version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 546
start: 4 23 119 1 57 57
data:
$ID,574
$MISSION,3
$DIVE,546
$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,30
$R_STBD_OVSHOOT,49
$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
$GPS1,230419,014516,-3416.4651,2539.7034,8,1.0,18,-27.8,1.7,294.6,9,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-68.7
$GPS2,230419,015731,-3416.5188,2539.4736,7,0.9,27,-27.8,0.5,263.6,9,5.5
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3421.918,2550.803
$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,24,-0.77,-272.5,52,1812,634,536,0.0,0.0,0,123,0.00,0.00,-96.43,0.000,16386,0.000,0.000,52,1812,3011,2980,3042,0,0,0,0,0,0,14.98,28.83,14.99
$GC,129,-0.77,-272.5,52,1812,2980,3043,3.3,-7.0,18,165,14.50,2.42,-13.32,0.000,18948,0.293,0.083,2505,405,3813,3830,3797,0,0,0,0,0,0,14.51,13.87,14.81
$GC,225,-0.77,-272.5,2504,405,3832,3798,29.2,-15.7,35,231,0.00,2.33,0.00,0.000,3078,0.000,0.037,2504,1805,3813,3829,3797,0,0,0,0,0,0,14.81,14.73,14.83
$GC,297,-0.77,-272.5,2504,1806,3831,3798,40.4,-16.1,48,303,0.00,2.40,0.00,0.000,2308,0.000,0.056,2504,3220,3814,3831,3798,0,0,0,0,0,0,15.05,14.80,15.05
$GC,357,-0.77,-272.5,2504,3215,3831,3798,49.3,-13.4,59,365,0.00,2.38,0.00,0.000,3078,0.000,0.039,2504,1803,3815,3832,3798,0,0,0,0,0,0,14.94,14.84,14.95
$GC,431,-0.77,-272.5,2504,1803,3832,3798,59.5,-13.8,72,441,0.00,2.40,0.00,0.000,2564,0.000,0.062,2504,405,3814,3831,3797,0,0,0,0,0,0,15.08,14.81,15.08
$GC,464,-0.77,-272.5,2504,405,3832,3798,64.3,-13.0,77,471,0.00,2.33,0.00,0.000,3078,0.000,0.035,2504,1815,3814,3832,3797,0,0,0,0,0,0,14.83,14.74,14.84
$GC,538,-0.77,-272.5,2504,1816,3831,3798,72.9,-11.3,90,544,0.00,2.38,0.00,0.000,2308,0.000,0.055,2504,3219,3814,3831,3798,0,0,0,0,0,0,15.09,14.83,15.09
$GC,572,-0.77,-272.5,2504,3218,3831,3798,77.4,-11.2,96,579,0.00,2.35,0.00,0.000,3078,0.000,0.040,2502,1808,3815,3832,3798,0,0,0,0,0,0,14.97,14.85,14.97
$GC,646,-0.77,-272.5,2504,1808,3829,3797,86.6,-13.2,109,653,0.00,2.40,0.00,0.000,2564,0.000,0.062,2504,409,3814,3831,3797,0,0,0,0,0,0,15.10,14.83,15.09
$GC,676,-0.77,-272.5,2504,409,3831,3797,90.5,-11.1,114,683,0.00,2.33,0.00,0.000,3078,0.000,0.034,2504,1815,3814,3831,3797,0,0,0,0,0,0,14.97,14.88,14.98
$STATE,719,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,719,begin apogee
$GC,726,-0.17,0.0,2504,1818,3831,3798,94.9,-9.1,122,933,0.98,0.00,198.73,1.021,10246,0.137,0.000,2700,1818,2700,2736,2664,0,0,0,0,0,0,14.59,14.42,13.93
$STATE,934,end apogee,CONTROL_FINISHED_OK
$STATE,934,begin climb
$GC,937,0.77,272.5,2700,1818,2733,2661,106.5,0.0,159,1157,1.42,2.42,207.85,1.006,10500,0.057,0.044,3018,3204,1587,1629,1545,0,0,0,0,0,0,14.47,14.40,13.94
