version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 507
start: 4 21 119 21 46 19
data:
$ID,574
$MISSION,3
$DIVE,507
$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,56
$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
$GPS1,210419,211302,-3418.9988,2547.0037,8,0.8,16,-27.9,0.7,15.7,10,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,1.3
$GPS2,210419,211302,-3418.9988,2547.0037,8,0.8,16,-27.9,0.7,15.7,10,9.1
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3409.646,2553.529
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.77,-272.5,2816,1798,2233,2141,0.0,0.0,0,96,0.00,0.00,-69.03,0.000,16390,0.000,0.000,2816,1798,3814,3837,3791,0,0,0,0,0,0,15.09,13.47,15.07
$GC,100,-0.77,-272.5,2816,1798,3837,3792,2.9,-7.4,13,107,1.38,2.38,0.00,0.000,4356,0.094,0.049,2522,3204,3814,3837,3792,0,0,0,0,0,0,14.81,14.83,14.87
$GC,140,-0.77,-272.5,2518,3204,3836,3792,8.0,-12.5,20,147,0.00,2.35,0.00,0.000,5126,0.000,0.041,2522,1798,3814,3836,3792,0,0,0,0,0,0,14.94,14.84,14.95
$GC,213,-0.77,-272.5,2522,1798,3836,3792,17.9,-13.1,33,218,0.00,0.00,0.00,0.000,4102,0.000,0.000,2522,1798,3814,3836,3792,0,0,0,0,0,0,15.10,15.10,15.10
$GC,281,-0.77,-272.5,2522,1798,3836,3792,26.5,-12.0,46,288,0.00,2.40,0.00,0.000,4356,0.000,0.051,2515,3210,3814,3836,3792,0,0,0,0,0,0,15.12,14.86,15.12
$GC,322,-0.77,-272.5,2515,3209,3836,3792,30.7,-9.4,53,329,0.00,2.35,0.00,0.000,1030,0.000,0.041,2515,1804,3814,3836,3792,0,0,0,0,0,0,14.98,14.89,15.00
$GC,392,-0.77,-272.5,2515,1804,3836,3792,39.2,-13.1,66,398,0.00,2.38,0.00,0.000,516,0.000,0.063,2515,408,3813,3835,3792,0,0,0,0,0,0,15.11,14.86,15.12
$GC,417,-0.77,-272.5,2515,411,3835,3792,42.5,-13.0,70,423,0.00,2.28,0.00,0.000,1030,0.000,0.031,2515,1805,3813,3835,3792,0,0,0,0,0,0,14.99,14.92,15.00
$GC,488,-0.77,-272.5,2515,1807,3836,3792,51.1,-12.0,83,495,0.00,2.35,0.00,0.000,260,0.000,0.052,2515,3207,3814,3836,3792,0,0,0,0,0,0,15.10,14.87,15.11
$GC,538,-0.77,-272.5,2515,3207,3837,3792,56.3,-8.9,92,545,0.00,2.33,0.00,0.000,1030,0.000,0.040,2515,1807,3814,3837,3792,0,0,0,0,0,0,14.98,14.90,15.00
$GC,610,-0.77,-272.5,2515,1806,3836,3792,63.4,-10.0,105,616,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,1806,3814,3837,3792,0,0,0,0,0,0,15.11,15.13,15.12
$GC,683,-0.77,-272.5,2514,1807,3836,3792,70.7,-9.5,118,689,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,1807,3813,3836,3791,0,0,0,0,0,0,15.09,15.11,15.11
$GC,753,-0.77,-272.5,2514,1807,3837,3792,77.5,-8.8,131,758,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,1806,3814,3837,3792,0,0,0,0,0,0,15.11,15.12,15.12
$GC,822,-0.77,-272.5,2514,1806,3837,3792,83.4,-8.4,144,827,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,1807,3814,3837,3792,0,0,0,0,0,0,15.12,15.13,15.13
$STATE,832,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,832,begin apogee
