version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 509
start: 4 21 119 23 7 15
data:
$ID,574
$MISSION,3
$DIVE,509
$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,32
$R_STBD_OVSHOOT,48
$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
$GPS1,210419,223447,-3418.7234,2547.0935,7,1.1,19,-27.9,0.0,252.9,8,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.93
$_SM_ANGLEo,0.2
$GPS2,210419,223447,-3418.7234,2547.0935,7,1.1,19,-27.9,0.0,252.9,8,9.9
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3409.371,2553.619
$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,-272.5,2813,1826,2244,2155,0.0,0.0,0,31,0.00,0.00,-5.97,0.000,16386,0.000,0.000,2813,1826,2387,2432,2342,0,0,0,0,0,0,15.11,28.83,15.12
$GC,35,-0.77,-272.5,2813,1826,2432,2341,3.7,0.0,1,81,1.33,2.38,-38.00,0.000,20740,0.079,0.076,2522,3209,3814,3832,3797,0,0,0,0,0,0,14.85,13.46,14.90
$GC,101,-0.77,-272.5,2521,3209,3832,3797,10.7,-13.6,12,108,0.00,2.35,0.00,0.000,5126,0.000,0.041,2522,1802,3814,3832,3797,0,0,0,0,0,0,15.00,14.90,15.02
$GC,173,-0.77,-272.5,2521,1802,3832,3797,19.3,-11.9,25,179,0.00,0.00,0.00,0.000,4102,0.000,0.000,2522,1803,3814,3832,3797,0,0,0,0,0,0,15.10,15.11,15.11
$GC,242,-0.77,-272.5,2522,1802,3832,3797,29.2,-15.9,38,249,0.00,2.38,0.00,0.000,4356,0.000,0.052,2522,3208,3814,3832,3797,0,0,0,0,0,0,15.13,14.88,15.13
$GC,282,-0.77,-272.5,2521,3209,3832,3797,35.1,-13.5,45,289,0.00,2.33,0.00,0.000,5126,0.000,0.040,2522,1811,3814,3832,3797,0,0,0,0,0,0,15.00,14.90,15.02
$GC,352,-0.77,-272.5,2520,1812,3832,3797,44.2,-13.1,58,359,0.00,2.40,0.00,0.000,4612,0.000,0.063,2522,402,3814,3831,3797,0,0,0,0,0,0,15.12,14.87,15.13
$GC,382,-0.77,-272.5,2522,402,3832,3797,48.0,-12.0,63,388,0.00,2.30,0.00,0.000,5126,0.000,0.032,2522,1812,3814,3831,3797,0,0,0,0,0,0,15.00,14.92,15.02
$GC,456,-0.77,-272.5,2522,1815,3832,3797,55.4,-10.1,76,462,0.00,2.35,0.00,0.000,4356,0.000,0.053,2522,3208,3814,3832,3797,0,0,0,0,0,0,15.14,14.87,15.14
$GC,506,-0.77,-272.5,2522,3208,3833,3797,59.8,-7.4,85,513,0.00,2.33,0.00,0.000,5126,0.000,0.039,2522,1810,3814,3832,3797,0,0,0,0,0,0,15.00,14.90,15.01
$GC,580,-0.77,-272.5,2522,1810,3832,3797,66.2,-8.9,98,586,0.00,0.00,0.00,0.000,4102,0.000,0.000,2522,1810,3814,3831,3797,0,0,0,0,0,0,15.13,15.14,15.14
$GC,649,-0.77,-272.5,2522,1810,3832,3797,72.5,-9.0,111,655,0.00,0.00,0.00,0.000,4102,0.000,0.000,2522,1810,3814,3832,3797,0,0,0,0,0,0,15.14,15.14,15.14
$GC,718,-0.77,-272.5,2522,1810,3832,3797,78.4,-8.0,124,724,0.00,0.00,0.00,0.000,4102,0.000,0.000,2521,1810,3814,3832,3797,0,0,0,0,0,0,15.13,15.14,15.14
$STATE,764,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,764,begin apogee
