version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 494
start: 4 21 119 13 13 32
data:
$ID,574
$MISSION,3
$DIVE,494
$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,31
$R_STBD_OVSHOOT,57
$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
$GPS1,210419,130101,-3419.7554,2543.3782,8,0.9,32,-27.9,0.6,151.6,8,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-74.1
$GPS2,210419,131306,-3419.8081,2543.5713,7,1.2,47,-27.9,0.4,106.5,7,4.4
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3413.614,2554.271
$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,-272.5,59,1809,630,540,0.0,0.0,0,117,0.00,0.00,-91.78,0.000,16386,0.000,0.000,51,1810,2953,2917,2990,0,0,0,0,0,0,15.00,28.83,15.00
$GC,123,-0.77,-272.5,52,1810,2918,2990,3.5,-8.0,17,160,14.45,2.47,-14.95,0.000,18948,0.295,0.087,2502,406,3815,3834,3797,0,0,0,0,0,0,14.50,13.43,14.81
$GC,219,-0.77,-272.5,2502,406,3834,3797,24.5,-14.9,34,226,0.00,2.33,0.00,0.000,3078,0.000,0.037,2502,1804,3816,3834,3798,0,0,0,0,0,0,14.83,14.73,14.83
$GC,291,-0.77,-272.5,2502,1806,3834,3797,35.3,-15.5,47,298,0.00,2.40,0.00,0.000,2308,0.000,0.054,2498,3220,3815,3833,3797,0,0,0,0,0,0,15.07,14.81,15.06
$GC,361,-0.77,-272.5,2497,3220,3834,3797,44.6,-11.2,60,367,0.00,2.38,0.00,0.000,3078,0.000,0.040,2498,1802,3815,3834,3797,0,0,0,0,0,0,14.94,14.84,14.95
$GC,433,-0.77,-272.5,2497,1802,3834,3797,52.5,-12.0,73,439,0.00,0.00,0.00,0.000,2054,0.000,0.000,2498,1802,3814,3834,3795,0,0,0,0,0,0,15.07,15.07,15.07
$GC,501,-0.77,-272.5,2497,1801,3834,3797,60.7,-10.7,86,507,0.00,0.00,0.00,0.000,2054,0.000,0.000,2498,1802,3815,3834,3797,0,0,0,0,0,0,15.09,15.09,15.09
$GC,569,-0.77,-272.5,2497,1802,3834,3797,68.6,-12.0,99,576,0.00,2.40,0.00,0.000,2308,0.000,0.053,2500,3215,3815,3834,3797,0,0,0,0,0,0,15.10,14.75,15.10
$GC,587,-0.77,-272.5,2496,3216,3834,3797,70.4,-12.5,101,594,0.00,2.35,0.00,0.000,3078,0.000,0.041,2496,1807,3815,3833,3797,0,0,0,0,0,0,14.96,14.85,14.97
$GC,657,-0.77,-272.5,2496,1807,3834,3797,79.0,-11.7,114,664,0.00,2.40,0.00,0.000,2564,0.000,0.062,2496,402,3815,3834,3797,0,0,0,0,0,0,15.09,14.83,15.10
$GC,702,-0.77,-272.5,2496,402,3834,3797,84.2,-11.0,122,709,0.00,2.33,0.00,0.000,3078,0.000,0.034,2495,1816,3815,3834,3797,0,0,0,0,0,0,14.97,14.88,14.98
$STATE,719,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,719,begin apogee
$GC,726,-0.17,0.0,2496,1819,3834,3797,86.1,-10.0,125,937,1.00,0.00,199.50,1.017,10246,0.132,0.000,2698,1820,2699,2735,2664,0,0,0,0,0,0,14.63,14.33,13.95
$STATE,938,end apogee,CONTROL_FINISHED_OK
$STATE,939,begin climb
$GC,941,0.77,272.5,2698,1820,2733,2663,101.5,0.0,163,1166,1.42,2.58,208.95,1.009,10756,0.059,0.067,3023,398,1587,1629,1545,0,0,0,0,0,0,14.47,14.38,13.92
