version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 528
start: 4 22 119 11 52 21
data:
$ID,574
$MISSION,3
$DIVE,528
$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,34
$R_STBD_OVSHOOT,48
$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
$GPS1,220419,113731,-3418.0405,2546.1899,9,0.8,31,-27.9,0.3,180.0,9,5.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-63.2
$GPS2,220419,115153,-3417.9941,2546.0791,8,0.9,15,-27.9,0.0,335.5,8,9.2
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3407.359,2543.814
$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,23,-0.77,-272.5,53,1804,634,532,0.0,0.0,0,118,0.00,0.00,-91.75,0.000,16386,0.000,0.000,52,1804,2919,2879,2960,0,0,0,0,0,0,14.98,28.83,14.99
$GC,124,-0.77,-272.5,51,1804,2881,2958,3.2,-5.5,17,160,14.50,2.42,-15.73,0.000,18692,0.298,0.070,2492,3211,3812,3832,3792,0,0,0,0,0,0,14.54,13.41,14.83
$GC,280,-0.77,-272.5,2493,3211,3833,3792,31.1,-12.1,46,287,0.05,2.38,0.00,0.000,3078,0.290,0.042,2507,1797,3812,3833,3792,0,0,0,0,0,0,14.64,14.78,14.82
$GC,352,-0.77,-272.5,2506,1796,3831,3792,40.3,-13.6,59,358,0.00,0.00,0.00,0.000,2054,0.000,0.000,2507,1796,3812,3832,3792,0,0,0,0,0,0,15.07,15.07,15.07
$GC,422,-0.77,-272.5,2505,1796,3833,3792,50.2,-13.8,72,428,0.00,0.00,0.00,0.000,2054,0.000,0.000,2506,1796,3812,3833,3792,0,0,0,0,0,0,15.09,15.09,15.09
$GC,491,-0.77,-272.5,2506,1796,3832,3792,59.0,-11.9,85,498,0.00,0.00,0.00,0.000,2054,0.000,0.000,2507,1796,3812,3833,3792,0,0,0,0,0,0,15.09,15.10,15.10
$GC,561,-0.77,-272.5,2506,1796,3832,3792,67.1,-11.6,98,567,0.00,0.00,0.00,0.000,2054,0.000,0.000,2507,1795,3810,3828,3792,0,0,0,0,0,0,15.10,15.11,15.11
$GC,634,-0.77,-272.5,2506,1796,3832,3792,75.4,-11.3,111,641,0.00,2.40,0.00,0.000,2308,0.000,0.053,2507,3206,3812,3832,3792,0,0,0,0,0,0,15.11,14.75,15.11
$GC,659,-0.77,-272.5,2506,3206,3832,3792,78.3,-10.8,115,666,0.00,2.33,0.00,0.000,3078,0.000,0.041,2507,1810,3812,3832,3792,0,0,0,0,0,0,14.85,14.75,14.86
$GC,731,-0.77,-272.5,2506,1810,3832,3792,85.0,-10.1,128,738,0.00,2.40,0.00,0.000,2564,0.000,0.060,2508,408,3812,3832,3792,0,0,0,0,0,0,15.12,14.85,15.13
$GC,751,-0.77,-272.5,2507,408,3832,3789,87.2,-10.1,131,758,0.00,2.30,0.00,0.000,3078,0.000,0.032,2507,1814,3812,3832,3792,0,0,0,0,0,0,14.98,14.91,15.00
$GC,824,-0.77,-272.5,2507,1816,3832,3792,93.6,-9.1,144,830,0.00,2.33,0.00,0.000,2308,0.000,0.050,2507,3205,3812,3832,3792,0,0,0,0,0,0,15.11,14.75,15.11
$STATE,857,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,858,begin apogee
$GC,866,-0.17,0.0,2507,1790,3832,3792,97.3,-8.6,150,1073,0.95,0.00,198.68,1.022,10246,0.123,0.000,2701,1786,2699,2736,2663,0,0,0,0,0,0,14.68,14.46,13.96
$STATE,1075,end apogee,CONTROL_FINISHED_OK
$STATE,1075,begin climb
$GC,1078,0.77,272.5,2701,1786,2733,2661,108.4,0.0,187,1299,1.38,2.42,207.90,1.013,10500,0.076,0.042,2994,3195,1586,1629,1544,0,0,0,0,0,0,14.47,14.33,13.95
