$CFSIZE,2097086464,1999568896
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,106.34,0x23609a,0,24
$GPS,210419,170149,-3419.363,2545.745,8,0.7,43,-27.9,0.6,349.7,11,4.5