version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 496
start: 4 21 119 14 33 47
data:
$ID,574
$MISSION,3
$DIVE,496
$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,30
$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,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
$GPS1,210419,142231,-3419.6636,2544.3384,13,1.0,39,-27.9,0.5,100.9,8,5.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-69.8
$GPS2,210419,143322,-3419.7546,2544.4248,7,1.0,15,-27.9,0.0,14.1,9,9.9
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3410.402,2550.951
$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,57.9,20000,-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,-272.5,53,1811,632,538,0.0,0.0,0,118,0.00,0.00,-91.45,0.000,16386,0.000,0.000,52,1811,2922,2883,2961,0,0,0,0,0,0,14.97,28.83,14.97
$GC,124,-0.77,-272.5,52,1812,2883,2961,3.3,-6.5,17,160,14.55,2.50,-15.20,0.000,18948,0.301,0.087,2501,405,3814,3832,3797,0,0,0,0,0,0,14.50,13.45,14.77
$GC,199,-0.77,-272.5,2500,405,3832,3797,23.4,-16.6,30,206,0.00,2.33,0.00,0.000,3078,0.000,0.036,2501,1808,3814,3832,3796,0,0,0,0,0,0,14.83,14.72,14.82
$GC,271,-0.77,-272.5,2501,1811,3832,3796,33.4,-13.8,43,277,0.00,2.40,0.00,0.000,2308,0.000,0.056,2501,3220,3814,3832,3797,0,0,0,0,0,0,15.04,14.75,15.05
$GC,310,-0.77,-272.5,2501,3222,3833,3797,38.0,-10.3,50,317,0.00,2.38,0.00,0.000,3078,0.000,0.041,2501,1803,3814,3832,3796,0,0,0,0,0,0,14.83,14.73,14.85
$GC,382,-0.77,-272.5,2501,1803,3832,3797,46.6,-12.6,63,389,0.00,2.40,0.00,0.000,2564,0.000,0.063,2501,405,3814,3832,3797,0,0,0,0,0,0,15.07,14.81,15.07
$GC,416,-0.77,-272.5,2501,405,3832,3797,50.7,-11.3,69,423,0.00,2.35,0.00,0.000,3078,0.000,0.034,2500,1825,3814,3832,3797,0,0,0,0,0,0,14.92,14.81,14.93
$GC,488,-0.77,-272.5,2501,1828,3832,3796,58.2,-10.9,82,495,0.00,2.33,0.00,0.000,2308,0.000,0.054,2501,3211,3814,3832,3797,0,0,0,0,0,0,15.07,14.83,15.07
$GC,550,-0.77,-272.5,2500,3211,3832,3796,64.7,-9.0,93,559,0.00,2.33,0.00,0.000,3078,0.000,0.040,2501,1812,3814,3831,3797,0,0,0,0,0,0,14.83,14.74,14.85
$GC,625,-0.77,-272.5,2501,1812,3832,3797,72.3,-10.7,106,632,0.00,2.40,0.00,0.000,2564,0.000,0.062,2501,410,3814,3832,3797,0,0,0,0,0,0,15.09,14.76,15.11
$GC,675,-0.77,-272.5,2500,410,3832,3797,77.8,-10.2,115,682,0.00,2.33,0.00,0.000,3078,0.000,0.034,2501,1822,3814,3832,3796,0,0,0,0,0,0,14.87,14.78,14.88
$GC,744,-0.77,-272.5,2501,1824,3832,3796,85.4,-12.3,128,751,0.00,2.33,0.00,0.000,2308,0.000,0.054,2501,3210,3814,3832,3797,0,0,0,0,0,0,15.11,14.73,15.11
$STATE,756,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,756,begin apogee
$GC,765,-0.17,0.0,2501,1798,3832,3797,86.9,-11.1,130,976,0.98,0.00,199.52,1.015,10246,0.130,0.000,2700,1798,2698,2733,2663,0,0,0,0,0,0,14.72,14.30,13.93
$STATE,978,end apogee,CONTROL_FINISHED_OK
$STATE,978,begin climb