$GC,1353,0.77,272.5,2994,3195,1624,1541,87.2,15.1,235,1360,0.00,2.42,0.00,0.000,3078,0.000,0.052,2996,1798,1585,1624,1546,0,0,0,0,0,0,14.70,14.59,14.71
$GC,1425,0.77,272.5,2995,1798,1624,1540,76.8,14.8,248,1432,0.00,2.47,0.00,0.000,2564,0.000,0.070,2993,385,1581,1624,1539,0,0,0,0,0,0,14.92,14.66,14.92
$GC,1475,0.77,272.5,2996,385,1622,1540,69.4,13.1,257,1481,0.00,2.35,0.00,0.000,3078,0.000,0.031,2996,1806,1581,1622,1540,0,0,0,0,0,0,14.82,14.75,14.83
$GC,1547,0.77,272.5,2996,1809,1622,1539,61.1,11.8,270,1552,0.00,0.00,0.00,0.000,2054,0.000,0.000,2996,1809,1580,1622,1538,0,0,0,0,0,0,14.99,15.00,15.00
$GC,1616,0.77,272.5,2995,1809,1622,1538,52.3,11.6,283,1621,0.00,0.00,0.00,0.000,2054,0.000,0.000,2994,1809,1579,1622,1536,0,0,0,0,0,0,15.04,15.04,15.04
$GC,1685,0.77,272.5,2996,1808,1622,1537,44.3,12.3,296,1691,0.00,0.00,0.00,0.000,2054,0.000,0.000,2996,1810,1579,1622,1537,0,0,0,0,0,0,15.07,15.07,15.07
$GC,1754,0.77,272.5,2995,1809,1615,1537,36.5,10.6,309,1760,0.00,0.00,0.00,0.000,2054,0.000,0.000,2996,1809,1579,1622,1537,0,0,0,0,0,0,15.08,15.09,15.09
$GC,1823,0.77,272.5,2996,1809,1622,1537,29.4,10.3,322,1830,0.00,2.33,0.00,0.000,2308,0.000,0.047,2996,3205,1578,1621,1536,0,0,0,0,0,0,15.09,14.85,15.10
$GC,1858,0.77,272.5,2996,3205,1621,1536,25.6,10.5,328,1865,0.00,2.38,0.00,0.000,3078,0.000,0.047,2996,1793,1578,1620,1536,0,0,0,0,0,0,14.88,14.85,14.89
$GC,1930,0.84,327.2,2995,1794,1621,1536,19.5,8.7,341,1976,0.05,2.42,37.65,0.870,10756,0.256,0.069,3033,398,1364,1414,1314,0,0,0,0,0,0,14.81,14.64,14.27
$GC,2046,0.84,327.2,3032,398,1411,1312,5.1,12.7,362,2052,0.00,2.33,0.00,0.000,5126,0.000,0.032,3033,1803,1362,1413,1311,0,0,0,0,0,0,14.88,14.81,14.90
$STATE,2057,end climb,FINISH_DEPTH_REACHED
$STATE,2057,begin subsurface finish
$FINISH1,3.4,1.025362,110
$GC,2065,0.13,109.6,3033,1805,1411,1310,3.4,11.5,364,2116,1.12,2.38,-39.85,0.000,20740,0.137,0.072,2807,3197,2258,2301,2216,0,0,0,0,0,0,14.61,13.47,14.69
$FINISH2,0.3
$STATE,2117,end subsurface finish,CONTROL_FINISHED_OK
$STATE,2117,begin surface
$IRIDIUM_FIX,-3404.29,2546.08,220419,114157
$TT8_MAMPS,0.021721,0.925764
$HUMID,45.11
$INTERNAL_PRESSURE,9.50764
$TCM_TEMP,20.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.5,36.7
$SC_FREEKB,3645344
$24V_AH,13.41,155.704
$10V_AH,13.47,0.000
$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,18.050,40.450,444.225,0.000,0.000,47.452,82.658,365.112,1.500,0.000,16.336,673.493,342.418,524.131,1142.121,307.065,0.000,946.895,0.000,565.246,0.000,11.615,0.000
$DEVICE_MAMPS,297.585,71.910,1022.040,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2170.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.104,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,10135,373
$CAP_FILE_SIZE,72490,0
$CFSIZE,2097086464,1994784768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,220419,115153,-3417.994,2546.079,8,0.9,15,-27.9,0.0,335.5,8,9.2