version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 505
start: 4 21 119 20 25 28
data:
$ID,574
$MISSION,3
$DIVE,505
$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,38
$R_STBD_OVSHOOT,61
$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
$GPS1,210419,195231,-3419.1523,2546.6689,7,1.0,16,-27.9,0.8,254.4,8,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,1.3
$GPS2,210419,195231,-3419.1523,2546.6689,7,1.0,16,-27.9,0.8,254.4,8,9.8
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3409.800,2553.195
$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,-272.5,2814,1804,2213,2130,0.0,0.0,0,58,0.00,0.00,-32.75,0.000,16386,0.000,0.000,2814,1804,3122,3144,3100,0,0,0,0,0,0,15.11,28.83,15.12
$GC,62,-0.77,-272.5,2814,1804,3144,3101,3.3,-4.0,6,92,1.33,2.40,-19.12,0.000,20996,0.082,0.086,2525,413,3812,3832,3792,0,0,0,0,0,0,14.84,13.45,14.90
$GC,135,-0.77,-272.5,2525,413,3832,3793,13.3,-14.2,19,142,0.00,2.28,0.00,0.000,5126,0.000,0.032,2522,1798,3812,3832,3793,0,0,0,0,0,0,14.95,14.87,14.97
$GC,207,-0.77,-272.5,2522,1800,3832,3793,23.3,-15.0,32,213,0.00,2.38,0.00,0.000,4356,0.000,0.054,2522,3209,3812,3832,3793,0,0,0,0,0,0,15.12,14.88,15.10
$GC,290,-0.77,-272.5,2522,3209,3833,3793,32.0,-9.1,47,297,0.00,2.33,0.00,0.000,5126,0.000,0.039,2522,1810,3812,3832,3792,0,0,0,0,0,0,14.95,14.85,14.96
$GC,360,-0.77,-272.5,2522,1810,3832,3793,39.6,-11.1,60,366,0.00,2.40,0.00,0.000,4612,0.000,0.063,2522,409,3812,3832,3793,0,0,0,0,0,0,15.14,14.81,15.14
$GC,394,-0.77,-272.5,2522,409,3832,3793,43.5,-10.5,66,401,0.00,2.30,0.00,0.000,5126,0.000,0.031,2522,1815,3812,3831,3793,0,0,0,0,0,0,14.91,14.83,14.92
$GC,469,-0.77,-272.5,2522,1818,3832,3793,50.3,-9.5,79,475,0.00,2.35,0.00,0.000,4356,0.000,0.052,2522,3216,3812,3832,3793,0,0,0,0,0,0,15.13,14.78,15.14
$GC,524,-0.77,-272.5,2522,3217,3832,3793,55.2,-7.5,89,531,0.00,2.33,0.00,0.000,5126,0.000,0.038,2522,1813,3813,3834,3793,0,0,0,0,0,0,14.90,14.81,14.91
$GC,597,-0.77,-272.5,2522,1812,3832,3793,60.7,-7.5,102,603,0.00,0.00,0.00,0.000,4102,0.000,0.000,2522,1812,3812,3832,3793,0,0,0,0,0,0,15.12,15.12,15.12
$GC,667,-0.77,-272.5,2522,1812,3832,3793,67.3,-9.5,115,672,0.00,0.00,0.00,0.000,4102,0.000,0.000,2522,1812,3812,3832,3793,0,0,0,0,0,0,15.12,15.13,15.13
$GC,739,-0.77,-272.5,2522,1812,3832,3793,74.5,-10.6,128,745,0.00,0.00,0.00,0.000,4102,0.000,0.000,2522,1812,3812,3832,3793,0,0,0,0,0,0,15.12,15.13,15.12
$GC,808,-0.77,-272.5,2522,1812,3832,3793,81.5,-9.4,141,815,0.00,2.40,0.00,0.000,4612,0.000,0.062,2522,403,3812,3832,3793,0,0,0,0,0,0,15.14,14.86,15.14
$GC,833,-0.77,-272.5,2522,404,3832,3793,83.9,-9.4,145,840,0.00,2.30,0.00,0.000,5126,0.000,0.031,2522,1815,3812,3832,3793,0,0,0,0,0,0,15.00,14.92,15.02
$STATE,845,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,845,begin apogee
