version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 526
start: 4 22 119 10 24 2
data:
$ID,574
$MISSION,3
$DIVE,526
$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,350
$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,31
$R_STBD_OVSHOOT,54
$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,10
$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
$GPS1,220419,101201,-3418.5564,2546.6541,8,1.1,34,-27.9,0.2,135.6,8,5.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-63.6
$GPS2,220419,102336,-3418.5547,2546.6072,7,1.2,47,-27.9,0.9,244.2,7,4.6
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3407.920,2544.342
$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,17.9,20000,-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,24,-0.77,-272.5,52,1816,636,532,0.0,0.0,0,123,0.00,0.00,-96.80,0.000,16386,0.000,0.000,52,1817,3053,3021,3086,0,0,0,0,0,0,15.01,28.83,15.02
$GC,129,-0.77,-272.5,52,1817,3021,3087,3.5,-6.9,18,165,14.55,2.33,-12.45,0.000,18692,0.301,0.070,2496,3205,3813,3828,3798,0,0,0,0,0,0,14.54,13.38,14.83
$GC,234,-0.77,-272.5,2495,3205,3829,3798,27.3,-11.8,37,241,0.00,2.35,0.00,0.000,3078,0.000,0.042,2495,1803,3813,3829,3798,0,0,0,0,0,0,14.82,14.72,14.83
$GC,306,-0.77,-272.5,2495,1803,3829,3798,37.0,-14.9,50,314,0.05,2.40,0.00,0.000,2564,0.317,0.060,2507,402,3813,3829,3798,0,0,0,0,0,0,14.65,14.81,14.76
$GC,332,-0.77,-272.5,2507,402,3829,3798,40.7,-13.5,54,339,0.00,2.33,0.00,0.000,3078,0.000,0.034,2507,1811,3813,3829,3798,0,0,0,0,0,0,14.95,14.88,14.97
$GC,404,-0.77,-272.5,2507,1813,3829,3798,48.4,-11.5,67,410,0.00,2.38,0.00,0.000,2308,0.000,0.055,2507,3219,3813,3829,3798,0,0,0,0,0,0,15.09,14.73,15.09
$GC,443,-0.77,-272.5,2506,3220,3829,3798,53.0,-9.3,74,450,0.00,2.35,0.00,0.000,3078,0.000,0.039,2507,1805,3813,3829,3798,0,0,0,0,0,0,14.97,14.86,14.97
$GC,518,-0.77,-272.5,2507,1804,3829,3798,60.2,-11.1,87,524,0.00,0.00,0.00,0.000,2054,0.000,0.000,2507,1805,3813,3829,3798,0,0,0,0,0,0,15.09,15.09,15.09
$GC,592,-0.77,-272.5,2507,1805,3829,3798,68.3,-10.0,100,599,0.00,2.40,0.00,0.000,2564,0.000,0.061,2507,404,3813,3829,3798,0,0,0,0,0,0,15.11,14.84,15.11
$GC,632,-0.77,-272.5,2507,404,3829,3798,72.9,-10.7,107,639,0.00,2.33,0.00,0.000,3078,0.000,0.033,2507,1816,3813,3829,3798,0,0,0,0,0,0,14.98,14.90,15.00
$GC,705,-0.77,-272.5,2507,1819,3828,3798,80.1,-10.0,120,711,0.00,2.35,0.00,0.000,2308,0.000,0.053,2507,3210,3813,3829,3798,0,0,0,0,0,0,15.11,14.76,15.11
$GC,745,-0.77,-272.5,2505,3210,3828,3798,84.1,-8.8,127,752,0.00,2.33,0.00,0.000,3078,0.000,0.037,2507,1807,3813,3829,3798,0,0,0,0,0,0,14.88,14.78,14.89
$STATE,782,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,782,begin apogee
$GC,789,-0.17,0.0,2507,1807,3829,3798,88.0,-10.1,134,993,0.93,0.00,198.23,1.017,10246,0.121,0.000,2699,1806,2700,2737,2664,0,0,0,0,0,0,14.75,14.46,13.97
