version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 501
start: 4 21 119 17 47 15
data:
$ID,574
$MISSION,3
$DIVE,501
$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,27
$R_STBD_OVSHOOT,62
$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
$GPS1,210419,171257,-3419.3296,2545.8079,7,0.7,16,-27.9,0.7,68.3,11,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.02
$_SM_ANGLEo,1.4
$GPS2,210419,171257,-3419.3296,2545.8079,7,0.7,16,-27.9,0.7,68.3,11,9.4
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3409.977,2552.334
$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,-272.5,2816,1789,2219,2123,0.0,0.0,0,31,0.00,0.00,-5.90,0.000,16386,0.000,0.000,2817,1788,2388,2434,2342,0,0,0,0,0,0,15.08,28.83,15.10
$GC,35,-0.77,-272.5,2817,1789,2435,2343,5.7,0.0,1,80,1.35,2.42,-34.03,0.000,20740,0.089,0.074,2522,3190,3814,3831,3797,0,0,0,0,0,0,14.81,13.49,14.87
$GC,125,-0.77,-272.5,2522,3190,3832,3797,16.0,-11.3,17,132,0.00,2.33,0.00,0.000,5126,0.000,0.041,2522,1799,3814,3832,3797,0,0,0,0,0,0,14.92,14.83,14.94
$GC,197,-0.77,-272.5,2521,1799,3832,3797,26.4,-15.9,30,203,0.00,0.00,0.00,0.000,4102,0.000,0.000,2522,1799,3814,3832,3797,0,0,0,0,0,0,15.09,15.10,15.10
$GC,266,-0.77,-272.5,2521,1794,3832,3797,35.4,-11.8,43,273,0.00,2.38,0.00,0.000,4612,0.000,0.062,2522,412,3814,3832,3797,0,0,0,0,0,0,15.11,14.85,15.11
$GC,286,-0.77,-272.5,2522,409,3832,3797,37.6,-11.8,46,293,0.00,2.28,0.00,0.000,5126,0.000,0.031,2522,1798,3813,3829,3797,0,0,0,0,0,0,14.94,14.86,14.95
$GC,358,-0.77,-272.5,2522,1801,3832,3797,45.0,-11.4,59,365,0.00,2.38,0.00,0.000,4356,0.000,0.053,2522,3212,3814,3832,3797,0,0,0,0,0,0,15.09,14.86,15.09
$GC,418,-0.77,-272.5,2522,3213,3832,3797,51.5,-10.0,70,425,0.00,2.33,0.00,0.000,5126,0.000,0.039,2521,1810,3814,3832,3797,0,0,0,0,0,0,14.99,14.90,15.00
$GC,490,-0.77,-272.5,2522,1809,3831,3797,59.7,-12.9,83,500,0.00,2.40,0.00,0.000,4612,0.000,0.063,2522,408,3814,3832,3797,0,0,0,0,0,0,15.12,14.81,15.12
$GC,513,-0.77,-272.5,2522,408,3832,3797,62.6,-11.7,86,520,0.00,2.30,0.00,0.000,5126,0.000,0.031,2522,1818,3814,3831,3797,0,0,0,0,0,0,15.00,14.91,15.01
$GC,584,-0.77,-272.5,2521,1821,3832,3797,69.9,-10.1,99,594,0.00,2.33,0.00,0.000,4356,0.000,0.053,2522,3206,3814,3832,3797,0,0,0,0,0,0,15.11,14.78,15.11
$GC,621,-0.77,-272.5,2520,3206,3832,3797,73.1,-7.5,105,628,0.00,2.33,0.00,0.000,5126,0.000,0.038,2522,1804,3817,3832,3802,0,0,0,0,0,0,15.02,14.89,15.00
$GC,694,-0.77,-272.5,2522,1803,3832,3797,78.8,-7.3,118,701,0.00,2.38,0.00,0.000,4612,0.000,0.060,2523,408,3814,3832,3797,0,0,0,0,0,0,15.11,14.78,15.11
$GC,744,-0.77,-272.5,2522,408,3832,3797,83.4,-9.0,127,751,0.00,2.30,0.00,0.000,5126,0.000,0.033,2522,1811,3814,3832,3797,0,0,0,0,0,0,14.88,14.79,14.89
$STATE,756,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,756,begin apogee
