version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 512
start: 4 22 119 1 14 45
data:
$ID,574
$MISSION,3
$DIVE,512
$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,34
$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
$GPS1,220419,010225,-3418.1353,2547.1458,8,1.0,19,-27.9,1.5,242.3,9,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-63.4
$GPS2,220419,011419,-3418.1992,2546.9700,7,0.9,42,-27.9,1.3,15.6,8,4.9
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3408.847,2553.494
$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,-272.5,53,1795,636,534,0.0,0.0,0,123,0.00,0.00,-97.28,0.000,16386,0.000,0.000,53,1795,3062,3029,3095,0,0,0,0,0,0,15.00,28.83,15.02
$GC,129,-0.77,-272.5,52,1796,3029,3095,3.8,-8.3,18,165,14.45,2.38,-12.20,0.000,18692,0.296,0.067,2492,3219,3814,3830,3798,0,0,0,0,0,0,14.54,13.41,14.83
$GC,244,-0.77,-272.5,2492,3221,3829,3798,28.9,-12.4,39,252,0.08,2.38,0.00,0.000,3078,0.228,0.043,2511,1806,3814,3830,3798,0,0,0,0,0,0,14.64,14.74,14.78
$GC,317,-0.77,-272.5,2511,1806,3831,3798,37.9,-13.1,52,324,0.00,2.38,0.00,0.000,516,0.000,0.061,2512,402,3814,3830,3798,0,0,0,0,0,0,15.05,14.82,15.07
$GC,337,-0.77,-272.5,2511,400,3830,3798,40.8,-13.2,55,344,0.00,2.33,0.00,0.000,1030,0.000,0.032,2512,1817,3814,3830,3798,0,0,0,0,0,0,14.94,14.87,14.96
$GC,408,-0.77,-272.5,2511,1819,3830,3798,49.5,-12.7,68,416,0.00,2.35,0.00,0.000,260,0.000,0.053,2511,3213,3814,3830,3798,0,0,0,0,0,0,15.07,14.83,15.07
$GC,449,-0.77,-272.5,2511,3214,3822,3798,54.7,-10.9,75,456,0.00,2.35,0.00,0.000,1030,0.000,0.040,2511,1802,3814,3830,3798,0,0,0,0,0,0,14.83,14.75,14.83
$GC,522,-0.77,-272.5,2511,1801,3830,3798,62.7,-11.6,88,528,0.00,2.35,0.00,0.000,516,0.000,0.061,2511,409,3814,3830,3798,0,0,0,0,0,0,15.09,14.83,15.09
$GC,565,-0.77,-272.5,2511,409,3830,3798,67.7,-11.1,95,571,0.00,2.30,0.00,0.000,1030,0.000,0.032,2511,1812,3814,3830,3798,0,0,0,0,0,0,14.88,14.78,14.90
$GC,635,-0.77,-272.5,2511,1815,3830,3798,75.3,-10.2,108,641,0.00,2.35,0.00,0.000,260,0.000,0.053,2511,3209,3812,3827,3798,0,0,0,0,0,0,15.10,14.76,15.11
$STATE,672,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,672,begin apogee
$GC,681,-0.17,0.0,2511,1794,3830,3798,79.2,-9.5,115,885,0.93,0.00,198.45,1.014,10246,0.119,0.000,2702,1793,2701,2737,2665,0,0,0,0,0,0,14.66,14.44,13.95
$STATE,889,end apogee,CONTROL_FINISHED_OK
$STATE,889,begin climb
$GC,892,0.77,272.5,2702,1794,2733,2662,94.9,0.0,152,1111,1.40,0.00,206.70,1.004,10758,0.051,0.000,3026,1793,1587,1629,1545,0,0,0,0,0,0,14.49,14.31,13.94
$GC,1173,0.77,272.5,3025,1793,1624,1542,65.1,19.4,202,1180,0.08,2.40,0.00,0.000,4356,0.283,0.041,3008,3205,1582,1624,1541,0,0,0,0,0,0,14.49,14.59,14.59
$GC,1194,0.77,272.5,3007,3205,1622,1540,61.4,18.2,205,1200,0.00,2.42,0.00,0.000,1030,0.000,0.052,3008,1801,1581,1622,1541,0,0,0,0,0,0,14.70,14.62,14.72
$GC,1265,0.77,272.5,3008,1801,1622,1540,50.6,16.4,218,1272,0.00,2.42,0.00,0.000,516,0.000,0.067,3018,394,1581,1622,1540,0,0,0,0,0,0,14.92,14.70,14.93
$GC,1329,0.77,272.5,3017,393,1621,1540,40.1,15.2,230,1336,0.00,2.33,0.00,0.000,5126,0.000,0.031,3018,1806,1580,1621,1540,0,0,0,0,0,0,14.88,14.81,14.89
$GC,1401,0.77,272.5,3018,1808,1621,1538,30.1,13.7,243,1408,0.00,2.30,0.00,0.000,4356,0.000,0.044,3015,3197,1579,1621,1538,0,0,0,0,0,0,15.01,14.81,15.01
$GC,1431,0.77,272.5,3018,3197,1621,1538,26.0,13.3,248,1438,0.00,2.38,0.00,0.000,5126,0.000,0.047,3019,1795,1579,1621,1538,0,0,0,0,0,0,14.92,14.81,14.93
$GC,1503,0.77,272.5,3019,1796,1621,1537,18.4,11.4,261,1509,0.00,2.42,0.00,0.000,4612,0.000,0.069,3020,388,1579,1621,1537,0,0,0,0,0,0,15.06,14.76,15.06
$GC,1588,0.77,272.5,3019,387,1621,1537,7.5,13.2,277,1595,0.00,2.33,0.00,0.000,5126,0.000,0.032,3020,1802,1578,1620,1537,0,0,0,0,0,0,14.92,14.84,14.93
$STATE,1610,end climb,FINISH_DEPTH_REACHED
$STATE,1610,begin subsurface finish
$FINISH1,4.8,1.025235,116
$GC,1618,0.14,116.1,3020,1805,1620,1536,4.8,10.6,281,1648,1.05,2.33,-21.55,0.000,20740,0.154,0.067,2810,3198,2229,2271,2188,0,0,0,0,0,0,14.64,14.03,14.73
$FINISH2,3.8
$STATE,1649,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1649,begin surface
$IRIDIUM_FIX,-3404.29,2546.08,210419,234647
$TT8_MAMPS,0.021721,0.933254
$HUMID,45.78
$INTERNAL_PRESSURE,9.50764
$TCM_TEMP,20.60
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,65.1,33.7
$SC_FREEKB,3653536
$24V_AH,13.41,152.789
$10V_AH,13.45,0.000
$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,17.975,44.875,405.150,0.000,0.000,23.295,45.978,327.930,1.500,0.000,43.746,504.398,193.096,467.448,928.911,276.684,0.000,815.585,0.000,439.103,0.000,10.071,0.000
$DEVICE_MAMPS,296.055,68.850,1013.625,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1697.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.191,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,6820,286
$CAP_FILE_SIZE,59774,0
$CFSIZE,2097086464,1997438976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,220419,011419,-3418.199,2546.970,7,0.9,42,-27.9,1.3,15.6,8,4.9