version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 498
start: 4 21 119 15 54 17
data:
$ID,574
$MISSION,3
$DIVE,498
$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,40
$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
$GPS1,210419,154226,-3419.5786,2545.0591,8,0.9,18,-27.9,0.5,134.9,9,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-66.0
$GPS2,210419,155352,-3419.5691,2545.1589,8,0.9,19,-27.9,0.0,221.5,9,9.4
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3410.217,2551.685
$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,-272.5,52,1821,633,537,0.0,0.0,0,119,0.00,0.00,-91.72,0.000,16386,0.000,0.000,52,1822,2938,2907,2970,0,0,0,0,0,0,14.97,28.83,14.98
$GC,125,-0.77,-272.5,52,1822,2907,2971,3.3,-6.3,17,161,14.48,2.42,-14.77,0.000,18692,0.297,0.075,2494,3220,3815,3832,3798,0,0,0,0,0,0,14.49,13.44,14.81
$GC,255,-0.77,-272.5,2494,3220,3833,3794,29.3,-11.9,41,262,0.05,2.35,0.00,0.000,3078,0.290,0.040,2507,1809,3813,3832,3794,0,0,0,0,0,0,14.57,14.71,14.75
$GC,327,-0.77,-272.5,2506,1816,3833,3794,38.5,-14.0,54,334,0.00,2.42,0.00,0.000,2564,0.000,0.063,2508,398,3813,3832,3794,0,0,0,0,0,0,15.07,14.79,15.07
$GC,367,-0.77,-272.5,2507,398,3832,3794,44.2,-13.4,61,374,0.00,2.35,0.00,0.000,3078,0.000,0.035,2508,1816,3813,3832,3794,0,0,0,0,0,0,14.94,14.85,14.96
$GC,439,-0.77,-272.5,2507,1819,3832,3791,52.6,-12.0,74,446,0.00,2.38,0.00,0.000,2308,0.000,0.054,2507,3219,3813,3832,3794,0,0,0,0,0,0,15.07,14.83,15.07
$GC,479,-0.77,-272.5,2507,3219,3832,3794,57.3,-9.7,81,486,0.00,2.35,0.00,0.000,3078,0.000,0.039,2508,1806,3813,3832,3794,0,0,0,0,0,0,14.96,14.85,14.97
$GC,551,-0.77,-272.5,2507,1806,3831,3793,64.2,-10.7,94,558,0.00,2.40,0.00,0.000,2564,0.000,0.063,2508,408,3813,3832,3794,0,0,0,0,0,0,15.09,14.78,15.10
$GC,578,-0.77,-272.5,2507,408,3832,3794,66.9,-9.5,98,585,0.00,2.33,0.00,0.000,3078,0.000,0.034,2508,1822,3813,3832,3794,0,0,0,0,0,0,14.97,14.88,14.98
$GC,650,-0.77,-272.5,2507,1825,3832,3794,73.2,-9.2,111,656,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1828,3813,3832,3794,0,0,0,0,0,0,15.09,15.10,15.09
$GC,719,-0.77,-272.5,2507,1825,3832,3794,80.5,-10.1,124,726,0.00,2.42,0.00,0.000,2564,0.000,0.061,2507,409,3813,3832,3794,0,0,0,0,0,0,15.10,14.83,15.11
$STATE,741,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,742,begin apogee
$GC,750,-0.17,0.0,2508,1810,3832,3794,83.1,-11.0,128,961,0.93,0.00,198.55,1.013,10246,0.125,0.000,2698,1806,2698,2734,2663,0,0,0,0,0,0,14.73,14.33,13.95
$STATE,962,end apogee,CONTROL_FINISHED_OK
$STATE,962,begin climb
$GC,965,0.77,272.5,2697,1806,2733,2661,98.6,0.0,166,1185,1.42,2.53,207.30,1.008,10756,0.060,0.065,3022,400,1587,1629,1546,0,0,0,0,0,0,14.47,14.31,13.93
