version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 503
start: 4 21 119 19 6 36
data:
$ID,574
$MISSION,3
$DIVE,503
$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,29
$R_STBD_OVSHOOT,47
$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
$GPS1,210419,183355,-3419.1982,2546.3308,8,0.9,17,-27.9,0.7,152.0,10,8.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,1.2
$GPS2,210419,183355,-3419.1982,2546.3308,8,0.9,17,-27.9,0.7,152.0,10,8.0
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3409.846,2552.856
$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,-272.5,2818,1798,2214,2126,0.0,0.0,0,31,0.00,0.00,-6.05,0.000,16386,0.000,0.000,2818,1797,2348,2391,2305,0,0,0,0,0,0,15.11,28.83,15.12
$GC,35,-0.77,-272.5,2818,1798,2393,2305,3.2,0.0,1,81,1.35,2.45,-38.88,0.000,20740,0.080,0.072,2522,3217,3814,3832,3797,0,0,0,0,0,0,14.85,13.47,14.90
$GC,110,-0.77,-272.5,2521,3217,3833,3798,12.4,-11.3,14,117,0.00,2.35,0.00,0.000,5126,0.000,0.041,2522,1806,3814,3832,3797,0,0,0,0,0,0,14.95,14.85,14.96
$GC,182,-0.77,-272.5,2522,1805,3833,3797,22.6,-16.2,27,187,0.00,0.00,0.00,0.000,4102,0.000,0.000,2522,1806,3814,3832,3797,0,0,0,0,0,0,15.12,15.12,15.12
$GC,250,-0.77,-272.5,2522,1806,3833,3797,32.3,-13.3,40,256,0.00,2.40,0.00,0.000,4612,0.000,0.063,2522,402,3814,3831,3797,0,0,0,0,0,0,15.13,14.82,15.14
$GC,280,-0.77,-272.5,2522,402,3829,3797,36.4,-14.2,45,286,0.00,2.30,0.00,0.000,5126,0.000,0.032,2522,1812,3815,3833,3797,0,0,0,0,0,0,14.90,14.83,14.92
$GC,349,-0.77,-272.5,2522,1814,3832,3797,44.9,-11.8,58,355,0.00,2.35,0.00,0.000,4356,0.000,0.053,2522,3212,3815,3833,3798,0,0,0,0,0,0,15.14,14.76,15.14
$GC,403,-0.77,-272.5,2522,3213,3833,3802,50.7,-9.5,68,410,0.00,2.33,0.00,0.000,5126,0.000,0.040,2522,1807,3815,3833,3797,0,0,0,0,0,0,14.99,14.90,15.02
$GC,475,-0.77,-272.5,2522,1807,3833,3797,58.2,-10.8,81,482,0.00,2.40,0.00,0.000,4612,0.000,0.062,2522,405,3814,3832,3797,0,0,0,0,0,0,15.13,14.82,15.14
$GC,501,-0.77,-272.5,2522,405,3833,3797,61.0,-10.3,85,507,0.00,2.33,0.00,0.000,5126,0.000,0.032,2522,1821,3814,3832,3796,0,0,0,0,0,0,14.99,14.88,15.00
$GC,573,-0.77,-272.5,2522,1823,3832,3797,68.2,-10.2,98,579,0.00,2.35,0.00,0.000,4356,0.000,0.054,2522,3216,3814,3831,3798,0,0,0,0,0,0,15.11,14.88,15.11
$GC,625,-0.77,-272.5,2522,3216,3833,3798,72.9,-8.3,107,632,0.00,2.33,0.00,0.000,5126,0.000,0.037,2522,1812,3815,3833,3797,0,0,0,0,0,0,14.95,14.85,14.95
$GC,697,-0.77,-272.5,2522,1811,3833,3797,78.8,-8.3,120,704,0.00,2.40,0.00,0.000,4612,0.000,0.060,2522,405,3815,3833,3797,0,0,0,0,0,0,15.11,14.87,15.11
$GC,722,-0.77,-272.5,2522,405,3833,3797,80.9,-7.2,124,729,0.00,2.30,0.00,0.000,5126,0.000,0.033,2522,1815,3814,3832,3797,0,0,0,0,0,0,15.00,14.92,15.01
$STATE,765,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,765,begin apogee