$GC,839,-0.17,0.0,2515,1806,3837,3792,84.6,-8.8,146,1050,0.90,0.00,198.93,1.029,10246,0.125,0.000,2699,1806,2698,2735,2661,0,0,0,0,0,0,14.76,14.33,13.97
$STATE,1052,end apogee,CONTROL_FINISHED_OK
$STATE,1052,begin climb
$GC,1054,0.77,272.5,2700,1806,2734,2660,98.5,0.0,184,1274,1.42,2.55,208.15,1.018,10756,0.050,0.069,3030,402,1587,1629,1545,0,0,0,0,0,0,14.50,14.40,13.96
$GC,1344,0.77,272.5,3030,401,1622,1545,73.3,15.4,235,1351,0.10,2.33,0.00,0.000,5126,0.237,0.031,3011,1801,1582,1621,1544,0,0,0,0,0,0,14.52,14.66,14.67
$GC,1416,0.77,272.5,3010,1803,1621,1542,63.1,14.6,248,1423,0.00,2.38,0.00,0.000,4356,0.000,0.045,3010,3205,1581,1621,1541,0,0,0,0,0,0,14.92,14.69,14.93
$GC,1471,0.77,272.5,3010,3205,1621,1540,55.6,12.4,258,1477,0.00,2.40,0.00,0.000,5126,0.000,0.049,3010,1798,1585,1630,1540,0,0,0,0,0,0,14.82,14.72,14.83
$GC,1543,0.77,272.5,3010,1798,1621,1539,47.3,11.8,271,1548,0.00,0.00,0.00,0.000,4102,0.000,0.000,3010,1798,1580,1621,1540,0,0,0,0,0,0,15.01,15.01,15.01
$GC,1611,0.77,272.5,3010,1798,1621,1539,38.6,12.2,284,1616,0.00,0.00,0.00,0.000,4102,0.000,0.000,3010,1797,1580,1621,1539,0,0,0,0,0,0,15.04,15.04,15.04
$GC,1679,0.77,272.5,3010,1798,1621,1539,31.0,11.8,297,1686,0.00,2.42,0.00,0.000,4612,0.000,0.068,3010,386,1580,1621,1539,0,0,0,0,0,0,15.06,14.81,15.06
$GC,1719,0.77,272.5,3010,385,1620,1539,26.0,12.6,304,1725,0.00,2.33,0.00,0.000,5126,0.000,0.031,3010,1810,1582,1621,1544,0,0,0,0,0,0,14.95,14.88,14.97
$GC,1791,0.77,272.5,3010,1813,1621,1538,18.5,10.3,317,1798,0.00,2.30,0.00,0.000,4356,0.000,0.044,3010,3197,1579,1621,1538,0,0,0,0,0,0,15.09,14.81,15.09
$GC,1922,0.79,284.2,3010,3197,1620,1537,5.6,9.7,342,1935,0.00,2.38,6.22,0.680,9222,0.000,0.048,3010,1797,1539,1583,1495,0,0,0,0,0,0,14.96,14.87,14.30
$STATE,1950,end climb,SURFACE_DEPTH_REACHED
$STATE,1950,begin surface coast
$FINISH,0.8,1.025071
$STATE,1983,end surface coast,CONTROL_FINISHED_OK
$STATE,1983,begin surface
$SM_CCo,2008,149.82,0.774,0,0,599,515.37
$SM_GC,0.94,13.48,0.00,149.82,0.039,0.000,0.774,119,1796,599,-8.18,-0.42,515.37,0,0,0,0,0,0,14.90,15.11,14.14
$IRIDIUM_FIX,-3404.29,2546.08,210419,194552
$TT8_MAMPS,0.019474,0.843374
$HUMID,44.76
$INTERNAL_PRESSURE,9.36116
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.2,34.3
$SC_FREEKB,3656128
$24V_AH,13.47,151.892
$10V_AH,13.74,0.000
$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,17.275,37.875,413.300,149.825,0.000,0.000,0.000,0.000,1.500,0.000,0.000,673.002,281.780,594.733,619.479,131.089,0.000,978.150,0.000,538.358,0.000,11.621,0.000
$DEVICE_MAMPS,237.150,68.850,1028.925,774.180,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2030.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.350,0.000,0.000,0.000
$MEM,341064
$DATA_FILE_SIZE,10141,353
$CAP_FILE_SIZE,64493,0
$CFSIZE,2097086464,1998258176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210419,222321,-3418.776,2547.260,8,1.1,19,-27.9,0.0,250.7,8,9.7