version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 517
start: 4 22 119 4 22 50
data:
$ID,574
$MISSION,3
$DIVE,517
$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,36
$R_STBD_OVSHOOT,59
$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
$GPS1,220419,034836,-3417.9690,2546.7144,7,1.0,15,-27.9,1.3,196.5,10,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,2.3
$GPS2,220419,034836,-3417.9690,2546.7144,7,1.0,15,-27.9,1.3,196.5,10,9.5
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3408.617,2553.239
$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,-272.5,2807,1808,2289,2210,0.0,0.0,0,69,0.00,0.00,-43.00,0.000,16386,0.000,0.000,2807,1808,3412,3427,3397,0,0,0,0,0,0,15.10,28.83,15.11
$GC,73,-0.77,-272.5,2807,1808,3427,3397,3.3,-6.8,8,92,1.30,2.40,-11.43,0.000,20740,0.081,0.070,2521,3205,3813,3835,3792,0,0,0,0,0,0,14.84,13.45,14.88
$GC,132,-0.77,-272.5,2521,3205,3834,3793,9.9,-10.2,18,139,0.00,2.33,0.00,0.000,5126,0.000,0.038,2519,1802,3813,3834,3792,0,0,0,0,0,0,15.00,14.90,15.00
$GC,204,-0.77,-272.5,2521,1802,3834,3792,19.5,-13.8,31,210,0.00,0.00,0.00,0.000,4102,0.000,0.000,2521,1802,3813,3834,3792,0,0,0,0,0,0,15.11,15.12,15.12
$GC,273,-0.77,-272.5,2521,1802,3834,3792,29.3,-13.6,44,280,0.00,2.38,0.00,0.000,4612,0.000,0.063,2521,409,3813,3834,3792,0,0,0,0,0,0,15.12,14.86,15.13
$GC,297,-0.77,-272.5,2521,409,3834,3792,32.5,-13.0,48,304,0.00,2.28,0.00,0.000,5126,0.000,0.032,2521,1799,3813,3834,3793,0,0,0,0,0,0,15.00,14.92,15.02
$GC,369,-0.77,-272.5,2521,1801,3833,3793,41.2,-12.6,61,376,0.00,2.38,0.00,0.000,4356,0.000,0.054,2521,3211,3813,3834,3793,0,0,0,0,0,0,15.11,14.77,15.12
$GC,435,-0.77,-272.5,2520,3211,3834,3793,47.7,-8.3,73,441,0.00,2.33,0.00,0.000,5126,0.000,0.038,2520,1808,3813,3834,3792,0,0,0,0,0,0,14.88,14.78,14.89
$GC,507,-0.77,-272.5,2520,1809,3834,3792,53.6,-8.0,86,513,0.00,2.38,0.00,0.000,4612,0.000,0.059,2521,409,3813,3834,3792,0,0,0,0,0,0,15.13,14.87,15.14
$GC,528,-0.77,-272.5,2516,408,3834,3792,55.2,-7.4,89,534,0.00,2.30,0.00,0.000,5126,0.000,0.032,2521,1823,3813,3834,3792,0,0,0,0,0,0,15.00,14.92,15.02
$GC,601,-0.77,-272.5,2520,1823,3834,3792,60.7,-8.0,102,607,0.00,2.33,0.00,0.000,4356,0.000,0.051,2519,3206,3812,3834,3791,0,0,0,0,0,0,15.12,14.83,15.13
$GC,621,-0.77,-272.5,2521,3206,3834,3793,62.6,-8.0,105,628,0.00,2.33,0.00,0.000,5126,0.000,0.036,2521,1799,3813,3834,3792,0,0,0,0,0,0,14.97,14.85,14.95
$GC,693,-0.77,-272.5,2519,1800,3834,3792,68.0,-7.8,118,700,0.00,2.35,0.00,0.000,4612,0.000,0.061,2521,413,3810,3834,3787,0,0,0,0,0,0,15.11,14.90,15.12
$GC,747,-0.77,-272.5,2521,414,3834,3792,73.0,-9.2,127,754,0.00,2.28,0.00,0.000,5126,0.000,0.032,2521,1811,3813,3834,3792,0,0,0,0,0,0,15.00,14.92,15.01
$GC,819,-0.77,-272.5,2521,1812,3834,3792,79.0,-8.6,140,826,0.00,2.35,0.00,0.000,4356,0.000,0.053,2521,3211,3813,3834,3792,0,0,0,0,0,0,15.12,14.77,15.13
$GC,844,-0.77,-272.5,2520,3212,3834,3793,81.6,-9.8,144,851,0.00,2.33,0.00,0.000,5126,0.000,0.037,2521,1808,3811,3834,3789,0,0,0,0,0,0,14.88,14.80,14.89
$STATE,897,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,897,begin apogee