$GC,980,0.77,272.5,2699,1798,2732,2661,100.6,0.0,168,1200,1.42,2.55,207.75,1.007,10756,0.060,0.067,3023,392,1587,1629,1545,0,0,0,0,0,0,14.47,14.37,13.95
$GC,1244,0.77,272.5,3023,388,1623,1553,76.4,18.0,214,1251,0.08,2.38,0.00,0.000,5126,0.268,0.031,3009,1817,1584,1623,1545,0,0,0,0,0,0,14.45,14.58,14.60
$GC,1316,0.77,272.5,3008,1819,1622,1541,64.6,15.7,227,1323,0.00,2.50,0.00,0.000,4612,0.000,0.067,3017,392,1581,1622,1541,0,0,0,0,0,0,14.88,14.58,14.88
$GC,1351,0.77,272.5,3016,391,1622,1541,58.7,16.6,233,1358,0.00,2.33,0.00,0.000,5126,0.000,0.031,3016,1805,1581,1621,1541,0,0,0,0,0,0,14.74,14.66,14.76
$GC,1423,0.77,272.5,3016,1808,1621,1540,48.8,14.2,246,1430,0.00,2.33,0.00,0.000,4356,0.000,0.044,3017,3194,1580,1621,1540,0,0,0,0,0,0,14.97,14.76,14.98
$GC,1463,0.77,272.5,3017,3194,1621,1540,42.8,13.1,253,1469,0.00,2.38,0.00,0.000,5126,0.000,0.049,3017,1798,1580,1620,1540,0,0,0,0,0,0,14.88,14.77,14.89
$GC,1534,0.77,272.5,3017,1798,1620,1539,34.8,10.8,266,1540,0.00,2.42,0.00,0.000,4612,0.000,0.068,3017,389,1580,1621,1539,0,0,0,0,0,0,15.01,14.78,15.02
$GC,1564,0.77,272.5,3017,389,1621,1540,31.1,12.0,271,1571,0.03,2.30,0.00,0.000,5126,0.461,0.031,3011,1801,1580,1621,1539,0,0,0,0,0,0,14.69,14.85,14.86
$GC,1636,0.77,272.5,3010,1803,1621,1538,22.8,11.7,284,1642,0.00,0.00,0.00,0.000,4102,0.000,0.000,3011,1803,1579,1621,1538,0,0,0,0,0,0,15.06,15.06,15.06
$GC,1705,0.77,272.5,3010,1803,1620,1537,14.9,10.1,297,1712,0.00,2.42,0.00,0.000,4612,0.000,0.067,3011,395,1578,1620,1537,0,0,0,0,0,0,15.07,14.72,15.08
$GC,1730,0.78,283.9,3010,394,1621,1537,12.4,9.7,301,1744,0.00,2.28,6.22,0.708,9222,0.000,0.031,3011,1793,1539,1583,1496,0,0,0,0,0,0,14.87,14.85,14.25
$STATE,1805,end climb,FINISH_DEPTH_REACHED
$STATE,1805,begin subsurface finish
$FINISH1,4.9,1.024954,131
$GC,1812,0.16,130.6,3011,1794,1582,1494,4.9,9.9,315,1842,0.98,2.42,-21.70,0.000,20996,0.151,0.087,2816,392,2170,2214,2127,0,0,0,0,0,0,14.63,14.04,14.73
$FINISH2,3.4
$STATE,1843,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1843,begin surface
$IRIDIUM_FIX,-3406.89,2543.73,210419,130523
$TT8_MAMPS,0.021721,0.939246
$HUMID,45.47
$INTERNAL_PRESSURE,9.47834
$TCM_TEMP,20.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.4,35.1
$SC_FREEKB,3661760
$24V_AH,13.45,149.873
$10V_AH,13.49,0.000
$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,18.025,54.750,413.500,0.000,0.000,25.345,20.034,320.094,1.500,0.000,16.339,581.928,224.182,488.275,925.257,282.014,0.000,866.517,0.000,491.503,0.000,11.612,0.000
$DEVICE_MAMPS,461.295,87.210,1015.155,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1892.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.867,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,6820,320
$CAP_FILE_SIZE,67044,0
$CFSIZE,2097086464,2000027648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,210419,143322,-3419.755,2544.425,7,1.0,15,-27.9,0.0,14.1,9,9.9