version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 524
start: 4 22 119 9 5 41
data:
$ID,574
$MISSION,3
$DIVE,524
$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,55
$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,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
$GPS1,220419,085401,-3418.6067,2546.5798,8,0.7,37,-27.9,0.6,278.7,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-62.5
$GPS2,220419,090514,-3418.6599,2546.5591,8,0.7,18,-27.9,0.6,51.2,11,9.6
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3412.466,2557.256
$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,82.9,20000,-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,-272.5,53,1818,635,532,0.0,0.0,0,123,0.00,0.00,-96.28,0.000,16386,0.000,0.000,53,1818,3028,2994,3063,0,0,0,0,0,0,14.98,28.83,14.99
$GC,129,-0.77,-272.5,51,1818,2995,3063,3.5,-7.4,18,165,14.52,2.33,-12.90,0.000,18692,0.299,0.067,2495,3209,3814,3829,3799,0,0,0,0,0,0,14.54,13.40,14.82
$GC,195,-0.77,-272.5,2495,3209,3830,3799,22.8,-16.7,29,202,0.03,2.35,0.00,0.000,3078,0.451,0.042,2507,1810,3814,3830,3799,0,0,0,0,0,0,14.61,14.76,14.79
$GC,268,-0.77,-272.5,2506,1810,3831,3794,32.8,-15.4,42,274,0.00,0.00,0.00,0.000,2054,0.000,0.000,2507,1810,3815,3831,3799,0,0,0,0,0,0,15.07,15.07,15.07
$GC,337,-0.77,-272.5,2506,1809,3831,3798,43.2,-13.7,55,343,0.00,2.38,0.00,0.000,2308,0.000,0.052,2502,3208,3814,3829,3799,0,0,0,0,0,0,15.07,14.83,15.07
$GC,361,-0.77,-272.5,2501,3208,3830,3799,46.4,-12.6,59,368,0.00,2.35,0.00,0.000,3078,0.000,0.041,2502,1806,3814,3830,3799,0,0,0,0,0,0,14.95,14.85,14.96
$GC,435,-0.77,-272.5,2501,1806,3831,3795,55.9,-14.2,72,441,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1805,3815,3831,3799,0,0,0,0,0,0,15.09,15.09,15.09
$GC,508,-0.77,-272.5,2501,1806,3831,3799,65.8,-12.8,85,514,0.00,2.38,0.00,0.000,2564,0.000,0.061,2501,409,3814,3830,3799,0,0,0,0,0,0,15.08,14.83,15.08
$GC,547,-0.77,-272.5,2500,409,3830,3799,71.4,-12.6,92,554,0.00,2.30,0.00,0.000,3078,0.000,0.034,2501,1809,3813,3829,3798,0,0,0,0,0,0,14.97,14.88,14.99
$GC,619,-0.77,-272.5,2501,1812,3830,3799,79.1,-11.1,105,625,0.00,2.35,0.00,0.000,2308,0.000,0.054,2501,3208,3814,3830,3799,0,0,0,0,0,0,15.10,14.73,15.10
$STATE,640,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,641,begin apogee
$GC,649,-0.17,0.0,2501,1799,3830,3795,82.1,-11.3,109,860,0.98,0.00,199.40,1.010,10246,0.121,0.000,2702,1799,2699,2735,2663,0,0,0,0,0,0,14.74,14.31,13.95
$STATE,862,end apogee,CONTROL_FINISHED_OK
$STATE,862,begin climb
$GC,865,0.77,272.5,2703,1799,2731,2661,96.4,0.0,147,1085,1.40,2.47,208.02,0.995,11012,0.063,0.044,3011,3205,1587,1629,1546,0,0,0,0,0,0,14.49,14.41,13.97