$GC,904,-0.17,0.0,2522,1807,3834,3791,86.4,-8.8,154,1114,0.85,0.00,198.88,1.047,10246,0.102,0.000,2703,1806,2699,2735,2663,0,0,0,0,0,0,14.78,14.32,13.95
$STATE,1116,end apogee,CONTROL_FINISHED_OK
$STATE,1116,begin climb
$GC,1119,0.77,272.5,2702,1807,2734,2661,103.4,0.0,192,1340,1.40,2.40,208.02,1.030,10500,0.059,0.044,3016,3196,1586,1629,1544,0,0,0,0,0,0,14.48,14.31,13.91
$GC,1434,0.77,272.5,3016,3197,1621,1541,73.7,15.6,248,1441,0.00,2.40,0.00,0.000,5126,0.000,0.051,3016,1804,1580,1621,1540,0,0,0,0,0,0,14.68,14.58,14.69
$GC,1506,0.77,272.5,3016,1803,1621,1540,63.4,14.7,261,1512,0.00,2.45,0.00,0.000,4612,0.000,0.068,3017,392,1581,1622,1540,0,0,0,0,0,0,14.94,14.69,14.95
$GC,1550,0.77,272.5,3016,392,1621,1540,55.6,16.5,269,1557,0.00,2.33,0.00,0.000,5126,0.000,0.031,3016,1803,1581,1622,1540,0,0,0,0,0,0,14.80,14.72,14.81
$GC,1622,0.77,272.5,3016,1806,1621,1538,44.4,16.2,282,1629,0.00,2.35,0.00,0.000,4356,0.000,0.045,3021,3204,1579,1621,1538,0,0,0,0,0,0,15.01,14.80,15.01
$GC,1636,0.77,272.5,3016,3204,1621,1537,41.4,17.2,284,1643,0.00,2.40,0.00,0.000,5126,0.000,0.048,3016,1792,1579,1621,1538,0,0,0,0,0,0,14.90,14.80,14.92
$GC,1708,0.77,272.5,3016,1792,1621,1537,32.4,11.6,297,1714,0.00,0.00,0.00,0.000,4102,0.000,0.000,3016,1791,1579,1621,1537,0,0,0,0,0,0,15.03,15.03,15.03
$GC,1777,0.77,272.5,3016,1791,1621,1537,25.1,10.3,310,1784,0.00,2.40,0.00,0.000,4612,0.000,0.069,3017,392,1578,1620,1537,0,0,0,0,0,0,15.06,14.81,15.07
$GC,1837,0.77,272.5,3016,394,1621,1537,18.5,11.5,321,1844,0.00,2.30,0.00,0.000,5126,0.000,0.031,3017,1801,1579,1621,1537,0,0,0,0,0,0,14.96,14.88,14.98
$GC,1908,0.77,272.5,3016,1803,1614,1536,10.6,10.9,334,1915,0.00,2.33,0.00,0.000,4356,0.000,0.047,3016,3206,1578,1621,1536,0,0,0,0,0,0,15.07,14.85,15.07
$GC,1963,0.83,317.9,3016,3206,1620,1535,5.3,8.9,344,1994,0.00,2.38,24.75,0.785,11266,0.000,0.049,3016,1796,1423,1472,1375,0,0,0,0,0,0,14.96,14.86,14.98
$STATE,1995,end climb,SURFACE_DEPTH_REACHED
$STATE,1995,begin surface coast
$FINISH,0.4,1.011611
$STATE,2031,end surface coast,CONTROL_FINISHED_OK
$STATE,2032,begin surface
$SM_CCo,2057,131.27,0.775,0,0,598,515.37
$SM_GC,0.89,13.62,0.00,131.27,0.046,0.000,0.775,124,1794,598,-8.18,-0.54,515.37,0,0,0,0,0,0,14.83,15.04,14.14
$IRIDIUM_FIX,-3404.29,2546.08,220419,022327
$TT8_MAMPS,0.020972,0.939246
$HUMID,44.68
$INTERNAL_PRESSURE,9.35139
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.2,35.8
$SC_FREEKB,3650976
$24V_AH,13.45,153.700
$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,17.175,58.775,431.650,131.275,0.000,0.000,0.000,0.000,1.500,0.000,0.000,690.449,280.966,591.472,625.388,144.427,0.000,984.244,0.000,539.055,0.000,11.622,0.000
$DEVICE_MAMPS,101.745,69.615,1046.520,774.945,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2080.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.108,0.000,0.000,0.000
$MEM,341056
$DATA_FILE_SIZE,10101,356
$CAP_FILE_SIZE,68673,0
$CFSIZE,2097086464,1996587008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220419,050027,-3417.925,2546.668,9,1.2,26,-27.9,0.5,235.2,8,9.7