$GC,1216,0.77,272.5,3018,3204,1622,1543,73.9,19.4,208,1222,0.00,2.40,0.00,0.000,5126,0.000,0.048,3020,1808,1582,1622,1543,0,0,0,0,0,0,14.69,14.59,14.71
$GC,1288,0.77,272.5,3019,1807,1622,1541,61.6,17.5,221,1294,0.00,2.47,0.00,0.000,4612,0.000,0.070,3020,388,1581,1622,1540,0,0,0,0,0,0,14.90,14.59,14.91
$GC,1338,0.77,272.5,3020,386,1621,1541,52.3,17.7,230,1345,0.05,2.35,0.00,0.000,5126,0.314,0.034,3010,1806,1580,1621,1540,0,0,0,0,0,0,14.51,14.68,14.71
$GC,1410,0.77,272.5,3008,1809,1621,1539,41.0,16.6,243,1417,0.00,2.33,0.00,0.000,4356,0.000,0.047,3010,3200,1580,1621,1539,0,0,0,0,0,0,14.99,14.78,15.00
$GC,1450,0.77,272.5,3010,3200,1621,1538,34.7,14.1,250,1457,0.00,2.38,0.00,0.000,5126,0.000,0.047,3010,1799,1579,1621,1538,0,0,0,0,0,0,14.90,14.79,14.92
$GC,1522,0.77,272.5,3009,1799,1621,1538,25.8,12.1,263,1529,0.00,2.42,0.00,0.000,4612,0.000,0.068,3010,389,1579,1621,1538,0,0,0,0,0,0,15.03,14.70,15.03
$GC,1562,0.77,272.5,3010,389,1621,1538,21.5,10.5,270,1569,0.00,2.35,0.00,0.000,5126,0.000,0.032,3011,1808,1579,1621,1537,0,0,0,0,0,0,14.87,14.85,14.88
$GC,1635,0.86,347.3,3010,1811,1621,1536,15.8,8.2,283,1691,0.00,2.50,49.05,0.852,10756,0.000,0.067,3010,391,1280,1336,1225,0,0,0,0,0,0,15.07,14.57,14.21
$GC,1731,0.98,445.2,3007,391,1336,1223,6.8,7.6,300,1751,0.20,2.35,13.98,0.744,11266,0.091,0.034,3074,1816,1192,1251,1133,0,0,0,0,0,0,14.76,14.74,14.81
$STATE,1752,end climb,FINISH_DEPTH_REACHED
$STATE,1752,begin subsurface finish
$FINISH1,5.0,1.025422,107
$GC,1760,0.13,106.5,3075,1810,1248,1130,5.0,9.2,303,1817,1.40,2.33,-47.00,0.000,20740,0.173,0.067,2807,3190,2269,2312,2226,0,0,0,0,0,0,14.56,13.97,14.66
$FINISH2,0.4
$STATE,1818,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1820,begin surface
$IRIDIUM_FIX,-3401.68,2539.12,230419,002334
$TT8_MAMPS,0.021721,0.880075
$HUMID,44.52
$INTERNAL_PRESSURE,9.50764
$TCM_TEMP,20.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.2,34.1
$SC_FREEKB,3636128
$24V_AH,13.87,159.266
$10V_AH,13.36,0.000
$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,18.550,50.000,469.600,0.000,0.000,22.555,41.108,360.585,2.250,0.000,28.807,534.974,204.646,539.195,976.645,304.524,0.000,924.384,0.000,478.871,0.000,14.639,0.000
$DEVICE_MAMPS,313.650,82.620,1020.510,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1871.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.990,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,6802,313
$CAP_FILE_SIZE,65096,0
$CFSIZE,2097086464,1991868416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,230419,015731,-3416.519,2539.474,7,0.9,27,-27.8,0.5,263.6,9,5.5