version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 544
start: 4 23 119 0 31 34
data:
$ID,574
$MISSION,3
$DIVE,544
$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,120
$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,39
$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
$GPS1,230419,001849,-3416.1384,2540.6426,12,0.8,42,-27.8,0.5,280.6,11,7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-66.7
$GPS2,230419,003107,-3416.2065,2540.4126,7,0.9,14,-27.8,1.1,171.2,10,10.0
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3421.606,2551.742
$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,147.8,20000,-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,-272.5,52,1829,635,533,0.0,0.0,0,123,0.00,0.00,-96.70,0.000,16386,0.000,0.000,52,1830,3026,2992,3061,0,0,0,0,0,0,14.97,28.83,14.97
$GC,129,-0.77,-272.5,52,1830,2993,3061,3.4,-6.3,18,165,14.52,2.47,-13.07,0.000,18948,0.297,0.086,2501,404,3812,3828,3796,0,0,0,0,0,0,14.50,13.86,14.80
$GC,244,-0.77,-272.5,2500,403,3828,3796,30.0,-13.2,39,251,0.00,2.35,0.00,0.000,3078,0.000,0.038,2501,1814,3812,3828,3797,0,0,0,0,0,0,14.81,14.71,14.83
$GC,314,-0.77,-272.5,2501,1817,3828,3796,38.9,-12.7,52,321,0.00,2.40,0.00,0.000,2308,0.000,0.057,2501,3219,3812,3828,3796,0,0,0,0,0,0,15.07,14.72,15.07
$GC,365,-0.77,-272.5,2501,3219,3828,3796,43.9,-8.9,61,372,0.00,2.38,0.00,0.000,3078,0.000,0.041,2501,1802,3812,3828,3796,0,0,0,0,0,0,14.88,14.76,14.88
$GC,437,-0.77,-272.5,2501,1802,3828,3796,51.0,-11.1,74,443,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1802,3812,3829,3796,0,0,0,0,0,0,15.07,15.07,15.07
$GC,506,-0.77,-272.5,2501,1802,3828,3796,58.8,-11.2,87,512,0.00,2.42,0.00,0.000,2308,0.000,0.053,2501,3220,3812,3828,3796,0,0,0,0,0,0,15.08,14.82,15.09
$GC,526,-0.77,-272.5,2501,3220,3828,3796,60.9,-10.5,90,532,0.00,2.38,0.00,0.000,3078,0.000,0.041,2501,1802,3812,3829,3796,0,0,0,0,0,0,14.95,14.83,14.95
$GC,598,-0.77,-272.5,2501,1802,3829,3796,68.0,-11.0,103,605,0.00,2.40,0.00,0.000,2564,0.000,0.063,2501,406,3812,3829,3796,0,0,0,0,0,0,15.07,14.81,15.09
$GC,632,-0.77,-272.5,2501,406,3828,3796,72.0,-10.7,109,639,0.00,2.35,0.00,0.000,3078,0.000,0.036,2501,1825,3812,3828,3796,0,0,0,0,0,0,14.96,14.86,14.97
$GC,707,-0.77,-272.5,2501,1826,3828,3797,79.8,-11.2,122,714,0.00,2.35,0.00,0.000,2308,0.000,0.055,2501,3209,3812,3828,3797,0,0,0,0,0,0,15.09,14.83,15.09
$GC,753,-0.77,-272.5,2501,3209,3828,3797,84.2,-9.0,130,760,0.00,2.35,0.00,0.000,3078,0.000,0.040,2501,1810,3812,3828,3796,0,0,0,0,0,0,14.96,14.85,14.97
$STATE,800,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,800,begin apogee
$GC,807,-0.17,0.0,2501,1809,3828,3796,89.8,-10.8,139,1015,0.98,0.00,199.00,1.019,10246,0.131,0.000,2697,1809,2699,2735,2663,0,0,0,0,0,0,14.65,14.44,13.93
$STATE,1016,end apogee,CONTROL_FINISHED_OK
