version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 492
start: 4 21 119 11 49 22
data:
$ID,574
$MISSION,3
$DIVE,492
$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,30
$R_STBD_OVSHOOT,45
$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
$GPS1,210419,113719,-3419.9114,2542.3069,8,0.8,42,-27.9,0.6,90.8,9,4.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-72.5
$GPS2,210419,114857,-3419.9849,2542.4714,7,0.8,15,-27.9,0.6,202.8,9,9.2
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3413.791,2553.171
$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,-272.5,54,1815,630,539,0.0,0.0,0,118,0.00,0.00,-91.03,0.000,16386,0.000,0.000,54,1816,2918,2879,2957,0,0,0,0,0,0,14.97,28.83,14.98
$GC,123,-0.77,-272.5,53,1816,2881,2956,3.2,-6.0,17,159,14.40,2.47,-15.80,0.000,18948,0.291,0.083,2503,402,3812,3832,3793,0,0,0,0,0,0,14.49,13.43,14.76
$GC,233,-0.77,-272.5,2502,401,3833,3793,25.7,-12.5,37,240,0.00,2.33,0.00,0.000,3078,0.000,0.037,2502,1809,3812,3832,3792,0,0,0,0,0,0,14.92,14.83,14.93
$GC,305,-0.77,-272.5,2502,1811,3833,3793,34.4,-12.1,50,312,0.00,2.40,0.00,0.000,2308,0.000,0.055,2497,3221,3812,3832,3793,0,0,0,0,0,0,15.05,14.70,15.06
$GC,359,-0.77,-272.5,2497,3221,3833,3793,40.5,-8.7,60,366,0.00,2.38,0.00,0.000,3078,0.000,0.041,2497,1798,3813,3833,3793,0,0,0,0,0,0,14.83,14.74,14.85
$GC,431,-0.77,-272.5,2497,1798,3832,3793,47.8,-11.3,73,438,0.00,2.38,0.00,0.000,2564,0.000,0.062,2497,409,3812,3831,3793,0,0,0,0,0,0,15.08,14.77,15.09
$GC,461,-0.77,-272.5,2497,409,3832,3793,51.3,-11.8,78,468,0.00,2.33,0.00,0.000,3078,0.000,0.034,2498,1819,3812,3832,3793,0,0,0,0,0,0,14.90,14.82,14.92
$GC,533,-0.77,-272.5,2497,1822,3830,3793,58.5,-10.5,91,539,0.00,2.35,0.00,0.000,2308,0.000,0.054,2498,3213,3812,3832,3793,0,0,0,0,0,0,15.08,14.83,15.08
$GC,573,-0.77,-272.5,2497,3213,3833,3793,62.7,-9.8,98,579,0.00,2.35,0.00,0.000,3078,0.000,0.040,2497,1801,3813,3833,3793,0,0,0,0,0,0,14.96,14.86,14.97
$GC,649,-0.77,-272.5,2497,1801,3833,3793,70.2,-10.9,111,656,0.00,2.38,0.00,0.000,2564,0.000,0.063,2498,409,3812,3832,3792,0,0,0,0,0,0,15.11,14.80,15.11
$GC,699,-0.77,-272.5,2497,409,3832,3793,76.1,-9.4,120,706,0.00,2.30,0.00,0.000,3078,0.000,0.033,2497,1814,3812,3832,3793,0,0,0,0,0,0,14.97,14.89,14.99
$GC,771,-0.77,-272.5,2497,1816,3832,3793,83.1,-10.7,133,778,0.00,2.35,0.00,0.000,2308,0.000,0.052,2497,3210,3812,3832,3792,0,0,0,0,0,0,15.11,14.80,15.11
$STATE,803,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,803,begin apogee
$GC,811,-0.17,0.0,2497,1795,3832,3793,86.6,-9.8,139,1022,1.00,0.00,198.68,1.019,10246,0.124,0.000,2700,1795,2701,2737,2666,0,0,0,0,0,0,14.63,14.34,13.95
$STATE,1024,end apogee,CONTROL_FINISHED_OK
$STATE,1024,begin climb
$GC,1026,0.77,272.5,2701,1795,2735,2665,101.9,0.0,177,1246,1.42,0.00,209.20,1.014,10758,0.054,0.000,3025,1795,1585,1629,1542,0,0,0,0,0,0,14.49,14.38,13.89