$GC,1184,0.77,272.5,3023,398,1629,1545,80.4,17.8,205,1191,0.05,2.38,0.00,0.000,5126,0.316,0.034,3012,1809,1588,1624,1553,0,0,0,0,0,0,14.38,14.53,14.54
$GC,1256,0.77,272.5,3012,1812,1624,1542,68.9,15.5,218,1263,0.00,2.50,0.00,0.000,4612,0.000,0.068,3020,393,1582,1624,1541,0,0,0,0,0,0,14.85,14.54,14.85
$GC,1291,0.77,272.5,3020,393,1622,1542,62.9,17.8,224,1298,0.00,2.33,0.00,0.000,5126,0.000,0.032,3020,1802,1581,1622,1541,0,0,0,0,0,0,14.75,14.72,14.76
$GC,1364,0.77,272.5,3019,1805,1622,1540,50.3,18.2,237,1370,0.00,0.00,0.00,0.000,4102,0.000,0.000,3020,1805,1581,1622,1540,0,0,0,0,0,0,14.96,14.97,14.96
$GC,1433,0.77,272.5,3019,1805,1622,1540,37.9,17.0,250,1439,0.00,0.00,0.00,0.000,4102,0.000,0.000,3019,1805,1580,1622,1539,0,0,0,0,0,0,15.00,15.01,15.01
$GC,1502,0.77,272.5,3019,1805,1622,1539,28.3,13.0,263,1509,0.00,2.45,0.00,0.000,4612,0.000,0.068,3023,393,1580,1621,1539,0,0,0,0,0,0,15.04,14.71,15.04
$GC,1516,0.77,272.5,3023,393,1621,1539,26.7,12.1,265,1523,0.08,2.33,0.00,0.000,5126,0.259,0.033,3008,1820,1582,1626,1539,0,0,0,0,0,0,14.62,14.83,14.77
$GC,1589,0.77,272.5,3007,1822,1621,1538,18.6,11.9,278,1594,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1822,1579,1621,1538,0,0,0,0,0,0,15.04,15.06,15.05
$GC,1657,0.77,272.5,3007,1822,1621,1537,10.3,10.4,291,1664,0.00,2.47,0.00,0.000,516,0.000,0.067,3007,392,1579,1621,1537,0,0,0,0,0,0,15.07,14.77,15.07
$GC,1678,0.79,287.1,3007,392,1620,1537,8.3,9.6,294,1696,0.00,2.30,8.32,0.723,11270,0.000,0.032,3007,1797,1526,1571,1481,0,0,0,0,0,0,14.91,14.83,14.26
$STATE,1711,end climb,FINISH_DEPTH_REACHED
$STATE,1711,begin subsurface finish
$FINISH1,4.7,1.025452,105
$GC,1719,0.13,104.9,3007,1796,1570,1481,4.7,10.2,300,1748,1.00,0.00,-25.23,0.000,20742,0.151,0.000,2807,1796,2274,2320,2228,0,0,0,0,0,0,14.68,13.59,14.77
$FINISH2,3.4
$STATE,1749,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1749,begin surface
$IRIDIUM_FIX,-3404.29,2541.38,210419,114140
$TT8_MAMPS,0.021721,0.865095
$HUMID,45.51
$INTERNAL_PRESSURE,9.49787
$TCM_TEMP,20.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.4,35.2
$SC_FREEKB,3662784
$24V_AH,13.43,149.506
$10V_AH,13.58,0.000
$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,18.000,38.375,416.775,0.000,0.000,27.371,37.859,343.644,1.500,0.000,48.648,541.241,207.701,487.553,971.035,272.647,0.000,854.907,0.000,464.974,0.000,11.624,0.000
$DEVICE_MAMPS,315.945,87.210,1016.685,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1801.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.015,0.000,0.000,0.000
$MEM,340920
$DATA_FILE_SIZE,6808,305
$CAP_FILE_SIZE,62089,0
$CFSIZE,2097086464,2000388096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,210419,131306,-3419.808,2543.571,7,1.2,47,-27.9,0.4,106.5,7,4.4