$STATE,1016,begin climb
$GC,1019,0.77,272.5,2698,1809,2733,2662,105.5,0.0,176,1240,1.38,2.42,207.65,1.008,11012,0.067,0.047,2998,3203,1587,1630,1545,0,0,0,0,0,0,14.45,14.30,13.92
$GC,1385,0.77,272.5,2998,3202,1622,1542,71.2,14.6,242,1392,0.00,2.40,0.00,0.000,3078,0.000,0.050,2999,1803,1582,1622,1542,0,0,0,0,0,0,14.74,14.63,14.76
$GC,1457,0.77,272.5,2998,1803,1623,1540,61.8,12.8,255,1464,0.00,2.45,0.00,0.000,2564,0.000,0.070,2999,392,1581,1621,1541,0,0,0,0,0,0,14.97,14.72,14.97
$GC,1512,0.77,272.5,2998,392,1622,1541,54.5,10.9,265,1519,0.00,2.33,0.00,0.000,3078,0.000,0.032,2999,1805,1581,1622,1540,0,0,0,0,0,0,14.90,14.82,14.90
$GC,1585,0.81,302.4,2998,1807,1622,1539,47.9,9.3,278,1619,0.00,2.35,24.88,0.929,10500,0.000,0.047,2999,3191,1466,1513,1419,0,0,0,0,0,0,15.03,14.67,14.19
$GC,1655,0.87,349.5,2998,3191,1510,1417,41.6,8.8,290,1701,0.08,2.38,39.50,0.936,11270,0.187,0.049,3039,1799,1274,1330,1219,0,0,0,0,0,0,14.69,14.67,14.07
$GC,1765,0.87,349.5,3039,1799,1327,1215,29.6,10.3,310,1772,0.00,2.45,0.00,0.000,516,0.000,0.070,3040,389,1271,1327,1215,0,0,0,0,0,0,14.90,14.62,14.91
$GC,1796,0.91,388.3,3039,388,1327,1214,26.8,9.1,315,1835,0.00,2.35,29.98,0.899,11270,0.000,0.031,3040,1811,1114,1176,1053,0,0,0,0,0,0,14.79,14.71,14.10
$GC,1899,0.91,388.3,3039,1811,1175,1050,15.9,11.9,334,1906,0.00,2.50,0.00,0.000,2564,0.000,0.069,3040,385,1112,1175,1050,0,0,0,0,0,0,14.92,14.61,14.92
$GC,1939,0.91,388.3,3039,389,1175,1049,11.1,12.4,341,1946,0.00,2.33,0.00,0.000,3078,0.000,0.031,3040,1795,1111,1175,1047,0,0,0,0,0,0,14.80,14.78,14.81
$STATE,1987,end climb,FINISH_DEPTH_REACHED
$STATE,1987,begin subsurface finish
$FINISH1,4.9,1.025431,106
$GC,1995,0.13,106.0,3040,1797,1175,1046,4.9,12.1,350,2045,1.17,0.00,-43.92,0.000,20742,0.158,0.000,2809,1798,2271,2314,2229,0,0,0,0,0,0,14.62,13.52,14.73
$FINISH2,2.0
$STATE,2046,end subsurface finish,CONTROL_FINISHED_OK
$STATE,2046,begin surface
$IRIDIUM_FIX,-3401.68,2542.60,220419,225837
$TT8_MAMPS,0.021721,0.92876
$HUMID,45.43
$INTERNAL_PRESSURE,9.49787
$TCM_TEMP,20.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,75.5,33.6
$SC_FREEKB,3637152
$24V_AH,13.52,158.882
$10V_AH,13.35,0.000
$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,18.125,47.800,501.000,0.000,0.000,34.946,42.912,356.184,1.750,0.000,15.934,622.745,247.053,562.569,1050.741,308.967,0.000,983.450,0.000,544.719,0.000,13.144,0.000
$DEVICE_MAMPS,296.820,85.680,1018.980,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2098.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.065,0.000,0.000,0.000
$MEM,340920
$DATA_FILE_SIZE,10109,359
$CAP_FILE_SIZE,70683,0
$CFSIZE,2097086464,1992163328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,230419,003107,-3416.207,2540.413,7,0.9,14,-27.8,1.1,171.2,10,10.0