version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 478
start: 4 21 119 2 5 51
data:
$ID,574
$MISSION,3
$DIVE,478
$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,32
$R_STBD_OVSHOOT,57
$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
$GPS1,210419,015340,-3421.8884,2534.5496,8,1.3,20,-27.9,1.1,84.2,8,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-65.8
$GPS2,210419,020525,-3421.8086,2534.6462,7,1.0,41,-27.9,0.0,96.2,9,4.8
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3414.172,2543.883
$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,20,begin dive
$GC,23,-0.77,-272.5,52,1821,632,539,0.0,0.0,0,118,0.00,0.00,-92.15,0.000,16386,0.000,0.000,53,1818,2965,2932,2999,0,0,0,0,0,0,14.99,28.83,15.00
$GC,124,-0.77,-272.5,52,1818,2932,3001,3.5,-7.4,17,159,14.40,2.35,-14.02,0.000,18692,0.293,0.073,2493,3206,3814,3831,3797,0,0,0,0,0,0,14.52,13.92,14.82
$GC,319,-0.77,-272.5,2492,3206,3832,3795,38.3,-10.7,54,326,0.08,2.35,0.00,0.000,3078,0.233,0.041,2510,1799,3814,3832,3797,0,0,0,0,0,0,14.64,14.75,14.78
$GC,391,-0.77,-272.5,2510,1799,3831,3797,46.9,-12.8,67,397,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1799,3814,3832,3796,0,0,0,0,0,0,15.08,15.09,15.09
$GC,460,-0.77,-272.5,2510,1799,3832,3797,55.4,-11.4,80,466,0.00,2.35,0.00,0.000,516,0.000,0.062,2511,411,3813,3829,3797,0,0,0,0,0,0,15.08,14.78,15.09
$GC,494,-0.77,-272.5,2510,411,3832,3797,59.6,-11.7,86,501,0.00,2.30,0.00,0.000,1030,0.000,0.034,2511,1808,3814,3831,3797,0,0,0,0,0,0,14.84,14.76,14.85
$GC,567,-0.77,-272.5,2510,1812,3832,3797,67.3,-11.0,99,573,0.00,2.38,0.00,0.000,260,0.000,0.054,2511,3216,3816,3835,3797,0,0,0,0,0,0,15.09,14.85,15.09
$GC,612,-0.77,-272.5,2510,3216,3832,3797,71.8,-9.4,107,619,0.00,2.33,0.00,0.000,1030,0.000,0.037,2511,1809,3814,3832,3797,0,0,0,0,0,0,14.96,14.88,14.97
$GC,686,-0.77,-272.5,2510,1809,3832,3797,78.6,-9.4,120,692,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1809,3814,3832,3797,0,0,0,0,0,0,15.09,15.11,15.10
$GC,755,-0.77,-272.5,2510,1809,3832,3797,85.0,-9.4,133,762,0.00,2.38,0.00,0.000,260,0.000,0.050,2511,3209,3814,3831,3797,0,0,0,0,0,0,15.11,14.81,15.11
$GC,810,-0.77,-272.5,2510,3210,3831,3797,89.9,-7.8,143,817,0.00,2.33,0.00,0.000,1030,0.000,0.038,2511,1814,3814,3832,3797,0,0,0,0,0,0,14.92,14.83,14.93
$STATE,838,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,838,begin apogee
$GC,844,-0.17,0.0,2511,1813,3831,3797,92.4,-8.4,148,1048,0.95,0.00,197.77,1.020,10246,0.128,0.000,2705,1813,2701,2735,2667,0,0,0,0,0,0,14.73,14.45,13.97
$STATE,1051,end apogee,CONTROL_FINISHED_OK
$STATE,1052,begin climb
$GC,1054,0.77,272.5,2705,1813,2733,2665,106.7,0.0,185,1273,1.40,0.00,207.02,1.021,11014,0.056,0.000,3023,1813,1587,1629,1546,0,0,0,0,0,0,14.47,14.30,13.94
