version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 510
start: 4 21 119 23 54 12
data:
$ID,574
$MISSION,3
$DIVE,510
$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,33
$R_STBD_OVSHOOT,59
$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
$GPS1,210419,234231,-3418.4204,2547.2925,8,0.8,40,-27.9,0.9,226.2,11,7.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-62.3
$GPS2,210419,235346,-3418.4490,2547.1045,7,0.8,13,-27.9,0.0,244.4,11,10.0
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3409.097,2553.629
$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,-272.5,53,1782,633,537,0.0,0.0,0,118,0.00,0.00,-91.97,0.000,16386,0.000,0.000,53,1783,2917,2879,2955,0,0,0,0,0,0,14.98,28.83,14.99
$GC,124,-0.77,-272.5,53,1782,2881,2956,3.1,-5.6,17,160,14.48,2.45,-15.85,0.000,18692,0.296,0.072,2494,3197,3812,3833,3792,0,0,0,0,0,0,14.55,13.43,14.83
$GC,204,-0.77,-272.5,2495,3197,3834,3793,20.1,-11.0,31,212,0.05,2.33,0.00,0.000,3078,0.299,0.041,2506,1811,3813,3834,3793,0,0,0,0,0,0,14.58,14.73,14.76
$GC,277,-0.77,-272.5,2506,1811,3834,3793,29.4,-13.3,44,283,0.00,2.40,0.00,0.000,2564,0.000,0.062,2507,408,3813,3834,3793,0,0,0,0,0,0,15.05,14.81,15.05
$GC,321,-0.77,-272.5,2507,407,3834,3793,35.3,-11.8,52,328,0.00,2.30,0.00,0.000,3078,0.000,0.032,2500,1804,3813,3833,3793,0,0,0,0,0,0,14.95,14.86,14.96
$GC,393,-0.77,-272.5,2504,1806,3833,3800,43.0,-11.6,65,400,0.00,2.38,0.00,0.000,2308,0.000,0.053,2505,3210,3813,3833,3793,0,0,0,0,0,0,15.07,14.83,15.07
$GC,448,-0.77,-272.5,2505,3211,3834,3793,49.2,-9.3,75,455,0.00,2.33,0.00,0.000,3078,0.000,0.040,2505,1808,3813,3834,3793,0,0,0,0,0,0,14.96,14.86,14.97
$GC,522,-0.77,-272.5,2505,1808,3833,3793,56.6,-11.1,88,527,0.00,0.00,0.00,0.000,2054,0.000,0.000,2504,1808,3813,3834,3793,0,0,0,0,0,0,15.09,15.09,15.09
$GC,590,-0.77,-272.5,2505,1808,3833,3792,64.1,-10.7,101,597,0.00,2.40,0.00,0.000,2564,0.000,0.061,2505,406,3813,3833,3793,0,0,0,0,0,0,15.11,14.83,15.11
$GC,621,-0.77,-272.5,2505,406,3831,3792,67.6,-11.0,106,628,0.00,2.30,0.00,0.000,3078,0.000,0.031,2505,1813,3813,3833,3793,0,0,0,0,0,0,14.98,14.90,14.99
$GC,691,-0.77,-272.5,2504,1815,3833,3793,75.0,-10.7,119,698,0.00,2.35,0.00,0.000,2308,0.000,0.052,2505,3210,3813,3833,3793,0,0,0,0,0,0,15.11,14.85,15.11
$GC,751,-0.77,-272.5,2505,3211,3833,3792,80.5,-8.8,130,758,0.00,2.33,0.00,0.000,3078,0.000,0.039,2505,1812,3812,3833,3792,0,0,0,0,0,0,14.98,14.88,15.00
$STATE,763,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,763,begin apogee
$GC,769,-0.17,0.0,2505,1811,3834,3797,81.8,-9.6,132,980,0.95,0.00,198.73,1.013,10246,0.129,0.000,2699,1810,2698,2734,2662,0,0,0,0,0,0,14.73,14.31,13.96
$STATE,982,end apogee,CONTROL_FINISHED_OK
$STATE,982,begin climb
$GC,984,0.77,272.5,2699,1810,2732,2660,96.3,0.0,170,1204,1.42,2.50,206.38,1.004,10756,0.054,0.066,3023,400,1590,1632,1549,0,0,0,0,0,0,14.51,14.33,13.99
