version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 474
start: 4 20 119 23 13 16
data:
$ID,574
$MISSION,3
$DIVE,474
$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,45
$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,52
$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
$GPS1,200419,230101,-3423.4175,2532.1504,8,0.9,32,-27.9,1.0,17.4,10,6.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-65.8
$GPS2,200419,231251,-3423.2979,2532.2666,8,0.9,14,-27.9,1.1,60.6,10,9.5
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3415.662,2541.506
$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,72.9,20000,-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,21,begin dive
$GC,23,-0.77,-272.5,52,1818,633,537,0.0,0.0,0,118,0.00,0.00,-91.57,0.000,16386,0.000,0.000,52,1819,2958,2917,2999,0,0,0,0,0,0,14.97,28.83,14.97
$GC,123,-0.77,-272.5,52,1819,2918,3000,3.5,-7.2,17,159,14.57,2.45,-13.77,0.000,18948,0.301,0.083,2501,403,3813,3829,3798,0,0,0,0,0,0,14.49,13.86,14.77
$GC,273,-0.77,-272.5,2501,404,3830,3797,34.7,-13.3,45,280,0.00,2.33,0.00,0.000,3078,0.000,0.037,2501,1807,3813,3829,3797,0,0,0,0,0,0,14.92,14.83,14.94
$GC,345,-0.77,-272.5,2501,1809,3829,3797,44.5,-15.5,58,351,0.00,2.38,0.00,0.000,2308,0.000,0.055,2501,3212,3813,3829,3797,0,0,0,0,0,0,15.06,14.71,15.07
$GC,421,-0.77,-272.5,2501,3213,3829,3797,54.1,-10.4,72,428,0.00,2.35,0.00,0.000,3078,0.000,0.039,2501,1805,3813,3829,3797,0,0,0,0,0,0,14.90,14.80,14.91
$GC,493,-0.77,-272.5,2501,1804,3829,3797,61.8,-10.6,85,499,0.00,2.38,0.00,0.000,2564,0.000,0.062,2501,414,3813,3829,3797,0,0,0,0,0,0,15.08,14.83,15.09
$GC,517,-0.77,-272.5,2501,411,3829,3797,64.5,-10.4,89,525,0.00,2.33,0.00,0.000,3078,0.000,0.035,2501,1820,3813,3829,3797,0,0,0,0,0,0,14.96,14.87,14.97
$GC,590,-0.77,-272.5,2501,1823,3829,3797,71.6,-10.9,102,596,0.00,2.35,0.00,0.000,2308,0.000,0.054,2501,3209,3813,3829,3797,0,0,0,0,0,0,15.09,14.72,15.09
$GC,630,-0.77,-272.5,2501,3209,3829,3797,76.0,-9.8,109,636,0.00,2.33,0.00,0.000,3078,0.000,0.039,2501,1812,3813,3829,3797,0,0,0,0,0,0,14.85,14.75,14.85
$GC,702,-0.77,-272.5,2501,1811,3829,3797,83.7,-11.5,122,708,0.00,2.40,0.00,0.000,2564,0.000,0.062,2501,411,3813,3829,3797,0,0,0,0,0,0,15.10,14.84,15.11
$GC,722,-0.77,-272.5,2501,411,3829,3797,86.3,-11.5,125,729,0.00,2.33,0.00,0.000,3078,0.000,0.035,2501,1821,3813,3829,3797,0,0,0,0,0,0,14.97,14.88,14.99
$GC,794,-0.77,-272.5,2501,1823,3829,3797,93.4,-9.7,138,801,0.00,2.35,0.00,0.000,2308,0.000,0.054,2501,3218,3813,3829,3797,0,0,0,0,0,0,15.09,14.73,15.10
$STATE,852,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,852,begin apogee
$GC,860,-0.17,0.0,2501,1795,3829,3797,99.4,-7.5,149,1067,0.98,0.00,198.27,1.023,10246,0.116,0.000,2703,1795,2698,2730,2667,0,0,0,0,0,0,14.75,14.40,13.92
$STATE,1069,end apogee,CONTROL_FINISHED_OK
$STATE,1069,begin climb
