version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 550
start: 4 23 119 4 54 34
data:
$ID,574
$MISSION,3
$DIVE,550
$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,31
$R_STBD_OVSHOOT,57
$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
$GPS1,230419,043933,-3417.2546,2537.7283,9,0.9,31,-27.8,0.5,26.2,10,9.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-60.7
$GPS2,230419,045406,-3417.2744,2537.4546,8,0.9,19,-27.8,1.0,175.5,10,9.9
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3422.674,2548.786
$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,-272.5,52,1786,638,532,0.0,0.0,0,123,0.00,0.00,-96.47,0.000,16386,0.000,0.000,52,1788,3024,2990,3058,0,0,0,0,0,0,14.98,28.83,14.99
$GC,129,-0.77,-272.5,53,1787,2990,3059,3.5,-7.1,18,165,14.43,2.38,-13.00,0.000,18948,0.289,0.083,2502,400,3815,3832,3798,0,0,0,0,0,0,14.51,13.35,14.81
$GC,186,-0.77,-272.5,2501,399,3833,3798,22.1,-24.2,27,192,0.00,2.33,0.00,0.000,3078,0.000,0.035,2501,1795,3815,3833,3798,0,0,0,0,0,0,14.85,14.76,14.86
$GC,258,-0.77,-272.5,2506,1798,3833,3798,33.2,-15.7,40,264,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1797,3815,3833,3798,0,0,0,0,0,0,15.03,15.04,15.03
$GC,327,-0.77,-272.5,2501,1797,3833,3798,42.8,-13.1,53,334,0.00,2.40,0.00,0.000,2308,0.000,0.054,2501,3214,3815,3832,3798,0,0,0,0,0,0,15.06,14.81,15.07
$GC,377,-0.77,-272.5,2501,3214,3833,3797,48.4,-10.1,62,384,0.00,2.35,0.00,0.000,3078,0.000,0.038,2501,1802,3815,3833,3798,0,0,0,0,0,0,14.94,14.85,14.95
$GC,451,-0.77,-272.5,2501,1802,3831,3798,56.0,-9.8,75,456,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1802,3815,3833,3798,0,0,0,0,0,0,15.09,15.09,15.09
$GC,520,-0.77,-272.5,2501,1802,3833,3798,62.8,-9.7,88,526,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1802,3815,3833,3798,0,0,0,0,0,0,15.10,15.10,15.10
$GC,590,-0.77,-272.5,2501,1802,3832,3798,69.3,-9.0,101,595,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1802,3816,3833,3799,0,0,0,0,0,0,15.11,15.11,15.11
$GC,661,-0.77,-272.5,2501,1802,3833,3798,75.6,-9.1,114,666,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1802,3815,3833,3798,0,0,0,0,0,0,15.11,15.11,15.11
$GC,735,-0.77,-272.5,2501,1802,3832,3797,82.9,-10.9,127,742,0.00,2.40,0.00,0.000,2564,0.000,0.062,2501,404,3815,3833,3798,0,0,0,0,0,0,15.11,14.78,15.11
$GC,756,-0.77,-272.5,2501,404,3833,3798,84.8,-8.9,130,762,0.00,2.33,0.00,0.000,3078,0.000,0.033,2501,1817,3815,3833,3797,0,0,0,0,0,0,14.92,14.83,14.92
$GC,828,-0.77,-272.5,2501,1821,3832,3798,91.4,-10.1,143,834,0.00,2.35,0.00,0.000,2308,0.000,0.054,2501,3213,3815,3832,3798,0,0,0,0,0,0,15.07,14.84,15.09
$GC,862,-0.77,-272.5,2501,3214,3833,3798,94.8,-8.6,149,869,0.00,2.33,0.00,0.000,3078,0.000,0.041,2501,1813,3815,3832,3798,0,0,0,0,0,0,15.01,14.87,14.98
$STATE,890,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,890,begin apogee