$GC,771,-0.17,0.0,2522,1810,3832,3797,81.9,-7.9,133,982,0.88,0.00,198.88,1.030,10246,0.120,0.000,2701,1810,2697,2735,2660,0,0,0,0,0,0,14.67,14.33,13.95
$STATE,983,end apogee,CONTROL_FINISHED_OK
$STATE,983,begin climb
$GC,986,0.77,272.5,2701,1810,2734,2660,95.9,0.0,171,1206,1.40,2.55,208.18,1.017,10756,0.058,0.067,3025,396,1589,1631,1547,0,0,0,0,0,0,14.50,14.41,13.95
$GC,1282,0.77,272.5,3025,396,1623,1545,67.6,16.7,223,1289,0.08,2.33,0.00,0.000,5126,0.265,0.031,3011,1808,1584,1623,1545,0,0,0,0,0,0,14.45,14.59,14.61
$GC,1354,0.77,272.5,3010,1812,1623,1543,56.5,16.0,236,1361,0.00,2.33,0.00,0.000,4356,0.000,0.045,3011,3193,1581,1623,1539,0,0,0,0,0,0,14.93,14.73,14.93
$GC,1398,0.77,272.5,3010,3193,1622,1540,49.8,13.2,244,1405,0.00,2.38,0.00,0.000,5126,0.000,0.050,3008,1802,1581,1622,1541,0,0,0,0,0,0,14.82,14.72,14.83
$GC,1470,0.77,272.5,3010,1803,1622,1541,40.8,13.0,257,1476,0.00,0.00,0.00,0.000,4102,0.000,0.000,3011,1803,1582,1624,1541,0,0,0,0,0,0,15.00,15.00,15.00
$GC,1539,0.77,272.5,3010,1802,1622,1540,31.8,11.7,270,1546,0.00,2.42,0.00,0.000,4612,0.000,0.068,3010,395,1581,1622,1540,0,0,0,0,0,0,15.04,14.78,15.04
$GC,1589,0.77,272.5,3010,395,1622,1541,26.5,10.4,279,1595,0.00,2.30,0.00,0.000,5126,0.000,0.031,3010,1806,1581,1622,1541,0,0,0,0,0,0,14.94,14.85,14.95
$GC,1661,0.79,288.7,3010,1807,1622,1540,19.8,9.6,292,1679,0.00,2.30,12.25,0.812,8452,0.000,0.043,3010,3194,1520,1565,1475,0,0,0,0,0,0,15.06,14.68,14.26
$GC,1799,0.79,288.7,3011,3194,1563,1474,5.5,10.2,318,1806,0.00,2.38,0.00,0.000,1030,0.000,0.049,3010,1788,1519,1564,1474,0,0,0,0,0,0,14.93,14.85,14.95
$STATE,1826,end climb,SURFACE_DEPTH_REACHED
$STATE,1826,begin surface coast
$FINISH,0.2,1.025150
$STATE,1860,end surface coast,CONTROL_FINISHED_OK
$STATE,1860,begin surface
$SM_CCo,1885,146.30,0.776,0,0,598,515.37
$SM_GC,0.92,13.48,0.00,146.30,0.038,0.000,0.776,120,1785,598,-8.18,-0.79,515.37,0,0,0,0,0,0,14.90,15.10,14.14
$IRIDIUM_FIX,-3404.29,2543.73,210419,210617
$TT8_MAMPS,0.021721,0.92127
$HUMID,45.03
$INTERNAL_PRESSURE,9.35139
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.0,36.5
$SC_FREEKB,3655104
$24V_AH,13.46,152.251
$10V_AH,13.16,0.000
$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,17.150,40.125,419.300,146.300,0.000,0.000,0.000,0.000,1.250,0.000,0.000,631.122,264.604,572.418,578.438,128.355,0.000,932.567,0.000,503.773,0.000,10.095,0.000
$DEVICE_MAMPS,264.690,75.735,1030.455,776.475,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1905.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.199,0.000,0.000,0.000
$MEM,341056
$DATA_FILE_SIZE,6803,329
$CAP_FILE_SIZE,60683,0
$CFSIZE,2097086464,1997930496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210419,234231,-3418.420,2547.292,8,0.8,40,-27.9,0.9,226.2,11,7.0