version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 486
start: 4 21 119 7 36 37
data:
$ID,574
$MISSION,3
$DIVE,486
$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,33
$R_STBD_OVSHOOT,49
$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
$GPS1,210419,072427,-3420.3918,2538.7788,8,1.0,15,-27.9,0.6,74.8,8,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-70.2
$GPS2,210419,073612,-3420.4043,2538.8220,7,1.0,17,-27.9,0.6,88.6,8,9.8
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3414.210,2549.522
$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,-272.5,53,1805,629,542,0.0,0.0,0,118,0.00,0.00,-91.22,0.000,16386,0.000,0.000,54,1805,2950,2914,2986,0,0,0,0,0,0,14.97,28.83,14.98
$GC,123,-0.77,-272.5,53,1805,2915,2986,3.7,-7.7,17,159,14.50,2.40,-14.52,0.000,18948,0.298,0.083,2503,408,3814,3833,3796,0,0,0,0,0,0,14.51,13.88,14.78
$GC,189,-0.77,-272.5,2503,407,3833,3796,20.8,-16.9,28,196,0.00,2.33,0.00,0.000,3078,0.000,0.037,2501,1805,3814,3833,3796,0,0,0,0,0,0,14.90,14.80,14.91
$GC,261,-0.77,-272.5,2501,1807,3833,3796,32.1,-16.3,41,268,0.00,2.40,0.00,0.000,2308,0.000,0.055,2501,3218,3815,3833,3797,0,0,0,0,0,0,15.05,14.76,15.05
$GC,344,-0.77,-272.5,2501,3218,3833,3797,42.6,-11.4,56,351,0.00,2.35,0.00,0.000,3078,0.000,0.041,2501,1807,3814,3833,3796,0,0,0,0,0,0,14.92,14.83,14.92
$GC,416,-0.77,-272.5,2501,1807,3833,3796,51.6,-12.5,69,423,0.00,2.40,0.00,0.000,2564,0.000,0.063,2501,409,3814,3833,3796,0,0,0,0,0,0,15.10,14.77,15.09
$GC,456,-0.77,-272.5,2501,409,3833,3797,56.0,-10.3,76,462,0.00,2.33,0.00,0.000,3078,0.000,0.036,2501,1816,3814,3833,3796,0,0,0,0,0,0,14.90,14.81,14.92
$GC,528,-0.77,-272.5,2501,1820,3833,3796,62.3,-9.2,89,534,0.00,2.35,0.00,0.000,2308,0.000,0.055,2501,3211,3814,3833,3796,0,0,0,0,0,0,15.09,14.83,15.09
$GC,604,-0.77,-272.5,2501,3212,3833,3796,68.5,-7.6,103,611,0.00,2.33,0.00,0.000,3078,0.000,0.040,2501,1810,3814,3832,3796,0,0,0,0,0,0,14.96,14.87,14.98
$GC,678,-0.77,-272.5,2501,1811,3833,3796,76.2,-10.5,116,685,0.00,2.40,0.00,0.000,2564,0.000,0.060,2501,401,3814,3833,3796,0,0,0,0,0,0,15.10,14.84,15.10
$GC,712,-0.77,-272.5,2501,401,3833,3796,80.3,-11.7,122,719,0.00,2.33,0.00,0.000,3078,0.000,0.034,2500,1815,3814,3833,3796,0,0,0,0,0,0,14.97,14.89,14.99
$GC,784,-0.77,-272.5,2501,1817,3829,3797,87.7,-11.2,135,791,0.00,2.35,0.00,0.000,2308,0.000,0.054,2501,3213,3814,3832,3796,0,0,0,0,0,0,15.09,14.82,15.09
$STATE,801,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,802,begin apogee
$GC,810,-0.17,0.0,2500,1793,3833,3796,90.4,-12.6,138,1021,0.98,0.00,199.07,1.022,10246,0.121,0.000,2703,1795,2698,2733,2663,0,0,0,0,0,0,14.73,14.28,13.93
$STATE,1023,end apogee,CONTROL_FINISHED_OK
$STATE,1023,begin climb
$GC,1026,0.77,272.5,2702,1792,2733,2661,106.5,0.0,176,1245,1.40,0.00,207.52,1.019,10758,0.056,0.000,3018,1791,1587,1629,1545,0,0,0,0,0,0,14.48,14.30,13.90
$GC,1308,0.77,272.5,3023,1792,1626,1539,80.9,18.6,226,1314,0.00,2.42,0.00,0.000,4356,0.000,0.044,3018,3209,1583,1625,1542,0,0,0,0,0,0,14.81,14.60,14.81
