version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 504
start: 4 21 119 19 52 57
data:
$ID,574
$MISSION,3
$DIVE,504
$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,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
$GPS1,210419,194139,-3419.1421,2546.7205,8,1.0,16,-27.9,0.0,275.9,9,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-64.6
$GPS2,210419,195231,-3419.1523,2546.6689,7,1.0,16,-27.9,0.8,254.4,8,9.8
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3409.800,2553.195
$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,-272.5,53,1794,633,534,0.0,0.0,0,118,0.00,0.00,-91.25,0.000,16386,0.000,0.000,53,1794,2926,2891,2962,0,0,0,0,0,0,14.98,28.83,14.99
$GC,124,-0.77,-272.5,53,1795,2891,2963,3.3,-5.8,17,160,14.32,2.42,-14.85,0.000,18692,0.286,0.073,2501,3198,3813,3833,3794,0,0,0,0,0,0,14.52,13.43,14.79
$GC,244,-0.77,-272.5,2501,3199,3833,3794,27.2,-11.6,39,251,0.00,2.33,0.00,0.000,3078,0.000,0.041,2501,1807,3814,3834,3794,0,0,0,0,0,0,14.93,14.83,14.94
$GC,316,-0.77,-272.5,2502,1807,3834,3794,36.7,-14.6,52,323,0.00,2.40,0.00,0.000,2564,0.000,0.062,2501,409,3814,3834,3794,0,0,0,0,0,0,15.07,14.76,15.08
$GC,351,-0.77,-272.5,2501,409,3833,3794,41.7,-13.4,58,358,0.00,2.30,0.00,0.000,3078,0.000,0.032,2501,1805,3813,3833,3794,0,0,0,0,0,0,14.90,14.82,14.91
$GC,424,-0.77,-272.5,2501,1808,3833,3794,50.4,-12.6,71,430,0.00,2.38,0.00,0.000,2308,0.000,0.053,2501,3217,3813,3833,3794,0,0,0,0,0,0,15.07,14.84,15.07
$GC,496,-0.77,-272.5,2501,3218,3833,3794,58.3,-9.6,84,503,0.00,2.35,0.00,0.000,3078,0.000,0.039,2501,1806,3813,3833,3794,0,0,0,0,0,0,14.92,14.82,14.92
$GC,570,-0.77,-272.5,2501,1806,3833,3794,66.2,-12.2,97,576,0.00,0.00,0.00,0.000,2054,0.000,0.000,2502,1806,3813,3833,3794,0,0,0,0,0,0,15.11,15.11,15.11
$GC,644,-0.77,-272.5,2501,1807,3833,3794,75.5,-12.8,110,651,0.00,2.38,0.00,0.000,2564,0.000,0.062,2502,411,3813,3833,3794,0,0,0,0,0,0,15.09,14.85,15.09
$GC,684,-0.77,-272.5,2501,411,3833,3794,81.0,-11.9,117,691,0.00,2.30,0.00,0.000,3078,0.000,0.032,2501,1814,3813,3833,3794,0,0,0,0,0,0,14.99,14.90,15.00
$STATE,716,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,717,begin apogee
$GC,723,-0.17,0.0,2501,1815,3833,3794,85.1,-11.0,123,934,0.98,0.00,199.00,1.010,10246,0.128,0.000,2700,1817,2698,2734,2662,0,0,0,0,0,0,14.73,14.34,13.96
$STATE,936,end apogee,CONTROL_FINISHED_OK
$STATE,936,begin climb
$GC,938,0.77,272.5,2700,1816,2734,2661,100.1,0.0,161,1159,1.42,2.53,207.38,1.004,10756,0.055,0.067,3026,402,1588,1630,1546,0,0,0,0,0,0,14.50,14.33,13.97
$GC,1233,0.77,272.5,3026,402,1622,1546,71.0,15.3,213,1241,0.08,2.33,0.00,0.000,5126,0.265,0.032,3012,1799,1583,1622,1545,0,0,0,0,0,0,14.46,14.67,14.61
$GC,1306,0.77,272.5,3011,1800,1622,1542,60.5,15.4,226,1313,0.00,2.35,0.00,0.000,4356,0.000,0.044,3011,3200,1582,1622,1542,0,0,0,0,0,0,14.94,14.72,14.94
$GC,1356,0.77,272.5,3011,3200,1621,1541,53.3,12.8,235,1363,0.00,2.38,0.00,0.000,5126,0.000,0.047,3017,1803,1581,1621,1541,0,0,0,0,0,0,14.86,14.76,14.88
$GC,1428,0.77,272.5,3017,1803,1621,1540,44.9,11.9,248,1434,0.00,0.00,0.00,0.000,4102,0.000,0.000,3017,1803,1580,1621,1540,0,0,0,0,0,0,15.00,15.00,15.00
$GC,1497,0.77,272.5,3016,1803,1621,1540,35.1,14.1,261,1503,0.00,0.00,0.00,0.000,4102,0.000,0.000,3017,1803,1580,1621,1540,0,0,0,0,0,0,15.03,15.04,15.04
$GC,1566,0.77,272.5,3016,1803,1621,1539,25.0,14.6,274,1572,0.00,2.42,0.00,0.000,4612,0.000,0.068,3017,395,1580,1621,1540,0,0,0,0,0,0,15.07,14.81,15.07
$GC,1610,0.77,272.5,3017,395,1621,1539,19.2,12.5,282,1617,0.00,2.33,0.00,0.000,5126,0.000,0.031,3017,1825,1580,1621,1539,0,0,0,0,0,0,14.91,14.82,14.92
$GC,1681,0.77,272.5,3017,1829,1621,1538,11.9,10.9,295,1688,0.00,2.25,0.00,0.000,4356,0.000,0.045,3017,3185,1580,1621,1539,0,0,0,0,0,0,15.09,14.85,15.08
$STATE,1733,end climb,FINISH_DEPTH_REACHED
$STATE,1734,begin subsurface finish
$FINISH1,4.8,1.024942,131
$GC,1743,0.16,131.1,3016,1799,1621,1537,4.8,10.7,305,1773,1.02,2.33,-20.48,0.000,20740,0.166,0.069,2814,3190,2169,2212,2126,0,0,0,0,0,0,14.73,13.50,14.81
$FINISH2,2.9
$STATE,1774,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1774,begin surface
$IRIDIUM_FIX,-3404.29,2548.43,210419,182644
$TT8_MAMPS,0.021721,0.930258
$HUMID,45.51
$INTERNAL_PRESSURE,9.50764
$TCM_TEMP,20.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.4,34.6
$SC_FREEKB,3657664
$24V_AH,13.43,151.340
$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,17.825,40.125,406.375,0.000,0.000,23.131,16.002,331.470,1.500,0.000,17.937,558.357,225.359,466.236,907.839,276.734,0.000,828.056,0.000,474.713,0.000,11.621,0.000
$DEVICE_MAMPS,286.110,72.675,1009.800,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1821.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.397,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,6807,310
$CAP_FILE_SIZE,61812,0
$CFSIZE,2097086464,1998749696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,210419,195231,-3419.152,2546.669,7,1.0,16,-27.9,0.8,254.4,8,9.8