$GC,1336,0.77,272.5,3017,1813,1625,1542,81.9,17.5,235,1343,0.05,2.38,0.00,0.000,4356,0.347,0.041,3013,3211,1582,1623,1542,0,0,0,0,0,0,14.46,14.57,14.62
$GC,1356,0.77,272.5,3012,3211,1622,1541,78.3,17.3,238,1363,0.00,2.42,0.00,0.000,5126,0.000,0.049,3020,1804,1581,1622,1541,0,0,0,0,0,0,14.73,14.62,14.74
$GC,1428,0.77,272.5,3019,1805,1621,1540,66.3,16.8,251,1435,0.00,2.35,0.00,0.000,4356,0.000,0.044,3020,3201,1581,1622,1540,0,0,0,0,0,0,14.91,14.71,14.92
$GC,1452,0.77,272.5,3017,3201,1621,1540,61.5,18.5,255,1459,0.00,2.42,0.00,0.000,5126,0.000,0.054,3019,1796,1580,1621,1540,0,0,0,0,0,0,14.83,14.72,14.85
$GC,1524,0.77,272.5,3019,1795,1621,1541,48.3,18.3,268,1531,0.00,2.42,0.00,0.000,4612,0.000,0.069,3023,391,1580,1621,1540,0,0,0,0,0,0,14.98,14.67,14.99
$GC,1573,0.77,272.5,3023,390,1621,1540,40.6,14.9,277,1580,0.08,2.33,0.00,0.000,5126,0.261,0.032,3008,1806,1580,1621,1540,0,0,0,0,0,0,14.67,14.83,14.85
$GC,1645,0.77,272.5,3007,1809,1620,1537,31.7,11.4,290,1652,0.00,2.33,0.00,0.000,260,0.000,0.046,3006,3206,1578,1620,1536,0,0,0,0,0,0,15.04,14.78,15.04
$GC,1675,0.77,272.5,3007,3206,1619,1537,28.1,10.7,295,1682,0.00,2.40,0.00,0.000,1030,0.000,0.048,3007,1789,1578,1620,1537,0,0,0,0,0,0,14.86,14.76,14.88
$GC,1747,0.77,272.5,3007,1789,1621,1537,20.6,11.2,308,1754,0.00,2.40,0.00,0.000,516,0.000,0.068,3015,391,1579,1621,1537,0,0,0,0,0,0,15.06,14.81,15.07
$GC,1797,0.77,272.5,3011,391,1620,1537,14.3,11.6,317,1803,0.00,2.33,0.00,0.000,5126,0.000,0.031,3011,1818,1578,1620,1536,0,0,0,0,0,0,14.95,14.87,14.96
$GC,1869,0.89,366.7,3011,1820,1620,1536,8.1,7.7,330,1909,0.05,0.00,37.45,0.815,10498,0.258,0.000,3049,1827,1342,1394,1290,0,0,0,0,0,0,14.78,28.83,14.90
$STATE,1910,end climb,FINISH_DEPTH_REACHED
$STATE,1910,begin subsurface finish
$FINISH1,4.7,1.024577,150
$GC,1918,0.18,150.0,3049,1820,1390,1288,4.7,8.4,337,1953,1.15,2.30,-26.92,0.000,20740,0.152,0.067,2823,3187,2090,2135,2046,0,0,0,0,0,0,14.64,14.01,14.73
$FINISH2,2.7
$STATE,1954,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1954,begin surface
$IRIDIUM_FIX,-3406.89,2533.19,210419,003149
$TT8_MAMPS,0.021721,0.942991
$HUMID,45.70
$INTERNAL_PRESSURE,9.47834
$TCM_TEMP,20.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,75.5,37.0
$SC_FREEKB,3670976
$24V_AH,13.92,146.530
$10V_AH,13.46,0.000
$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,18.150,44.825,442.250,0.000,0.000,24.532,18.979,349.611,2.000,0.000,42.267,621.051,248.807,504.878,1014.786,278.324,0.000,901.146,0.000,526.623,0.000,13.137,0.000
$DEVICE_MAMPS,346.545,73.440,1020.510,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2006.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.374,0.000,0.000,0.000
$MEM,340920
$DATA_FILE_SIZE,10103,343
$CAP_FILE_SIZE,69597,0
$CFSIZE,2097086464,2002976768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,210419,020525,-3421.809,2534.646,7,1.0,41,-27.9,0.0,96.2,9,4.8