version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 481
start: 4 21 119 4 3 56
data:
$ID,574
$MISSION,3
$DIVE,481
$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,37
$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
$GPS1,210419,032707,-3421.3315,2535.6780,7,0.9,15,-27.9,0.5,224.9,10,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.05
$_SM_ANGLEo,0.7
$GPS2,210419,032707,-3421.3315,2535.6780,7,0.9,15,-27.9,0.5,224.9,10,9.6
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3413.695,2544.914
$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,-272.5,2824,1799,2159,2072,0.0,0.0,0,32,0.00,0.00,-6.60,0.000,16386,0.000,0.000,2824,1799,2332,2377,2288,0,0,0,0,0,0,15.07,28.83,15.07
$GC,35,-0.77,-272.5,2824,1799,2376,2291,4.6,0.0,1,81,1.48,2.42,-37.42,0.000,20996,0.080,0.085,2509,411,3813,3828,3798,0,0,0,0,0,0,14.71,13.49,14.78
$GC,190,-0.77,-272.5,2508,411,3829,3798,26.5,-12.6,30,197,0.00,2.30,0.00,0.000,3078,0.000,0.033,2509,1806,3813,3829,3798,0,0,0,0,0,0,14.93,14.85,14.94
$GC,262,-0.77,-272.5,2508,1809,3830,3798,35.6,-13.7,43,268,0.00,2.38,0.00,0.000,2308,0.000,0.054,2509,3216,3814,3830,3798,0,0,0,0,0,0,15.09,14.85,15.09
$GC,292,-0.77,-272.5,2508,3216,3830,3798,39.4,-10.7,48,298,0.00,2.35,0.00,0.000,3078,0.000,0.041,2509,1808,3814,3830,3798,0,0,0,0,0,0,14.98,14.88,14.99
$GC,361,-0.77,-272.5,2508,1808,3830,3798,47.9,-13.0,61,367,0.00,0.00,0.00,0.000,2054,0.000,0.000,2509,1808,3813,3830,3797,0,0,0,0,0,0,15.11,15.11,15.11
$GC,432,-0.77,-272.5,2508,1808,3830,3798,56.6,-12.0,74,438,0.00,2.40,0.00,0.000,2564,0.000,0.063,2508,408,3814,3830,3798,0,0,0,0,0,0,15.11,14.85,15.11
$GC,472,-0.77,-272.5,2508,408,3823,3797,61.2,-11.1,81,478,0.00,2.33,0.00,0.000,3078,0.000,0.032,2509,1826,3813,3829,3798,0,0,0,0,0,0,14.99,14.90,15.00
$GC,544,-0.77,-272.5,2508,1827,3830,3798,68.5,-10.4,94,550,0.00,2.30,0.00,0.000,2308,0.000,0.052,2505,3206,3814,3831,3798,0,0,0,0,0,0,15.11,14.86,15.11
$GC,589,-0.77,-272.5,2505,3206,3831,3798,73.2,-8.7,102,595,0.00,2.30,0.00,0.000,3078,0.000,0.041,2506,1812,3814,3831,3798,0,0,0,0,0,0,14.99,14.88,15.00
$GC,664,-0.77,-272.5,2505,1812,3839,3798,80.4,-10.6,115,669,0.00,0.00,0.00,0.000,2054,0.000,0.000,2505,1812,3814,3831,3797,0,0,0,0,0,0,15.11,15.12,15.12
$GC,732,-0.77,-272.5,2505,1812,3831,3798,88.1,-11.6,128,738,0.00,0.00,0.00,0.000,2054,0.000,0.000,2505,1812,3814,3831,3797,0,0,0,0,0,0,15.11,15.11,15.11
$STATE,754,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,754,begin apogee
$GC,760,-0.17,0.0,2503,1812,3831,3797,90.9,-11.3,132,971,0.95,0.00,198.82,1.051,10246,0.125,0.000,2699,1812,2698,2732,2664,0,0,0,0,0,0,14.63,14.31,13.93
$STATE,972,end apogee,CONTROL_FINISHED_OK
$STATE,972,begin climb
$GC,975,0.77,272.5,2699,1811,2730,2664,104.5,0.0,170,1194,1.42,2.55,207.05,1.040,10756,0.061,0.070,3022,403,1587,1629,1546,0,0,0,0,0,0,14.47,14.35,13.93