$GC,1103,0.77,272.5,3011,3205,1626,1543,73.5,18.7,188,1110,0.00,2.42,0.00,0.000,5126,0.000,0.049,3013,1802,1585,1626,1544,0,0,0,0,0,0,14.62,14.52,14.62
$GC,1175,0.77,272.5,3013,1801,1625,1541,63.3,14.0,201,1182,0.00,2.50,0.00,0.000,4612,0.000,0.069,3013,385,1582,1624,1540,0,0,0,0,0,0,14.85,14.56,14.86
$GC,1210,0.77,272.5,3013,385,1622,1541,58.3,14.7,207,1217,0.00,2.35,0.00,0.000,5126,0.000,0.031,3013,1808,1581,1622,1541,0,0,0,0,0,0,14.73,14.66,14.74
$GC,1282,0.77,272.5,3013,1810,1622,1540,49.3,12.0,220,1289,0.00,2.33,0.00,0.000,4356,0.000,0.045,3013,3202,1581,1622,1540,0,0,0,0,0,0,14.98,14.75,14.99
$GC,1306,0.77,272.5,3013,3202,1621,1539,45.7,13.6,224,1313,0.00,2.40,0.00,0.000,5126,0.000,0.050,3013,1799,1580,1621,1539,0,0,0,0,0,0,14.83,14.72,14.85
$GC,1378,0.77,272.5,3013,1799,1621,1540,37.0,12.5,237,1384,0.00,0.00,0.00,0.000,4102,0.000,0.000,3013,1799,1579,1621,1538,0,0,0,0,0,0,15.02,15.02,15.02
$GC,1447,0.77,272.5,3013,1799,1621,1538,29.6,10.2,250,1454,0.00,2.35,0.00,0.000,4356,0.000,0.045,3013,3198,1579,1621,1538,0,0,0,0,0,0,15.06,14.83,15.06
$GC,1472,0.77,272.5,3013,3198,1621,1538,26.9,11.3,254,1479,0.00,2.38,0.00,0.000,5126,0.000,0.047,3016,1790,1579,1621,1537,0,0,0,0,0,0,14.94,14.83,14.95
$GC,1544,0.77,272.5,3016,1790,1621,1537,19.6,10.5,267,1551,0.00,2.40,0.00,0.000,4612,0.000,0.068,3019,396,1579,1622,1536,0,0,0,0,0,0,15.06,14.82,15.06
$GC,1626,0.77,272.5,3019,397,1621,1537,10.6,12.1,282,1633,0.00,2.30,0.00,0.000,5126,0.000,0.032,3020,1800,1579,1621,1537,0,0,0,0,0,0,14.92,14.85,14.93
$STATE,1673,end climb,FINISH_DEPTH_REACHED
$STATE,1673,begin subsurface finish
$FINISH1,4.5,1.025353,110
$GC,1681,0.14,110.0,3019,1803,1621,1537,4.5,11.1,291,1716,1.08,2.33,-25.42,0.000,20740,0.160,0.071,2807,3210,2255,2299,2211,0,0,0,0,0,0,14.71,13.44,14.81
$FINISH2,2.2
$STATE,1717,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1717,begin surface
$IRIDIUM_FIX,-3404.29,2546.08,220419,074025
$TT8_MAMPS,0.021721,0.944489
$HUMID,45.19
$INTERNAL_PRESSURE,9.52717
$TCM_TEMP,20.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.1,36.8
$SC_FREEKB,3647392
$24V_AH,13.40,154.952
$10V_AH,13.25,0.000
$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,18.000,45.025,407.425,0.000,0.000,22.413,16.369,342.583,1.250,0.000,20.143,525.999,201.405,480.462,897.813,293.612,0.000,840.051,0.000,455.149,0.000,10.105,0.000
$DEVICE_MAMPS,450.585,71.145,1009.800,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1768.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.169,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,6809,297
$CAP_FILE_SIZE,62198,0
$CFSIZE,2097086464,1995472896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,220419,090514,-3418.660,2546.559,8,0.7,18,-27.9,0.6,51.2,11,9.6