version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 484
start: 4 21 119 6 12 33
data:
$ID,574
$MISSION,3
$DIVE,484
$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,55
$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,29
$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
$GPS1,210419,060101,-3420.6504,2537.6917,10,0.9,33,-27.9,0.3,99.4,9,6.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-72.9
$GPS2,210419,061207,-3420.5901,2537.7158,7,0.9,15,-27.9,0.7,71.2,9,9.1
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3414.396,2548.417
$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,82.9,20000,-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,-272.5,54,1794,629,543,0.0,0.0,0,119,0.00,0.00,-92.30,0.000,16386,0.000,0.000,54,1795,2972,2936,3009,0,0,0,0,0,0,14.97,28.83,14.97
$GC,125,-0.77,-272.5,54,1795,2937,3009,3.7,-8.4,17,160,14.38,2.40,-13.57,0.000,19204,0.291,0.082,2502,397,3813,3831,3795,0,0,0,0,0,0,14.53,13.90,14.82
$GC,316,-0.77,-272.5,2501,397,3831,3795,37.9,-10.8,53,322,0.00,2.35,0.00,0.000,3078,0.000,0.036,2501,1811,3813,3832,3795,0,0,0,0,0,0,14.89,14.80,14.90
$GC,387,-0.77,-272.5,2502,1813,3831,3795,47.7,-14.8,66,394,0.00,2.38,0.00,0.000,2308,0.000,0.054,2501,3217,3813,3832,3795,0,0,0,0,0,0,15.07,14.83,15.07
$GC,422,-0.77,-272.5,2501,3217,3832,3795,52.5,-12.5,72,429,0.00,2.38,0.00,0.000,3078,0.000,0.041,2501,1798,3813,3832,3795,0,0,0,0,0,0,14.95,14.83,14.96
$GC,493,-0.77,-272.5,2501,1798,3832,3795,60.6,-12.2,85,499,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1798,3813,3831,3795,0,0,0,0,0,0,15.09,15.09,15.09
$GC,562,-0.77,-272.5,2501,1798,3832,3795,68.9,-11.7,98,569,0.00,2.42,0.00,0.000,2308,0.000,0.054,2501,3221,3813,3832,3795,0,0,0,0,0,0,15.11,14.83,15.09
$GC,597,-0.77,-272.5,2500,3222,3832,3795,72.7,-10.7,104,604,0.00,2.35,0.00,0.000,3078,0.000,0.041,2501,1812,3813,3832,3795,0,0,0,0,0,0,14.96,14.86,14.98
$GC,672,-0.77,-272.5,2500,1812,3832,3795,81.0,-11.9,117,679,0.00,2.40,0.00,0.000,2564,0.000,0.062,2501,409,3813,3831,3795,0,0,0,0,0,0,15.10,14.84,15.10
$GC,707,-0.77,-272.5,2501,409,3831,3795,85.3,-12.0,123,714,0.00,2.33,0.00,0.000,3078,0.000,0.032,2501,1826,3813,3832,3795,0,0,0,0,0,0,14.97,14.90,15.00
$STATE,764,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,764,begin apogee
$GC,771,-0.17,0.0,2501,1827,3831,3795,91.3,-9.7,134,977,0.98,0.00,197.93,1.022,10246,0.128,0.000,2700,1829,2698,2733,2664,0,0,0,0,0,0,14.66,14.39,13.93
$STATE,979,end apogee,CONTROL_FINISHED_OK
$STATE,979,begin climb
$GC,982,0.77,272.5,2700,1829,2732,2662,105.1,0.0,171,1202,1.38,2.55,207.02,1.012,10756,0.072,0.067,3003,400,1588,1631,1546,0,0,0,0,0,0,14.47,14.31,13.93
$GC,1250,0.77,272.5,3002,400,1624,1545,78.3,16.9,218,1257,0.00,2.35,0.00,0.000,1030,0.000,0.037,3003,1796,1584,1624,1545,0,0,0,0,0,0,14.66,14.59,14.68