$GC,1309,0.77,272.5,3024,1795,1625,1542,72.8,19.4,227,1316,0.08,0.00,0.00,0.000,4102,0.282,0.000,3007,1794,1583,1625,1542,0,0,0,0,0,0,14.40,14.55,14.50
$GC,1381,0.77,272.5,3007,1795,1624,1541,62.4,14.5,240,1387,0.00,2.45,0.00,0.000,516,0.000,0.068,3015,388,1582,1624,1541,0,0,0,0,0,0,14.88,14.66,14.88
$GC,1400,0.77,272.5,3014,387,1622,1541,59.6,13.4,243,1407,0.00,2.35,0.00,0.000,5126,0.000,0.031,3015,1810,1581,1622,1541,0,0,0,0,0,0,14.83,14.76,14.83
$GC,1472,0.77,272.5,3015,1813,1622,1539,48.2,16.2,256,1478,0.00,0.00,0.00,0.000,4102,0.000,0.000,3015,1813,1580,1622,1539,0,0,0,0,0,0,14.98,14.98,14.98
$GC,1541,0.77,272.5,3015,1813,1622,1539,38.5,13.9,269,1547,0.00,2.45,0.00,0.000,4612,0.000,0.067,3017,395,1580,1622,1539,0,0,0,0,0,0,15.01,14.76,15.02
$GC,1561,0.77,272.5,3017,395,1622,1539,35.9,13.0,272,1567,0.00,2.30,0.00,0.000,5126,0.000,0.031,3017,1803,1580,1622,1539,0,0,0,0,0,0,14.91,14.83,14.92
$GC,1632,0.77,272.5,3017,1807,1622,1538,27.0,14.3,285,1638,0.00,2.30,0.00,0.000,4356,0.000,0.046,3017,3197,1579,1621,1537,0,0,0,0,0,0,15.04,14.73,15.04
$GC,1671,0.77,272.5,3017,3197,1621,1537,21.7,12.8,292,1678,0.00,2.38,0.00,0.000,5126,0.000,0.051,3016,1795,1578,1621,1536,0,0,0,0,0,0,14.93,14.83,14.95
$GC,1743,0.77,272.5,3017,1795,1621,1537,13.1,11.0,305,1749,0.00,2.40,0.00,0.000,4612,0.000,0.067,3020,395,1579,1621,1537,0,0,0,0,0,0,15.07,14.77,15.07
$GC,1782,0.77,272.5,3019,395,1621,1536,8.1,11.4,312,1789,0.00,2.30,0.00,0.000,5126,0.000,0.031,3020,1810,1578,1620,1537,0,0,0,0,0,0,14.88,14.79,14.89
$STATE,1810,end climb,FINISH_DEPTH_REACHED
$STATE,1810,begin subsurface finish
$FINISH1,4.9,1.025443,105
$GC,1817,0.13,105.4,3020,1813,1621,1536,4.9,10.7,317,1846,1.08,0.00,-23.90,0.000,20742,0.153,0.000,2806,1813,2273,2319,2227,0,0,0,0,0,0,14.71,13.57,14.82
$FINISH2,3.4
$STATE,1847,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1847,begin surface
$IRIDIUM_FIX,-3404.29,2541.38,210419,101901
$TT8_MAMPS,0.021721,0.90629
$HUMID,46.06
$INTERNAL_PRESSURE,9.48811
$TCM_TEMP,20.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.2,36.1
$SC_FREEKB,3663808
$24V_AH,13.43,149.135
$10V_AH,13.50,0.000
$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,17.975,47.325,407.875,0.000,0.000,25.915,41.724,348.738,1.750,0.000,16.342,587.346,229.434,481.002,971.655,281.221,0.000,858.510,0.000,488.878,0.000,13.550,0.000
$DEVICE_MAMPS,291.465,83.385,1018.980,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1895.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.031,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,6817,322
$CAP_FILE_SIZE,65018,0
$CFSIZE,2097086464,2000715776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,210419,114857,-3419.985,2542.471,7,0.8,15,-27.9,0.6,202.8,9,9.2