$GC,1217,0.77,272.5,3021,403,1626,1545,86.0,18.6,211,1224,0.05,2.35,0.00,0.000,5126,0.316,0.031,3012,1802,1585,1625,1545,0,0,0,0,0,0,14.35,14.51,14.54
$GC,1289,0.77,272.5,3011,1804,1625,1542,74.9,15.2,224,1296,0.00,2.38,0.00,0.000,4356,0.000,0.046,3012,3200,1583,1625,1542,0,0,0,0,0,0,14.84,14.64,14.85
$GC,1349,0.77,272.5,3011,3200,1622,1541,65.4,16.0,235,1356,0.00,2.40,0.00,0.000,5126,0.000,0.052,3013,1800,1581,1622,1541,0,0,0,0,0,0,14.81,14.70,14.82
$GC,1421,0.77,272.5,3013,1800,1622,1541,54.7,14.6,248,1428,0.00,2.42,0.00,0.000,4612,0.000,0.068,3020,392,1581,1622,1541,0,0,0,0,0,0,14.97,14.66,14.97
$GC,1465,0.77,272.5,3020,391,1621,1541,47.8,15.2,256,1472,0.00,2.33,0.00,0.000,5126,0.000,0.031,3020,1808,1581,1621,1541,0,0,0,0,0,0,14.82,14.77,14.83
$GC,1537,0.77,272.5,3020,1811,1621,1540,37.6,14.5,269,1543,0.00,2.30,0.00,0.000,4356,0.000,0.044,3020,3195,1581,1622,1540,0,0,0,0,0,0,15.03,14.77,15.04
$GC,1557,0.77,272.5,3019,3194,1621,1540,34.2,15.9,272,1564,0.00,2.40,0.00,0.000,5126,0.000,0.052,3020,1798,1580,1621,1540,0,0,0,0,0,0,14.87,14.76,14.89
$GC,1629,0.77,272.5,3020,1798,1622,1540,25.3,11.2,285,1635,0.00,2.42,0.00,0.000,4612,0.000,0.069,3023,389,1580,1621,1540,0,0,0,0,0,0,15.04,14.79,15.04
$GC,1653,0.77,272.5,3023,389,1621,1539,22.5,10.6,289,1660,0.08,2.30,0.00,0.000,5126,0.265,0.031,3008,1801,1580,1621,1540,0,0,0,0,0,0,14.70,14.87,14.88
$GC,1726,0.79,287.5,3007,1803,1621,1539,15.6,9.6,302,1738,0.00,0.00,9.18,0.826,10246,0.000,0.000,3008,1804,1526,1570,1482,0,0,0,0,0,0,15.08,14.83,14.30
$GC,1803,0.83,318.9,3007,1803,1569,1480,7.8,9.2,316,1832,0.00,2.35,20.40,0.815,10500,0.000,0.047,3007,3194,1397,1447,1348,0,0,0,0,0,0,15.05,14.75,14.29
$STATE,1857,end climb,SURFACE_DEPTH_REACHED
$STATE,1857,begin surface coast
$FINISH,0.1,1.024660
$STATE,1895,end surface coast,CONTROL_FINISHED_OK
$STATE,1895,begin surface
$SM_CCo,1923,129.77,0.790,0,0,597,515.37
$SM_GC,0.94,13.52,2.38,129.77,0.042,0.047,0.790,117,1806,597,-8.18,1.05,515.37,0,0,0,0,0,0,14.84,14.81,14.12
$IRIDIUM_FIX,-3406.89,2533.19,210419,015756
$TT8_MAMPS,0.02247,0.924266
$HUMID,45.82
$INTERNAL_PRESSURE,9.33186
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,75.2,35.1
$SC_FREEKB,3669440
$24V_AH,13.49,147.097
$10V_AH,13.56,0.000
$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,17.500,49.725,435.450,129.775,0.000,0.000,0.000,0.000,1.750,0.000,0.000,639.874,263.735,574.258,590.762,128.684,0.000,945.887,0.000,505.604,0.000,13.140,0.000
$DEVICE_MAMPS,315.945,84.915,1051.110,790.245,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1945.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.917,0.000,0.000,0.000
$MEM,341056
$DATA_FILE_SIZE,6791,333
$CAP_FILE_SIZE,64010,0
$CFSIZE,2097086464,2002518016
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,1080.54,0x236098,1,24
$GPS,210419,043931,-3420.978,2536.666,8,1.1,40,-27.9,0.7,99.3,8,7.5