$GC,763,-0.17,0.0,2522,1815,3832,3797,84.8,-9.1,129,974,0.85,0.00,199.10,1.039,10246,0.110,0.000,2701,1815,2698,2735,2661,0,0,0,0,0,0,14.77,14.33,13.96
$STATE,976,end apogee,CONTROL_FINISHED_OK
$STATE,976,begin climb
$GC,979,0.77,272.5,2701,1815,2733,2660,99.1,0.0,167,1198,1.40,2.58,207.68,1.019,10756,0.048,0.068,3033,401,1585,1629,1542,0,0,0,0,0,0,14.50,14.38,13.93
$GC,1323,0.77,272.5,3033,402,1621,1545,63.5,16.4,229,1330,0.12,2.33,0.00,0.000,5126,0.221,0.033,3009,1808,1582,1621,1544,0,0,0,0,0,0,14.59,14.72,14.73
$GC,1396,0.77,272.5,3008,1810,1628,1542,53.0,14.7,242,1402,0.00,2.33,0.00,0.000,260,0.000,0.045,3008,3200,1581,1621,1541,0,0,0,0,0,0,14.97,14.76,14.97
$GC,1425,0.77,272.5,3008,3200,1621,1541,47.9,15.2,247,1432,0.00,2.38,0.00,0.000,5126,0.000,0.048,3011,1805,1580,1621,1540,0,0,0,0,0,0,14.83,14.73,14.85
$GC,1497,0.77,272.5,3009,1806,1621,1540,38.8,13.2,260,1503,0.00,0.00,0.00,0.000,4102,0.000,0.000,3010,1806,1580,1621,1540,0,0,0,0,0,0,15.01,15.02,15.02
$GC,1566,0.77,272.5,3009,1805,1621,1540,29.9,12.3,273,1571,0.00,0.00,0.00,0.000,4102,0.000,0.000,3010,1806,1580,1621,1540,0,0,0,0,0,0,15.05,15.05,15.04
$GC,1635,0.77,272.5,3009,1805,1621,1539,21.9,10.7,286,1641,0.00,2.42,0.00,0.000,4612,0.000,0.068,3010,396,1580,1621,1539,0,0,0,0,0,0,15.07,14.77,15.07
$GC,1654,0.77,272.5,3009,396,1620,1539,19.8,10.4,289,1661,0.00,2.30,0.00,0.000,5126,0.000,0.031,3010,1799,1580,1621,1539,0,0,0,0,0,0,14.87,14.80,14.88
$GC,1726,0.77,272.5,3009,1802,1621,1539,12.9,10.4,302,1732,0.00,2.35,0.00,0.000,4356,0.000,0.047,3010,3208,1579,1621,1538,0,0,0,0,0,0,15.08,14.85,15.11
$GC,1802,0.84,326.6,3009,3208,1620,1537,5.8,8.7,316,1837,0.00,2.40,29.70,0.792,11266,0.000,0.047,3010,1792,1395,1445,1346,0,0,0,0,0,0,14.97,14.85,14.98
$STATE,1838,end climb,SURFACE_DEPTH_REACHED
$STATE,1838,begin surface coast
$FINISH,0.2,1.011660
$STATE,1871,end surface coast,CONTROL_FINISHED_OK
$STATE,1871,begin surface
$SM_CCo,1896,127.15,0.776,0,0,599,515.37
$SM_GC,0.95,13.55,0.00,127.15,0.040,0.000,0.776,124,1789,599,-8.18,-0.65,515.37,0,0,0,0,0,0,14.82,15.02,14.12
$IRIDIUM_FIX,-3406.89,2543.73,210419,154647
$TT8_MAMPS,0.021721,0.849366
$HUMID,45.07
$INTERNAL_PRESSURE,9.35139
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.8,33.5
$SC_FREEKB,3659200
$24V_AH,13.49,150.805
$10V_AH,13.50,0.000
$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,17.275,47.200,436.475,127.150,0.000,0.000,0.000,0.000,1.500,0.000,0.000,622.729,255.508,573.079,580.670,132.626,0.000,944.206,0.000,500.191,0.000,11.591,0.000
$DEVICE_MAMPS,221.085,74.205,1038.870,776.475,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1919.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.191,0.000,0.000,0.000
$MEM,341056
$DATA_FILE_SIZE,6813,328
$CAP_FILE_SIZE,62536,0
$CFSIZE,2097086464,1999241216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210419,182225,-3419.232,2546.325,8,0.8,43,-27.9,0.0,30.9,10,4.3