$GC,1337,0.77,272.5,3018,3209,1622,1541,75.2,18.7,231,1344,0.00,2.45,0.00,0.000,5126,0.000,0.054,3020,1800,1581,1622,1540,0,0,0,0,0,0,14.71,14.61,14.73
$GC,1409,0.77,272.5,3020,1800,1622,1540,64.0,15.3,244,1416,0.00,2.42,0.00,0.000,4612,0.000,0.068,3022,389,1581,1622,1540,0,0,0,0,0,0,14.92,14.70,14.92
$GC,1434,0.77,272.5,3021,389,1622,1541,59.5,17.3,248,1442,0.05,2.33,0.00,0.000,5126,0.320,0.031,3012,1803,1581,1621,1541,0,0,0,0,0,0,14.59,14.78,14.79
$GC,1507,0.77,272.5,3011,1806,1621,1539,48.6,15.7,261,1512,0.00,0.00,0.00,0.000,4102,0.000,0.000,3011,1806,1580,1621,1539,0,0,0,0,0,0,15.00,15.00,15.00
$GC,1575,0.77,272.5,3011,1806,1622,1538,38.4,13.7,274,1580,0.00,0.00,0.00,0.000,4102,0.000,0.000,3011,1806,1580,1621,1539,0,0,0,0,0,0,15.02,15.03,15.03
$GC,1643,0.77,272.5,3011,1806,1621,1538,30.4,11.3,287,1650,0.00,2.45,0.00,0.000,4612,0.000,0.067,3011,391,1579,1621,1538,0,0,0,0,0,0,15.05,14.79,15.05
$GC,1673,0.77,272.5,3011,390,1621,1537,27.3,11.4,292,1679,0.00,2.33,0.00,0.000,5126,0.000,0.031,3011,1802,1579,1621,1538,0,0,0,0,0,0,14.90,14.82,14.92
$GC,1745,0.77,272.7,3011,1806,1624,1537,20.6,10.0,305,1751,0.00,2.33,0.00,0.000,4356,0.000,0.046,3011,3202,1579,1621,1537,0,0,0,0,0,0,15.06,14.84,15.05
$GC,1769,0.78,277.0,3011,3202,1621,1537,17.8,9.9,309,1776,0.00,2.38,0.00,0.000,5126,0.000,0.049,3011,1795,1576,1621,1531,0,0,0,0,0,0,14.95,14.82,14.96
$GC,1841,0.78,277.0,3011,1794,1621,1536,10.3,10.7,322,1848,0.00,2.42,0.00,0.000,4612,0.000,0.068,3017,388,1578,1621,1536,0,0,0,0,0,0,15.08,14.73,15.09
$GC,1861,0.78,277.0,3016,388,1621,1536,8.0,10.0,325,1868,0.00,2.33,0.00,0.000,5126,0.000,0.034,3016,1799,1577,1620,1534,0,0,0,0,0,0,14.87,14.80,14.88
$STATE,1888,end climb,FINISH_DEPTH_REACHED
$STATE,1888,begin subsurface finish
$FINISH1,4.7,1.025117,122
$GC,1896,0.15,122.2,3017,1802,1620,1535,4.7,10.3,330,1924,1.02,0.00,-22.17,0.000,20742,0.148,0.000,2811,1802,2205,2250,2160,0,0,0,0,0,0,14.72,13.54,14.82
$FINISH2,2.9
$STATE,1925,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1926,begin surface
$IRIDIUM_FIX,-3406.89,2537.90,210419,060513
$TT8_MAMPS,0.021721,0.933254
$HUMID,46.10
$INTERNAL_PRESSURE,9.47834
$TCM_TEMP,20.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,75.0,35.1
$SC_FREEKB,3666880
$24V_AH,13.54,148.020
$10V_AH,13.43,0.000
$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,17.950,52.200,406.600,0.000,0.000,26.297,43.461,345.887,2.000,0.000,18.334,618.213,240.850,487.412,1001.506,287.403,0.000,878.661,0.000,509.718,0.000,15.050,0.000
$DEVICE_MAMPS,319.770,83.385,1022.040,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1975.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.992,0.000,0.000,0.000
$MEM,340920
$DATA_FILE_SIZE,6817,335
$CAP_FILE_SIZE,68307,0
$CFSIZE,2097086464,2001666048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,210419,073612,-3420.404,2538.822,7,1.0,17,-27.9,0.6,88.6,8,9.8