version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 490
start: 4 21 119 10 27 14
data:
$ID,574
$MISSION,3
$DIVE,490
$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,32
$R_STBD_OVSHOOT,47
$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
$GPS1,210419,101446,-3420.0200,2541.1914,8,1.1,17,-27.9,0.9,121.4,8,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-69.5
$GPS2,210419,102648,-3420.0916,2541.3435,7,1.2,47,-27.9,0.5,307.2,7,4.5
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3413.897,2552.043
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.77,-272.5,55,1814,630,540,0.0,0.0,0,118,0.00,0.00,-91.95,0.000,16386,0.000,0.000,55,1815,2943,2907,2980,0,0,0,0,0,0,15.00,28.83,15.00
$GC,123,-0.77,-272.5,54,1812,2906,2977,3.3,-7.2,17,159,14.48,2.47,-15.15,0.000,18948,0.300,0.083,2501,403,3814,3832,3797,0,0,0,0,0,0,14.53,13.44,14.81
$GC,213,-0.77,-272.5,2501,404,3833,3797,24.2,-13.7,33,220,0.00,2.33,0.00,0.000,3078,0.000,0.037,2501,1805,3815,3833,3797,0,0,0,0,0,0,14.92,14.82,14.92
$GC,285,-0.77,-272.5,2501,1807,3833,3797,33.9,-13.6,46,292,0.00,2.40,0.00,0.000,2308,0.000,0.056,2501,3220,3811,3825,3797,0,0,0,0,0,0,15.06,14.77,15.07
$GC,330,-0.77,-272.5,2501,3220,3837,3797,38.8,-10.3,54,337,0.00,2.38,0.00,0.000,3078,0.000,0.041,2501,1800,3815,3833,3797,0,0,0,0,0,0,14.88,14.78,14.90
$GC,402,-0.77,-272.5,2501,1799,3833,3797,47.5,-12.3,67,408,0.00,2.38,0.00,0.000,2564,0.000,0.063,2501,409,3815,3833,3797,0,0,0,0,0,0,15.06,14.81,15.07
$GC,442,-0.77,-272.5,2501,409,3832,3796,52.5,-11.3,74,448,0.00,2.33,0.00,0.000,3078,0.000,0.036,2501,1814,3819,3841,3797,0,0,0,0,0,0,14.95,14.86,14.97
$GC,515,-0.77,-272.5,2501,1817,3832,3797,59.9,-10.4,87,523,0.00,2.38,0.00,0.000,2308,0.000,0.055,2501,3221,3814,3832,3797,0,0,0,0,0,0,15.09,14.78,15.08
$GC,574,-0.77,-272.5,2501,3217,3833,3797,65.4,-8.9,97,581,0.00,2.35,0.00,0.000,3078,0.000,0.039,2501,1802,3815,3833,3797,0,0,0,0,0,0,14.84,14.74,14.85
$GC,648,-0.77,-272.5,2501,1802,3833,3797,72.7,-10.1,110,654,0.00,2.38,0.00,0.000,2564,0.000,0.061,2501,409,3815,3833,3797,0,0,0,0,0,0,15.09,14.83,15.09
$GC,688,-0.77,-272.5,2501,408,3832,3797,77.2,-9.6,117,695,0.00,2.33,0.00,0.000,3078,0.000,0.035,2501,1823,3814,3832,3797,0,0,0,0,0,0,14.97,14.88,14.99
$GC,760,-0.77,-272.5,2500,1823,3832,3797,84.0,-9.7,130,767,0.00,2.35,0.00,0.000,2308,0.000,0.052,2501,3218,3814,3831,3797,0,0,0,0,0,0,15.11,14.79,15.11
$STATE,778,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,778,begin apogee
$GC,786,-0.17,0.0,2501,1794,3833,3797,85.9,-9.4,133,991,0.98,0.00,198.88,1.015,10246,0.124,0.000,2700,1794,2700,2736,2664,0,0,0,0,0,0,14.69,14.45,13.96
$STATE,995,end apogee,CONTROL_FINISHED_OK
$STATE,995,begin climb