$GC,852,-0.17,0.0,2522,1817,3832,3791,85.2,-9.5,147,1058,0.88,0.00,198.43,1.036,10246,0.122,0.000,2702,1818,2699,2736,2663,0,0,0,0,0,0,14.71,14.45,13.97
$STATE,1060,end apogee,CONTROL_FINISHED_OK
$STATE,1060,begin climb
$GC,1063,0.77,272.5,2702,1818,2734,2661,98.7,0.0,184,1283,1.40,2.58,207.93,1.022,10756,0.051,0.067,3027,400,1588,1630,1547,0,0,0,0,0,0,14.50,14.38,13.95
$GC,1372,0.77,272.5,3026,400,1622,1547,68.9,14.9,239,1379,0.08,2.33,0.00,0.000,5126,0.264,0.032,3012,1810,1583,1622,1545,0,0,0,0,0,0,14.53,14.66,14.70
$GC,1445,0.77,272.5,3011,1813,1622,1543,57.4,16.6,252,1451,0.00,2.33,0.00,0.000,4356,0.000,0.046,3011,3194,1582,1622,1542,0,0,0,0,0,0,14.95,14.69,14.95
$GC,1479,0.77,272.5,3011,3194,1622,1542,51.6,14.4,258,1485,0.00,2.38,0.00,0.000,5126,0.000,0.050,3011,1797,1581,1622,1541,0,0,0,0,0,0,14.77,14.67,14.79
$GC,1551,0.77,272.5,3011,1798,1621,1541,42.5,12.7,271,1556,0.00,0.00,0.00,0.000,4102,0.000,0.000,3011,1798,1581,1622,1541,0,0,0,0,0,0,15.02,15.02,15.02
$GC,1619,0.77,272.5,3011,1797,1622,1541,34.0,11.2,284,1625,0.00,0.00,0.00,0.000,4102,0.000,0.000,3011,1798,1581,1622,1541,0,0,0,0,0,0,15.04,15.05,15.04
$GC,1688,0.77,272.5,3011,1798,1622,1540,26.1,11.3,297,1694,0.00,2.40,0.00,0.000,4612,0.000,0.067,3020,396,1581,1622,1540,0,0,0,0,0,0,15.07,14.81,15.06
$GC,1732,0.77,272.5,3019,396,1622,1540,20.4,12.3,305,1739,0.00,2.28,0.00,0.000,5126,0.000,0.031,3020,1796,1581,1622,1540,0,0,0,0,0,0,14.95,14.87,14.97
$GC,1804,0.77,272.5,3019,1798,1621,1540,12.3,11.5,318,1810,0.00,2.33,0.00,0.000,4356,0.000,0.046,3020,3195,1580,1621,1540,0,0,0,0,0,0,15.09,14.77,15.09
$STATE,1892,end climb,SURFACE_DEPTH_REACHED
$STATE,1892,begin surface coast
$FINISH,0.1,1.024720
$STATE,1923,end surface coast,CONTROL_FINISHED_OK
$STATE,1923,begin surface
$SM_CCo,1951,157.27,0.780,0,0,597,515.37
$SM_GC,0.91,13.50,2.35,157.27,0.039,0.042,0.780,124,1813,597,-8.17,1.07,515.37,0,0,0,0,0,0,14.92,14.88,14.14
$IRIDIUM_FIX,-3404.29,2548.43,210419,182644
$TT8_MAMPS,0.021721,0.710801
$HUMID,44.52
$INTERNAL_PRESSURE,9.35139
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.2,34.9
$SC_FREEKB,3657152
$24V_AH,13.45,151.527
$10V_AH,13.47,0.000
$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,17.175,44.750,406.350,157.275,0.000,0.000,0.000,0.000,1.500,0.000,0.000,663.201,275.089,584.885,597.894,130.818,0.000,952.746,0.000,520.030,0.000,11.620,0.000
$DEVICE_MAMPS,263.925,85.680,1035.810,779.535,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1969.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.277,0.000,0.000,0.000
$MEM,341056
$DATA_FILE_SIZE,6809,341
$CAP_FILE_SIZE,63360,0
$CFSIZE,2097086464,1998585856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210419,210201,-3419.002,2547.076,8,0.8,40,-27.9,0.7,33.9,11,8.4