version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 508
start: 4 21 119 22 35 13
data:
$ID,574
$MISSION,3
$DIVE,508
$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,32
$R_STBD_OVSHOOT,53
$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
$GPS1,210419,222321,-3418.7759,2547.2595,8,1.1,19,-27.9,0.0,250.7,8,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-67.6
$GPS2,210419,223447,-3418.7234,2547.0935,7,1.1,19,-27.9,0.0,252.9,8,9.9
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3409.371,2553.619
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.77,-272.5,53,1792,634,536,0.0,0.0,0,118,0.00,0.00,-92.22,0.000,16386,0.000,0.000,53,1792,2943,2904,2982,0,0,0,0,0,0,14.99,28.83,15.00
$GC,124,-0.77,-272.5,52,1792,2905,2982,3.3,-6.5,17,160,14.40,2.38,-14.48,0.000,18692,0.291,0.068,2494,3206,3807,3825,3790,0,0,0,0,0,0,14.54,13.92,14.83
$GC,249,-0.77,-272.5,2493,3205,3826,3791,29.5,-13.9,40,257,0.05,2.35,0.00,0.000,3078,0.291,0.043,2507,1806,3808,3826,3790,0,0,0,0,0,0,14.62,14.74,14.77
$GC,322,-0.77,-272.5,2506,1806,3826,3790,38.9,-13.5,53,328,0.00,2.40,0.00,0.000,2564,0.000,0.062,2507,404,3807,3825,3790,0,0,0,0,0,0,15.07,14.81,15.07
$GC,366,-0.77,-272.5,2507,404,3826,3790,45.0,-12.0,61,373,0.00,2.33,0.00,0.000,3078,0.000,0.033,2507,1814,3808,3826,3790,0,0,0,0,0,0,14.95,14.87,14.97
$GC,439,-0.77,-272.5,2507,1816,3825,3790,52.7,-11.3,74,446,0.00,2.35,0.00,0.000,2308,0.000,0.053,2507,3210,3807,3823,3791,0,0,0,0,0,0,15.09,14.74,15.10
$GC,506,-0.77,-272.5,2507,3210,3826,3790,59.4,-9.0,86,516,0.00,2.33,0.00,0.000,3078,0.000,0.039,2507,1810,3808,3826,3790,0,0,0,0,0,0,14.97,14.87,14.98
$GC,582,-0.77,-272.5,2506,1810,3826,3790,67.3,-10.1,99,588,0.00,0.00,0.00,0.000,2054,0.000,0.000,2507,1810,3808,3826,3790,0,0,0,0,0,0,15.10,15.11,15.11
$GC,651,-0.77,-272.5,2507,1810,3825,3790,75.2,-11.5,112,657,0.00,0.00,0.00,0.000,2054,0.000,0.000,2507,1810,3808,3826,3790,0,0,0,0,0,0,15.11,15.11,15.11
$STATE,712,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,712,begin apogee
$GC,718,-0.17,0.0,2507,1810,3825,3790,82.4,-11.2,124,922,0.95,0.00,197.73,1.006,10246,0.128,0.000,2701,1810,2699,2736,2663,0,0,0,0,0,0,14.73,14.46,13.98
$STATE,926,end apogee,CONTROL_FINISHED_OK
$STATE,926,begin climb
$GC,928,0.77,272.5,2702,1810,2733,2662,96.6,0.0,161,1149,1.40,2.50,207.12,0.998,10756,0.053,0.066,3027,396,1587,1629,1545,0,0,0,0,0,0,14.50,14.32,13.95
$GC,1172,0.77,272.5,3026,396,1624,1545,75.2,17.5,203,1179,0.08,2.35,0.00,0.000,5126,0.260,0.031,3011,1802,1584,1624,1544,0,0,0,0,0,0,14.42,14.57,14.58
$GC,1245,0.77,272.5,3011,1805,1624,1541,63.4,17.0,216,1251,0.00,2.35,0.00,0.000,4356,0.000,0.046,3011,3198,1582,1623,1541,0,0,0,0,0,0,14.88,14.64,14.88
$GC,1294,0.77,272.5,3011,3198,1621,1540,55.0,14.5,225,1301,0.00,2.38,0.00,0.000,5126,0.000,0.047,3015,1803,1580,1621,1540,0,0,0,0,0,0,14.75,14.66,14.76
$GC,1366,0.77,272.5,3015,1802,1622,1540,45.2,14.1,238,1372,0.00,0.00,0.00,0.000,4102,0.000,0.000,3015,1802,1581,1622,1540,0,0,0,0,0,0,14.99,15.00,14.99
$GC,1435,0.77,272.5,3015,1802,1622,1539,35.7,12.2,251,1442,0.00,2.42,0.00,0.000,4612,0.000,0.067,3020,396,1580,1621,1539,0,0,0,0,0,0,15.02,14.78,15.03
$GC,1475,0.77,272.5,3019,396,1621,1539,31.3,10.9,258,1482,0.00,2.30,0.00,0.000,5126,0.000,0.030,3020,1807,1579,1620,1539,0,0,0,0,0,0,14.89,14.81,14.90
$GC,1547,0.77,272.5,3019,1810,1621,1538,24.5,10.2,271,1554,0.00,2.30,0.00,0.000,4356,0.000,0.045,3020,3198,1579,1621,1537,0,0,0,0,0,0,15.05,14.84,15.05
$GC,1643,0.77,272.5,3019,3198,1620,1537,12.8,10.0,289,1649,0.00,2.38,0.00,0.000,5126,0.000,0.050,3020,1793,1578,1619,1538,0,0,0,0,0,0,14.96,14.85,14.97
$STATE,1705,end climb,FINISH_DEPTH_REACHED
$STATE,1705,begin subsurface finish
$FINISH1,4.7,1.025090,124
$GC,1714,0.15,123.6,3020,1793,1620,1536,4.7,11.6,301,1744,1.02,2.38,-21.40,0.000,20996,0.149,0.080,2813,396,2198,2242,2155,0,0,0,0,0,0,14.73,14.04,14.83
$FINISH2,3.2
$STATE,1745,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1745,begin surface
$IRIDIUM_FIX,-3404.29,2543.73,210419,210617
$TT8_MAMPS,0.021721,0.927262
$HUMID,45.15
$INTERNAL_PRESSURE,9.50764
$TCM_TEMP,20.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.5,36.7
$SC_FREEKB,3655616
$24V_AH,13.92,152.066
$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,17.900,35.475,404.850,0.000,0.000,25.167,20.575,345.429,1.250,0.000,20.937,547.873,222.487,460.631,928.871,279.653,0.000,817.131,0.000,471.150,0.000,10.094,0.000
$DEVICE_MAMPS,291.465,79.560,1005.975,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1795.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.852,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,6796,306
$CAP_FILE_SIZE,60642,0
$CFSIZE,2097086464,1998094336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,210419,223447,-3418.723,2547.094,7,1.1,19,-27.9,0.0,252.9,8,9.9