$GC,1322,0.77,272.5,3002,1799,1623,1542,65.3,18.2,231,1329,0.00,2.45,0.00,0.000,516,0.000,0.070,3005,395,1582,1623,1542,0,0,0,0,0,0,14.88,14.57,14.87
$GC,1352,0.77,272.5,3003,393,1623,1542,60.3,15.1,236,1359,0.00,2.33,0.00,0.000,1030,0.000,0.032,3003,1809,1582,1622,1543,0,0,0,0,0,0,14.73,14.67,14.74
$GC,1423,0.77,272.5,3003,1812,1622,1541,50.5,13.7,249,1430,0.00,2.33,0.00,0.000,260,0.000,0.046,3003,3196,1581,1622,1541,0,0,0,0,0,0,14.97,14.73,14.98
$GC,1458,0.77,272.5,3003,3196,1621,1540,45.3,13.2,255,1464,0.00,2.38,0.00,0.000,1030,0.000,0.049,3003,1796,1580,1621,1540,0,0,0,0,0,0,14.79,14.71,14.81
$GC,1530,0.77,272.5,3003,1799,1622,1540,37.6,10.7,268,1536,0.00,2.42,0.00,0.000,516,0.000,0.069,3005,391,1581,1622,1540,0,0,0,0,0,0,15.02,14.78,15.02
$GC,1589,0.77,272.5,3005,391,1620,1540,31.0,10.9,279,1596,0.00,2.33,0.00,0.000,1030,0.000,0.031,3006,1809,1580,1621,1540,0,0,0,0,0,0,14.92,14.85,14.96
$GC,1661,0.77,272.5,3005,1812,1621,1539,23.4,11.5,292,1668,0.00,2.30,0.00,0.000,260,0.000,0.047,3006,3199,1580,1622,1538,0,0,0,0,0,0,15.04,14.83,15.04
$GC,1686,0.77,272.5,3005,3199,1621,1538,20.4,10.7,296,1693,0.00,2.35,0.00,0.000,1030,0.000,0.048,3006,1803,1579,1621,1538,0,0,0,0,0,0,14.93,14.84,14.95
$GC,1757,0.81,303.8,3006,1803,1621,1538,13.7,9.2,309,1787,0.00,2.45,19.58,0.832,10756,0.000,0.070,3010,399,1458,1506,1411,0,0,0,0,0,0,15.07,14.70,14.31
$GC,1826,0.81,303.8,3009,399,1503,1410,6.6,10.0,321,1833,0.00,2.30,0.00,0.000,3078,0.000,0.032,3010,1802,1456,1503,1409,0,0,0,0,0,0,14.91,14.84,14.92
$STATE,1838,end climb,FINISH_DEPTH_REACHED
$STATE,1838,begin subsurface finish
$FINISH1,4.9,1.024831,137
$GC,1845,0.17,136.9,3010,1804,1503,1408,4.9,10.0,323,1880,0.95,2.35,-23.52,0.000,20740,0.140,0.069,2817,3194,2147,2192,2102,0,0,0,0,0,0,14.69,13.50,14.78
$FINISH2,3.2
$STATE,1881,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1882,begin surface
$IRIDIUM_FIX,-3406.89,2533.19,210419,044347
$TT8_MAMPS,0.020223,0.926513
$HUMID,45.94
$INTERNAL_PRESSURE,9.48811
$TCM_TEMP,20.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,75.3,35.6
$SC_FREEKB,3667904
$24V_AH,13.50,147.648
$10V_AH,13.45,0.000
$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,17.675,49.875,424.525,0.000,0.000,22.596,21.336,342.131,1.750,0.000,16.830,592.415,233.972,492.995,954.870,281.676,0.000,877.022,0.000,499.302,0.000,13.145,0.000
$DEVICE_MAMPS,291.465,81.855,1022.040,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1932.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.155,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,6820,329
$CAP_FILE_SIZE,66812,0
$CFSIZE,2097086464,2001993728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,210419,061207,-3420.590,2537.716,7,0.9,15,-27.9,0.7,71.2,9,9.1