$STATE,996,end apogee,CONTROL_FINISHED_OK
$STATE,996,begin climb
$GC,999,0.77,272.5,2699,1806,2734,2662,98.9,0.0,171,1219,1.35,2.45,208.02,0.999,10500,0.062,0.044,2998,3200,1587,1630,1544,0,0,0,0,0,0,14.48,14.42,13.96
$GC,1289,0.77,272.5,2996,3200,1623,1541,73.3,14.2,222,1296,0.00,2.40,0.00,0.000,3078,0.000,0.049,2999,1801,1581,1622,1541,0,0,0,0,0,0,14.65,14.57,14.66
$GC,1361,0.77,272.5,2999,1801,1623,1538,64.5,12.5,235,1368,0.00,2.47,0.00,0.000,2564,0.000,0.068,2999,388,1581,1623,1540,0,0,0,0,0,0,14.94,14.69,14.94
$GC,1426,0.77,272.5,2999,388,1622,1540,55.8,12.5,247,1433,0.00,2.33,0.00,0.000,3078,0.000,0.031,2999,1804,1580,1621,1540,0,0,0,0,0,0,14.88,14.81,14.89
$GC,1498,0.77,272.5,2999,1806,1621,1538,47.5,12.0,260,1504,0.00,0.00,0.00,0.000,2054,0.000,0.000,2999,1806,1579,1620,1538,0,0,0,0,0,0,15.01,15.01,15.00
$GC,1568,0.77,272.5,2998,1806,1622,1537,39.4,11.7,273,1573,0.00,0.00,0.00,0.000,2054,0.000,0.000,2999,1806,1579,1622,1537,0,0,0,0,0,0,15.04,15.04,15.04
$GC,1637,0.77,272.5,2999,1806,1621,1537,31.8,10.6,286,1643,0.00,2.33,0.00,0.000,2308,0.000,0.047,2999,3204,1578,1621,1536,0,0,0,0,0,0,15.07,14.84,15.07
$GC,1661,0.77,272.5,2998,3204,1621,1536,29.2,10.8,290,1668,0.00,2.38,0.00,0.000,3078,0.000,0.048,2999,1798,1578,1621,1536,0,0,0,0,0,0,14.95,14.84,14.96
$GC,1734,0.81,301.3,2999,1798,1620,1536,22.5,9.3,303,1763,0.00,2.40,20.70,0.868,10756,0.000,0.068,2999,395,1469,1517,1422,0,0,0,0,0,0,15.07,14.72,14.28
$GC,1842,0.81,301.3,2999,395,1514,1422,10.9,12.5,323,1849,0.00,2.30,0.00,0.000,3078,0.000,0.031,2999,1801,1467,1514,1421,0,0,0,0,0,0,14.93,14.86,14.94
$STATE,1899,end climb,FINISH_DEPTH_REACHED
$STATE,1899,begin subsurface finish
$FINISH1,4.6,1.025345,110
$GC,1908,0.14,110.4,2999,1803,1514,1420,4.6,9.9,334,1943,0.95,2.33,-27.15,0.000,20740,0.132,0.069,2804,3197,2250,2295,2205,0,0,0,0,0,0,14.68,14.02,14.78
$FINISH2,2.9
$STATE,1944,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1944,begin surface
$IRIDIUM_FIX,-3404.29,2546.08,220419,085822
$TT8_MAMPS,0.020972,0.68159
$HUMID,45.23
$INTERNAL_PRESSURE,9.51741
$TCM_TEMP,20.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,65.3,32.4
$SC_FREEKB,3646368
$24V_AH,13.38,155.318
$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,17.825,44.900,426.950,0.000,0.000,22.646,15.833,333.909,1.500,0.000,48.643,615.345,252.734,494.948,982.676,301.057,0.000,886.509,0.000,518.839,0.000,10.090,0.000
$DEVICE_MAMPS,317.475,69.615,1016.685,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1994.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.007,0.000,0.000,0.000
$MEM,340920
$DATA_FILE_SIZE,6791,340
$CAP_FILE_SIZE,67738,0
$CFSIZE,2097086464,1995112448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,220419,102336,-3418.555,2546.607,7,1.2,47,-27.9,0.9,244.2,7,4.6