version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 500
start: 4 21 119 17 13 22
data:
$ID,574
$MISSION,3
$DIVE,500
$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,28
$R_STBD_OVSHOOT,50
$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
$GPS1,210419,170149,-3419.3633,2545.7449,8,0.7,43,-27.9,0.6,349.7,11,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-66.1
$GPS2,210419,171257,-3419.3296,2545.8079,7,0.7,16,-27.9,0.7,68.3,11,9.4
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3409.977,2552.334
$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,-272.5,52,1806,630,537,0.0,0.0,0,118,0.00,0.00,-91.22,0.000,16386,0.000,0.000,53,1807,2922,2884,2960,0,0,0,0,0,0,14.98,28.83,14.99
$GC,124,-0.77,-272.5,53,1807,2884,2960,3.3,-6.5,17,160,14.43,2.42,-14.73,0.000,18692,0.294,0.073,2494,3212,3814,3832,3796,0,0,0,0,0,0,14.50,13.41,14.78
$GC,254,-0.77,-272.5,2493,3211,3833,3796,31.1,-11.0,41,262,0.05,2.35,0.00,0.000,3078,0.291,0.041,2506,1804,3815,3834,3796,0,0,0,0,0,0,14.59,14.76,14.76
$GC,327,-0.77,-272.5,2506,1803,3833,3796,39.6,-12.5,54,332,0.00,0.00,0.00,0.000,2054,0.000,0.000,2507,1804,3815,3834,3796,0,0,0,0,0,0,15.07,15.07,15.07
$GC,396,-0.77,-272.5,2506,1804,3834,3796,48.2,-11.8,67,401,0.00,0.00,0.00,0.000,2054,0.000,0.000,2507,1804,3814,3833,3796,0,0,0,0,0,0,15.08,15.09,15.09
$GC,465,-0.77,-272.5,2506,1804,3834,3796,55.9,-10.2,80,471,0.00,2.38,0.00,0.000,2308,0.000,0.051,2501,3204,3814,3833,3796,0,0,0,0,0,0,15.11,14.73,15.11
$GC,499,-0.77,-272.5,2501,3204,3833,3795,59.2,-8.7,86,506,0.00,2.33,0.00,0.000,3078,0.000,0.040,2501,1805,3815,3834,3796,0,0,0,0,0,0,14.86,14.78,14.88
$GC,572,-0.77,-272.5,2501,1805,3833,3796,65.8,-10.7,99,578,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1805,3814,3833,3796,0,0,0,0,0,0,15.09,15.10,15.09
$GC,645,-0.77,-272.5,2501,1805,3834,3796,73.1,-10.4,112,651,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1805,3814,3832,3796,0,0,0,0,0,0,15.11,15.11,15.09
$GC,714,-0.77,-272.5,2501,1805,3833,3796,80.8,-10.4,125,721,0.00,2.38,0.00,0.000,2564,0.000,0.062,2501,409,3814,3833,3796,0,0,0,0,0,0,15.11,14.85,15.11
$STATE,746,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,746,begin apogee
$GC,755,-0.17,0.0,2501,1804,3833,3796,84.7,-11.4,131,965,0.98,0.00,199.00,1.008,10246,0.128,0.000,2700,1807,2698,2734,2662,0,0,0,0,0,0,14.71,14.29,13.93
$STATE,967,end apogee,CONTROL_FINISHED_OK
$STATE,967,begin climb
$GC,970,0.77,272.5,2700,1807,2733,2661,99.6,0.0,169,1190,1.42,2.53,207.12,1.004,10756,0.059,0.067,3017,395,1588,1630,1547,0,0,0,0,0,0,14.49,14.31,13.93
$GC,1284,0.77,272.5,3016,395,1622,1547,67.7,14.7,225,1291,0.00,2.35,0.00,0.000,5126,0.000,0.032,3020,1809,1583,1622,1545,0,0,0,0,0,0,14.77,14.69,14.78
$GC,1356,0.77,272.5,3016,1811,1622,1543,57.9,13.3,238,1362,0.00,2.35,0.00,0.000,4356,0.000,0.045,3017,3208,1582,1622,1542,0,0,0,0,0,0,14.95,14.67,14.95
$GC,1391,0.77,272.5,3016,3208,1621,1542,52.7,14.5,244,1397,0.00,2.40,0.00,0.000,5126,0.000,0.049,3016,1798,1581,1621,1541,0,0,0,0,0,0,14.78,14.69,14.80
$GC,1462,0.77,272.5,3017,1798,1621,1541,44.0,12.4,257,1469,0.00,2.42,0.00,0.000,4612,0.000,0.067,3017,391,1581,1621,1541,0,0,0,0,0,0,15.02,14.80,15.02
$GC,1477,0.77,272.5,3016,391,1621,1541,41.9,12.9,259,1483,0.00,2.33,0.00,0.000,5126,0.000,0.031,3017,1808,1581,1621,1541,0,0,0,0,0,0,14.87,14.80,14.88
$GC,1548,0.77,272.5,3016,1812,1622,1540,33.3,12.5,272,1555,0.00,2.30,0.00,0.000,4356,0.000,0.044,3017,3201,1581,1621,1541,0,0,0,0,0,0,15.03,14.84,15.03
$GC,1573,0.77,272.5,3016,3201,1621,1540,29.8,13.1,276,1580,0.00,2.38,0.00,0.000,5126,0.000,0.050,3017,1801,1580,1621,1540,0,0,0,0,0,0,14.93,14.82,14.95
$GC,1645,0.77,272.5,3017,1800,1621,1540,22.1,10.2,289,1652,0.00,2.42,0.00,0.000,4612,0.000,0.067,3017,389,1580,1621,1539,0,0,0,0,0,0,15.06,14.73,15.06
$GC,1665,0.84,326.6,3017,389,1621,1539,20.2,8.7,292,1710,0.00,2.30,37.47,0.870,11270,0.000,0.031,3017,1812,1365,1416,1315,0,0,0,0,0,0,14.86,14.78,14.26
$GC,1774,0.84,326.6,3016,1812,1415,1312,9.2,10.7,312,1781,0.00,2.30,0.00,0.000,2308,0.000,0.047,3017,3184,1362,1414,1311,0,0,0,0,0,0,14.97,14.76,14.98
$STATE,1811,end climb,FINISH_DEPTH_REACHED
$STATE,1811,begin subsurface finish
$FINISH1,4.8,1.024944,131
$GC,1821,0.16,131.1,3017,1789,1412,1309,4.8,12.0,319,1856,1.00,0.00,-29.17,0.000,20742,0.148,0.000,2817,1789,2169,2215,2123,0,0,0,0,0,0,14.59,13.58,14.69
$FINISH2,2.5
$STATE,1857,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1857,begin surface
$IRIDIUM_FIX,-3406.89,2543.73,210419,154647
$TT8_MAMPS,0.021721,0.955724
$HUMID,45.31
$INTERNAL_PRESSURE,9.49787
$TCM_TEMP,20.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,70.3,34.3
$SC_FREEKB,3659712
$24V_AH,13.41,150.619
$10V_AH,13.48,0.000
$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,17.875,42.650,443.600,0.000,0.000,23.975,39.320,326.040,1.750,0.000,17.466,576.008,224.273,505.928,948.116,278.547,0.000,887.676,0.000,494.701,0.000,11.620,0.000
$DEVICE_MAMPS,293.760,73.440,1008.270,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1902.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.134,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,6785,325
$CAP_FILE_SIZE,65218,0
$CFSIZE,2097086464,1999405056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,210419,171257,-3419.330,2545.808,7,0.7,16,-27.9,0.7,68.3,11,9.4