$GC,771,-0.17,0.0,2522,1816,3833,3798,84.6,-8.1,132,975,0.85,0.00,198.93,1.036,10246,0.093,0.000,2705,1816,2700,2737,2664,0,0,0,0,0,0,14.72,14.45,13.95
$STATE,979,end apogee,CONTROL_FINISHED_OK
$STATE,980,begin climb
$GC,982,0.77,272.5,2705,1816,2733,2661,99.3,0.0,169,1203,1.40,2.58,208.40,1.026,10756,0.058,0.067,3024,400,1587,1629,1545,0,0,0,0,0,0,14.48,14.40,13.95
$GC,1297,0.77,272.5,3024,400,1621,1545,69.3,15.4,225,1305,0.08,2.33,0.00,0.000,5126,0.263,0.032,3009,1802,1582,1621,1544,0,0,0,0,0,0,14.48,14.70,14.64
$GC,1370,0.77,272.5,3008,1805,1621,1542,58.3,15.4,238,1376,0.00,2.35,0.00,0.000,4356,0.000,0.046,3009,3200,1581,1621,1541,0,0,0,0,0,0,14.95,14.73,14.95
$GC,1409,0.77,272.5,3008,3201,1621,1540,52.3,13.6,245,1416,0.00,2.38,0.00,0.000,5126,0.000,0.048,3009,1807,1580,1621,1540,0,0,0,0,0,0,14.85,14.73,14.87
$GC,1481,0.77,272.5,3009,1807,1621,1540,43.3,12.6,258,1487,0.00,0.00,0.00,0.000,4102,0.000,0.000,3009,1807,1579,1621,1538,0,0,0,0,0,0,15.00,15.00,15.00
$GC,1550,0.77,272.5,3009,1807,1621,1540,34.0,12.9,271,1556,0.00,0.00,0.00,0.000,4102,0.000,0.000,3010,1807,1580,1621,1540,0,0,0,0,0,0,15.04,15.04,15.04
$GC,1619,0.77,272.5,3009,1813,1621,1539,25.9,11.1,284,1626,0.00,2.45,0.00,0.000,4612,0.000,0.069,3009,388,1578,1618,1539,0,0,0,0,0,0,15.06,14.80,15.07
$GC,1664,0.80,293.0,3009,388,1621,1539,21.5,9.5,292,1688,0.00,2.33,15.00,0.851,11270,0.000,0.031,3010,1812,1504,1548,1460,0,0,0,0,0,0,14.91,14.83,14.27
$GC,1752,0.80,293.0,3009,1812,1548,1457,13.0,10.8,308,1758,0.00,2.30,0.00,0.000,2308,0.000,0.045,3010,3190,1502,1548,1457,0,0,0,0,0,0,15.04,14.81,15.04
$GC,1833,0.80,293.0,3009,3190,1547,1455,4.7,10.4,323,1840,0.00,2.35,0.00,0.000,3078,0.000,0.045,3010,1800,1500,1546,1455,0,0,0,0,0,0,14.88,14.77,14.90
$STATE,1845,end climb,SURFACE_DEPTH_REACHED
$STATE,1845,begin surface coast
$FINISH,0.3,1.024974
$STATE,1872,end surface coast,CONTROL_FINISHED_OK
$STATE,1872,begin surface
$SM_CCo,1897,144.55,0.778,0,0,596,515.37
$SM_GC,0.93,13.48,0.00,144.55,0.040,0.000,0.778,126,1797,596,-8.17,-0.40,515.37,0,0,0,0,0,0,14.87,15.09,14.14
$IRIDIUM_FIX,-3404.29,2546.08,210419,170600
$TT8_MAMPS,0.021721,0.88382
$HUMID,44.40
$INTERNAL_PRESSURE,9.35139
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.5,33.8
$SC_FREEKB,3658176
$24V_AH,13.47,151.166
$10V_AH,13.38,0.000
$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,17.150,47.325,422.325,144.550,0.000,0.000,0.000,0.000,1.500,0.000,0.000,635.105,259.302,577.230,581.734,129.560,0.000,943.332,0.000,503.381,0.000,11.619,0.000
$DEVICE_MAMPS,263.160,71.910,1035.810,778.005,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1918.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.224,0.000,0.000,0.000
$MEM,341064
$DATA_FILE_SIZE,6796,330
$CAP_FILE_SIZE,62887,0
$CFSIZE,2097086464,1998913536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210419,194139,-3419.142,2546.720,8,1.0,16,-27.9,0.0,275.9,9,8.9