$GC,896,-0.17,0.0,2501,1813,3831,3797,97.4,-8.5,154,1108,0.98,0.00,199.93,1.027,10246,0.130,0.000,2698,1813,2698,2734,2662,0,0,0,0,0,0,14.66,14.32,13.94
$STATE,1110,end apogee,CONTROL_FINISHED_OK
$STATE,1110,begin climb
$GC,1113,0.77,272.5,2698,1813,2733,2660,108.0,0.0,192,1334,1.42,2.40,207.93,1.011,11012,0.060,0.041,3014,3204,1586,1629,1544,0,0,0,0,0,0,14.49,14.31,13.92
$GC,1479,0.77,272.5,3014,3204,1621,1541,67.9,13.8,258,1486,0.00,2.40,0.00,0.000,5126,0.000,0.050,3014,1806,1580,1621,1540,0,0,0,0,0,0,14.76,14.64,14.78
$GC,1552,0.77,272.5,3014,1806,1621,1540,58.5,13.1,271,1558,0.00,2.45,0.00,0.000,4612,0.000,0.068,3021,388,1579,1621,1537,0,0,0,0,0,0,14.97,14.73,14.97
$GC,1592,0.77,272.5,3026,388,1621,1539,52.7,13.7,278,1598,0.00,2.33,0.00,0.000,5126,0.000,0.031,3020,1806,1580,1621,1539,0,0,0,0,0,0,14.90,14.82,14.91
$GC,1664,0.77,272.5,3020,1808,1622,1537,42.8,14.6,291,1670,0.00,0.00,0.00,0.000,4102,0.000,0.000,3020,1809,1579,1621,1537,0,0,0,0,0,0,15.03,15.04,15.04
$GC,1733,0.77,272.5,3020,1809,1621,1537,33.5,13.4,304,1739,0.00,2.30,0.00,0.000,4356,0.000,0.046,3019,3197,1578,1620,1536,0,0,0,0,0,0,15.06,14.83,15.06
$GC,1773,0.77,272.5,3020,3197,1620,1536,28.1,13.3,311,1780,0.03,2.38,0.00,0.000,5126,0.518,0.050,3012,1796,1578,1620,1536,0,0,0,0,0,0,14.65,14.83,14.88
$GC,1846,0.77,272.5,3011,1796,1620,1536,19.4,13.0,324,1852,0.00,2.42,0.00,0.000,4612,0.000,0.067,3019,387,1578,1620,1536,0,0,0,0,0,0,15.08,14.81,15.08
$GC,1901,0.77,272.5,3018,386,1617,1536,11.3,13.3,334,1908,0.00,2.33,0.00,0.000,5126,0.000,0.031,3019,1801,1578,1620,1536,0,0,0,0,0,0,14.97,14.90,14.98
$STATE,1953,end climb,FINISH_DEPTH_REACHED
$STATE,1953,begin subsurface finish
$FINISH1,4.8,1.025378,109
$GC,1961,0.13,108.7,3018,1803,1620,1535,4.8,12.2,344,1990,1.08,0.00,-25.23,0.000,20742,0.155,0.000,2807,1803,2258,2300,2217,0,0,0,0,0,0,14.66,13.49,14.76
$FINISH2,2.4
$STATE,1991,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1991,begin surface
$IRIDIUM_FIX,-3401.68,2536.77,230419,044410
$TT8_MAMPS,0.020972,0.933254
$HUMID,45.74
$INTERNAL_PRESSURE,9.48811
$TCM_TEMP,20.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.4,36.9
$SC_FREEKB,3634080
$24V_AH,13.35,160.036
$10V_AH,13.41,0.000
$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,17.925,37.850,407.850,0.000,0.000,49.459,81.983,373.180,2.000,0.000,20.279,642.810,321.920,482.980,1109.394,313.105,0.000,879.132,0.000,528.016,0.000,14.669,0.000
$DEVICE_MAMPS,517.905,83.385,1026.630,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2044.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.043,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,10110,349
$CAP_FILE_SIZE,68203,0
$CFSIZE,2097086464,1991180288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,230419,045406,-3417.274,2537.455,8,0.9,19,-27.8,1.0,175.5,10,9.9