$GC,1222,0.77,272.5,3023,400,1629,1546,76.3,16.4,211,1230,0.08,2.35,0.00,0.000,5126,0.262,0.031,3009,1809,1588,1629,1548,0,0,0,0,0,0,14.42,14.56,14.57
$GC,1295,0.77,272.5,3008,1812,1628,1545,65.0,16.5,224,1302,0.00,2.35,0.00,0.000,260,0.000,0.045,3008,3201,1586,1628,1545,0,0,0,0,0,0,14.87,14.59,14.88
$GC,1319,0.77,272.5,3008,3201,1625,1544,60.9,15.4,228,1326,0.00,2.40,0.00,0.000,5126,0.000,0.050,3008,1799,1584,1626,1543,0,0,0,0,0,0,14.79,14.69,14.81
$GC,1391,0.77,272.5,3007,1799,1626,1543,51.0,14.2,241,1398,0.00,2.42,0.00,0.000,516,0.000,0.068,3013,390,1584,1626,1543,0,0,0,0,0,0,14.97,14.69,14.97
$GC,1441,0.77,272.5,3013,390,1625,1543,44.0,12.3,250,1448,0.00,2.33,0.00,0.000,5126,0.000,0.031,3013,1805,1584,1625,1543,0,0,0,0,0,0,14.85,14.78,14.86
$GC,1514,0.77,272.5,3013,1806,1624,1542,36.2,11.2,263,1521,0.00,2.33,0.00,0.000,4356,0.000,0.047,3013,3198,1582,1624,1541,0,0,0,0,0,0,15.03,14.81,15.04
$GC,1554,0.77,272.5,3013,3198,1623,1542,31.9,10.0,270,1561,0.00,2.38,0.00,0.000,5126,0.000,0.048,3017,1794,1582,1623,1541,0,0,0,0,0,0,14.93,14.83,14.94
$GC,1626,0.80,293.9,3016,1793,1623,1541,25.7,9.5,283,1650,0.00,2.40,16.55,0.869,8708,0.000,0.066,3017,396,1499,1544,1455,0,0,0,0,0,0,15.07,14.66,14.23
$GC,1668,0.80,293.9,3017,396,1542,1455,20.6,12.8,290,1675,0.00,2.30,0.00,0.000,1030,0.000,0.031,3017,1803,1498,1542,1454,0,0,0,0,0,0,14.90,14.84,14.91
$GC,1740,0.80,293.9,3016,1806,1541,1450,12.6,12.2,303,1747,0.00,2.33,0.00,0.000,260,0.000,0.044,3017,3198,1495,1541,1450,0,0,0,0,0,0,15.03,14.73,15.04
$STATE,1809,end climb,FINISH_DEPTH_REACHED
$STATE,1809,begin subsurface finish
$FINISH1,4.3,1.025201,118
$GC,1819,0.14,117.9,3017,1793,1539,1448,4.3,10.4,316,1859,1.02,2.40,-29.50,0.000,20740,0.160,0.069,2813,3197,2224,2267,2182,0,0,0,0,0,0,14.69,13.51,14.80
$FINISH2,1.6
$STATE,1860,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1860,begin surface
$IRIDIUM_FIX,-3406.89,2549.56,210419,222741
$TT8_MAMPS,0.020972,0.948983
$HUMID,46.02
$INTERNAL_PRESSURE,9.50764
$TCM_TEMP,20.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,65.7,34.8
$SC_FREEKB,3654592
$24V_AH,13.43,152.431
$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,18.000,54.450,421.650,0.000,0.000,24.454,39.297,324.622,1.500,0.000,14.357,581.662,222.054,500.634,952.163,287.618,0.000,884.197,0.000,495.369,0.000,10.099,0.000
$DEVICE_MAMPS,299.115,71.910,1012.860,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1908.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.195,0.000,0.000,0.000
$MEM,340920
$DATA_FILE_SIZE,6804,323
$CAP_FILE_SIZE,67118,0
$CFSIZE,2097086464,1997733888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,210419,235346,-3418.449,2547.104,7,0.8,13,-27.9,0.0,244.4,11,10.0