$GC,1279,0.77,272.5,3022,401,1621,1546,68.7,14.1,222,1287,0.05,2.33,0.00,0.000,5126,0.318,0.033,3012,1802,1580,1621,1539,0,0,0,0,0,0,14.51,14.68,14.69
$GC,1351,0.77,272.5,3011,1805,1621,1542,59.1,12.7,235,1358,0.00,2.35,0.00,0.000,4356,0.000,0.046,3012,3210,1581,1621,1542,0,0,0,0,0,0,14.95,14.66,14.95
$GC,1381,0.77,272.5,3011,3210,1621,1541,54.6,13.5,240,1388,0.00,2.40,0.00,0.000,5126,0.000,0.048,3013,1799,1581,1621,1541,0,0,0,0,0,0,14.77,14.68,14.78
$GC,1453,0.77,272.5,3013,1799,1621,1540,46.4,10.9,253,1458,0.00,0.00,0.00,0.000,4102,0.000,0.000,3014,1799,1581,1622,1540,0,0,0,0,0,0,15.01,15.01,15.01
$GC,1522,0.77,272.5,3013,1799,1621,1540,38.5,11.1,266,1527,0.00,0.00,0.00,0.000,4102,0.000,0.000,3013,1799,1581,1622,1540,0,0,0,0,0,0,15.04,15.04,15.04
$GC,1590,0.77,272.5,3013,1799,1621,1539,30.4,13.2,279,1596,0.00,0.00,0.00,0.000,4102,0.000,0.000,3013,1799,1580,1621,1539,0,0,0,0,0,0,15.06,15.07,15.07
$GC,1659,0.78,281.3,3013,1799,1621,1539,23.1,9.8,292,1672,0.00,2.42,6.82,0.730,12804,0.000,0.067,3013,388,1552,1596,1508,0,0,0,0,0,0,15.07,14.67,14.23
$GC,1686,0.78,281.3,3013,388,1596,1508,20.3,10.1,296,1692,0.00,2.33,0.00,0.000,1030,0.000,0.031,3013,1815,1552,1596,1508,0,0,0,0,0,0,14.83,14.76,14.85
$GC,1758,0.87,356.1,3013,1818,1595,1507,13.8,8.2,309,1814,0.00,2.30,48.72,0.838,10500,0.000,0.041,3013,3191,1246,1304,1188,0,0,0,0,0,0,15.07,14.58,14.23
$STATE,1845,end climb,FINISH_DEPTH_REACHED
$STATE,1845,begin subsurface finish
$FINISH1,5.0,1.024930,132
$GC,1856,0.16,131.8,3013,1795,1302,1185,5.0,9.6,325,1896,1.00,2.42,-31.60,0.000,20996,0.142,0.083,2813,388,2164,2212,2117,0,0,0,0,0,0,14.62,13.97,14.69
$FINISH2,3.3
$STATE,1897,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1898,begin surface
$IRIDIUM_FIX,-3404.29,2546.08,210419,142647
$TT8_MAMPS,0.020972,0.955724
$HUMID,44.80
$INTERNAL_PRESSURE,9.49787
$TCM_TEMP,20.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.9,37.1
$SC_FREEKB,3660736
$24V_AH,13.44,150.251
$10V_AH,13.53,0.000
$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,17.925,45.250,461.400,0.000,0.000,25.314,21.942,347.513,1.250,0.000,20.059,581.435,232.145,523.310,971.994,281.483,0.000,913.395,0.000,508.145,0.000,10.106,0.000
$DEVICE_MAMPS,318.240,82.620,1012.860,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1944.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.349,0.000,0.000,0.000
$MEM,340920
$DATA_FILE_SIZE,6819,332
$CAP_FILE_SIZE,66595,0
$CFSIZE,2097086464,1999699968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,210419,155352,-3419.569,2545.159,8,0.9,19,-27.9,0.0,221.5,9,9.4