$GC,1072,0.77,272.5,2703,1794,2728,2667,109.9,0.0,186,1291,1.42,2.42,206.50,1.014,10500,0.063,0.043,3015,3202,1588,1628,1548,0,0,0,0,0,0,14.46,14.31,13.95
$GC,1324,0.77,272.5,3014,3202,1622,1545,81.7,16.4,230,1331,0.00,2.42,0.00,0.000,5126,0.000,0.050,3017,1804,1581,1618,1545,0,0,0,0,0,0,14.64,14.54,14.65
$GC,1396,0.77,272.5,3016,1803,1622,1543,70.3,16.1,243,1402,0.00,2.47,0.00,0.000,4612,0.000,0.069,3023,388,1582,1622,1543,0,0,0,0,0,0,14.85,14.63,14.85
$GC,1426,0.77,272.5,3022,387,1621,1542,65.6,15.1,248,1433,0.05,2.35,0.00,0.000,5126,0.321,0.032,3012,1806,1581,1619,1543,0,0,0,0,0,0,14.55,14.72,14.75
$GC,1498,0.77,272.5,3011,1809,1621,1541,54.4,15.6,261,1504,0.00,2.33,0.00,0.000,4356,0.000,0.044,3011,3199,1580,1620,1541,0,0,0,0,0,0,14.97,14.71,14.97
$GC,1552,0.77,272.5,3011,3200,1620,1540,46.6,12.8,271,1559,0.00,2.38,0.00,0.000,5126,0.000,0.049,3011,1797,1580,1620,1541,0,0,0,0,0,0,14.79,14.69,14.81
$GC,1623,0.77,272.5,3011,1797,1620,1540,38.1,12.7,284,1629,0.00,0.00,0.00,0.000,4102,0.000,0.000,3011,1797,1580,1620,1540,0,0,0,0,0,0,15.03,15.03,15.03
$GC,1692,0.77,272.5,3011,1797,1620,1540,29.4,11.0,297,1698,0.00,2.42,0.00,0.000,4612,0.000,0.068,3017,387,1580,1621,1539,0,0,0,0,0,0,15.05,14.71,15.06
$GC,1716,0.77,272.5,3016,386,1621,1540,26.9,10.1,301,1723,0.00,2.33,0.00,0.000,5126,0.000,0.031,3017,1812,1580,1620,1540,0,0,0,0,0,0,14.95,14.88,14.96
$GC,1788,0.77,272.5,3016,1813,1620,1539,19.4,10.8,314,1793,0.00,0.00,0.00,0.000,4102,0.000,0.000,3017,1814,1579,1620,1539,0,0,0,0,0,0,15.07,15.07,15.07
$GC,1856,0.86,347.3,3016,1814,1620,1538,12.5,8.2,327,1906,0.00,0.00,47.65,0.832,11014,0.000,0.000,3017,1814,1283,1340,1227,0,0,0,0,0,0,15.08,14.66,14.23
$STATE,1939,end climb,FINISH_DEPTH_REACHED
$STATE,1939,begin subsurface finish
$FINISH1,4.9,1.024623,148
$GC,1946,0.18,147.6,3017,1814,1336,1222,4.9,8.2,342,1981,0.98,0.00,-27.17,0.000,20742,0.134,0.000,2820,1814,2100,2145,2056,0,0,0,0,0,0,14.63,14.00,14.71
$FINISH2,3.5
$STATE,1981,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1982,begin surface
$IRIDIUM_FIX,-3409.50,2530.83,200419,213456
$TT8_MAMPS,0.020972,0.951979
$HUMID,45.27
$INTERNAL_PRESSURE,9.47834
$TCM_TEMP,20.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.4,33.7
$SC_FREEKB,3673024
$24V_AH,13.86,145.767
$10V_AH,13.41,0.000
$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,18.000,47.475,452.425,0.000,0.000,24.195,51.741,355.282,2.250,0.000,15.719,626.564,248.910,513.057,1031.958,278.694,0.000,914.773,0.000,529.082,0.000,16.170,0.000
$DEVICE_MAMPS,321.300,83.385,1022.805,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2032.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.982,0.000,0.000,0.000
$MEM,340920
$DATA_FILE_SIZE,10129,348
$CAP_FILE_SIZE,70088,0
$CFSIZE,2097086464,2003632128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,200419,231251,-3423.298,2532.267,8,0.9,14,-27.9,1.1,60.6,10,9.5