$GC,997,0.77,272.5,2700,1794,2732,2662,99.7,0.0,170,1218,1.42,2.53,207.98,1.005,10756,0.065,0.067,3020,396,1588,1630,1547,0,0,0,0,0,0,14.45,14.39,13.95
$GC,1337,0.77,272.5,3019,396,1621,1547,63.0,15.0,231,1344,0.00,2.33,0.00,0.000,5126,0.000,0.033,3020,1802,1583,1621,1545,0,0,0,0,0,0,14.73,14.73,14.73
$GC,1409,0.77,272.5,3019,1803,1621,1543,51.0,18.4,244,1416,0.00,2.35,0.00,0.000,4356,0.000,0.046,3019,3201,1585,1621,1549,0,0,0,0,0,0,14.96,14.71,14.95
$GC,1453,0.77,272.5,3019,3201,1625,1541,43.5,14.7,252,1460,0.00,2.40,0.00,0.000,5126,0.000,0.051,3020,1794,1581,1621,1541,0,0,0,0,0,0,14.82,14.68,14.81
$GC,1525,0.77,272.5,3019,1794,1621,1541,35.9,10.3,265,1531,0.00,2.42,0.00,0.000,4612,0.000,0.068,3022,389,1581,1621,1541,0,0,0,0,0,0,15.02,14.77,15.03
$GC,1555,0.77,272.5,3021,389,1621,1541,32.4,12.0,270,1562,0.05,2.33,0.00,0.000,5126,0.316,0.032,3011,1800,1580,1621,1540,0,0,0,0,0,0,14.66,14.83,14.86
$GC,1627,0.77,272.5,3011,1802,1622,1540,23.9,11.9,283,1633,0.00,2.33,0.00,0.000,4356,0.000,0.045,3011,3206,1580,1621,1540,0,0,0,0,0,0,15.04,14.82,15.04
$GC,1656,0.77,272.5,3011,3206,1621,1539,20.6,10.1,288,1663,0.00,2.38,0.00,0.000,5126,0.000,0.048,3011,1798,1580,1621,1539,0,0,0,0,0,0,14.93,14.83,14.95
$GC,1728,0.77,272.6,3011,1797,1620,1539,13.2,10.0,301,1734,0.00,0.00,0.00,0.000,4102,0.000,0.000,3011,1798,1580,1621,1539,0,0,0,0,0,0,15.07,15.07,15.07
$GC,1798,0.79,286.6,3010,1798,1621,1538,6.2,9.7,314,1811,0.00,2.45,7.97,0.717,8708,0.000,0.068,3011,395,1529,1573,1485,0,0,0,0,0,0,15.08,14.81,14.28
$STATE,1816,end climb,FINISH_DEPTH_REACHED
$STATE,1816,begin subsurface finish
$FINISH1,4.3,1.025143,121
$GC,1826,0.15,120.8,3011,1812,1572,1484,4.3,9.7,317,1861,1.00,2.42,-25.67,0.000,20996,0.151,0.083,2810,392,2210,2256,2165,0,0,0,0,0,0,14.71,13.55,14.81
$FINISH2,2.3
$STATE,1862,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1862,begin surface
$IRIDIUM_FIX,-3406.89,2541.38,210419,085448
$TT8_MAMPS,0.021721,0.916776
$HUMID,45.66
$INTERNAL_PRESSURE,9.48811
$TCM_TEMP,20.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.2,35.7
$SC_FREEKB,3664832
$24V_AH,13.44,148.764
$10V_AH,13.59,0.000
$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,17.925,54.750,414.825,0.000,0.000,22.923,39.022,346.097,1.500,0.000,48.647,591.205,233.079,486.101,998.291,283.957,0.000,863.933,0.000,490.525,0.000,11.611,0.000
$DEVICE_MAMPS,315.945,83.385,1015.155,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1914.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.152,0.000,0.000,0.000
$MEM,340920
$DATA_FILE_SIZE,6816,323
$CAP_FILE_SIZE,67196,0
$CFSIZE,2097086464,2001010688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,210419,102648,-3420.092,2541.344,7,1.2,47,-27.9,0.5,307.2,7,4.5