version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 514
start: 4 22 119 2 30 41
data:
$ID,574
$MISSION,3
$DIVE,514
$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,35
$R_STBD_OVSHOOT,52
$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
$GPS1,220419,021909,-3417.9890,2547.0259,8,1.0,15,-27.9,0.6,186.4,9,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-65.9
$GPS2,220419,023015,-3418.0803,2546.8855,7,1.0,15,-27.9,1.9,301.8,9,9.8
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3408.728,2553.410
$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,-272.5,53,1802,636,533,0.0,0.0,0,123,0.00,0.00,-97.12,0.000,16386,0.000,0.000,53,1802,3053,3022,3084,0,0,0,0,0,0,14.98,28.83,14.99
$GC,129,-0.77,-272.5,52,1802,3022,3083,3.5,-7.4,18,165,14.43,2.35,-12.48,0.000,18692,0.293,0.072,2495,3204,3814,3830,3798,0,0,0,0,0,0,14.53,13.43,14.82
$GC,185,-0.77,-272.5,2491,3204,3830,3799,20.8,-18.9,27,192,0.05,2.35,0.00,0.000,3078,0.295,0.043,2507,1809,3814,3831,3798,0,0,0,0,0,0,14.62,14.76,14.80
$GC,257,-0.77,-272.5,2506,1809,3831,3798,30.8,-14.4,40,264,0.00,2.42,0.00,0.000,2564,0.000,0.063,2507,402,3814,3831,3798,0,0,0,0,0,0,15.04,14.80,15.04
$GC,302,-0.77,-272.5,2507,402,3831,3798,36.6,-10.6,48,309,0.00,2.33,0.00,0.000,3078,0.000,0.033,2507,1809,3814,3831,3798,0,0,0,0,0,0,14.94,14.85,14.95
$GC,374,-0.77,-272.5,2506,1812,3831,3798,44.3,-11.3,61,381,0.00,2.38,0.00,0.000,2308,0.000,0.054,2507,3214,3814,3831,3798,0,0,0,0,0,0,15.08,14.72,15.08
$GC,429,-0.77,-272.5,2507,3216,3830,3798,50.6,-9.6,71,436,0.00,2.35,0.00,0.000,3078,0.000,0.041,2507,1805,3814,3831,3798,0,0,0,0,0,0,14.85,14.76,14.85
$GC,502,-0.77,-272.5,2507,1805,3831,3798,58.1,-10.9,84,508,0.00,2.38,0.00,0.000,2564,0.000,0.060,2507,410,3814,3831,3798,0,0,0,0,0,0,15.09,14.83,15.09
$GC,541,-0.77,-272.5,2507,411,3831,3798,62.9,-12.1,91,548,0.00,2.30,0.00,0.000,3078,0.000,0.033,2507,1814,3814,3831,3798,0,0,0,0,0,0,14.97,14.88,14.98
$GC,615,-0.77,-272.5,2507,1816,3831,3798,71.1,-11.1,104,621,0.00,0.00,0.00,0.000,2054,0.000,0.000,2507,1816,3815,3831,3799,0,0,0,0,0,0,15.10,15.11,15.11
$STATE,682,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,682,begin apogee
$GC,689,-0.17,0.0,2507,1816,3831,3799,78.9,-10.9,117,899,0.93,0.00,198.95,1.013,10246,0.130,0.000,2697,1816,2698,2733,2663,0,0,0,0,0,0,14.73,14.34,13.95
$STATE,901,end apogee,CONTROL_FINISHED_OK
$STATE,901,begin climb
$GC,904,0.77,272.5,2697,1816,2732,2662,93.5,0.0,155,1123,1.42,2.53,206.48,1.004,10756,0.058,0.065,3023,398,1587,1629,1546,0,0,0,0,0,0,14.49,14.31,13.93
$GC,1131,0.77,272.5,3023,398,1627,1546,75.1,18.9,194,1138,0.08,2.38,0.00,0.000,5126,0.259,0.033,3008,1804,1586,1627,1545,0,0,0,0,0,0,14.39,14.50,14.53
$GC,1204,0.77,272.5,3008,1806,1625,1542,64.1,14.8,207,1210,0.00,2.45,0.00,0.000,516,0.000,0.066,3016,398,1582,1625,1540,0,0,0,0,0,0,14.84,14.55,14.85
$GC,1244,0.77,272.5,3016,398,1622,1541,58.4,14.6,214,1250,0.00,2.33,0.00,0.000,5126,0.000,0.032,3016,1809,1582,1622,1542,0,0,0,0,0,0,14.80,14.71,14.81
$GC,1315,0.77,272.5,3016,1812,1622,1540,48.8,13.7,227,1321,0.00,0.00,0.00,0.000,4102,0.000,0.000,3016,1812,1581,1622,1540,0,0,0,0,0,0,14.97,14.97,14.97
$GC,1384,0.77,272.5,3016,1812,1622,1540,38.8,13.3,240,1390,0.00,0.00,0.00,0.000,4102,0.000,0.000,3016,1812,1580,1621,1540,0,0,0,0,0,0,15.02,15.02,15.02
$GC,1453,0.77,272.5,3016,1812,1622,1540,30.1,12.5,253,1459,0.00,0.00,0.00,0.000,4102,0.000,0.000,3016,1812,1581,1622,1540,0,0,0,0,0,0,15.04,15.04,15.04
$GC,1522,0.77,272.9,3016,1812,1621,1539,22.8,10.0,266,1529,0.00,2.45,0.00,0.000,4612,0.000,0.068,3017,395,1580,1621,1539,0,0,0,0,0,0,15.06,14.81,15.06
$GC,1594,0.77,272.9,3016,395,1621,1539,15.1,11.0,279,1601,0.00,2.30,0.00,0.000,5126,0.000,0.032,3017,1798,1580,1621,1539,0,0,0,0,0,0,14.87,14.79,14.89
$GC,1666,0.77,272.9,3017,1801,1621,1538,6.9,11.0,292,1673,0.00,2.33,0.00,0.000,4356,0.000,0.047,3017,3196,1579,1621,1538,0,0,0,0,0,0,15.09,14.85,15.09
$STATE,1683,end climb,FINISH_DEPTH_REACHED
$STATE,1684,begin subsurface finish
$FINISH1,4.5,1.025277,114
$GC,1694,0.14,114.0,3017,1799,1621,1537,4.5,10.9,295,1724,1.02,2.42,-23.23,0.000,20740,0.152,0.072,2811,3201,2238,2283,2194,0,0,0,0,0,0,14.71,13.50,14.82
$FINISH2,2.6
$STATE,1725,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1725,begin surface
$IRIDIUM_FIX,-3406.89,2546.08,220419,010645
$TT8_MAMPS,0.020972,0.792442
$HUMID,45.47
$INTERNAL_PRESSURE,9.50764
$TCM_TEMP,20.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.6,33.2
$SC_FREEKB,3652512
$24V_AH,13.43,153.148
$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,17.925,40.425,405.425,0.000,0.000,29.588,41.389,316.725,1.250,0.000,16.338,532.829,209.126,473.559,907.482,275.460,0.000,831.830,0.000,460.647,0.000,10.095,0.000
$DEVICE_MAMPS,295.290,71.910,1012.860,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1771.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.037,0.000,0.000,0.000
$MEM,340920
$DATA_FILE_SIZE,6801,300
$CAP_FILE_SIZE,61283,0
$CFSIZE,2097086464,1997111296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,220419,023015,-3418.080,2546.885,7,1.0,15,-27.9,1.9,301.8,9,9.8