version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 552
start: 4 23 119 6 20 54
data:
$ID,574
$MISSION,3
$DIVE,552
$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,53
$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
$GPS1,230419,060831,-3417.6284,2536.6853,9,0.8,35,-27.8,1.4,287.4,10,6.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-65.0
$GPS2,230419,062028,-3417.6833,2536.4641,8,0.9,17,-27.8,0.0,138.9,9,9.6
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3423.083,2547.797
$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,-272.5,53,1806,635,533,0.0,0.0,0,123,0.00,0.00,-96.82,0.000,16386,0.000,0.000,52,1807,3013,2979,3048,0,0,0,0,0,0,14.97,28.83,14.98
$GC,129,-0.77,-272.5,52,1806,2980,3048,3.4,-7.3,18,165,14.52,2.42,-13.15,0.000,18948,0.297,0.083,2502,397,3814,3832,3797,0,0,0,0,0,0,14.51,13.88,14.81
$GC,173,-0.77,-272.5,2502,397,3832,3797,19.5,-31.1,25,180,0.00,2.35,0.00,0.000,3078,0.000,0.039,2501,1806,3815,3833,3797,0,0,0,0,0,0,14.90,14.80,14.91
$GC,245,-0.77,-272.5,2499,1809,3832,3797,32.5,-16.5,38,251,0.00,0.00,0.00,0.000,2054,0.000,0.000,2500,1809,3815,3833,3797,0,0,0,0,0,0,15.05,15.05,15.04
$GC,314,-0.77,-272.5,2501,1809,3833,3797,42.8,-14.3,51,321,0.00,2.40,0.00,0.000,2308,0.000,0.056,2501,3220,3815,3833,3797,0,0,0,0,0,0,15.07,14.71,15.07
$GC,359,-0.77,-272.5,2501,3219,3833,3796,48.4,-11.5,59,366,0.00,2.38,0.00,0.000,3078,0.000,0.040,2501,1799,3814,3833,3796,0,0,0,0,0,0,14.83,14.73,14.85
$GC,433,-0.77,-272.5,2501,1799,3833,3796,57.2,-12.8,72,439,0.00,2.38,0.00,0.000,2564,0.000,0.063,2501,410,3814,3832,3797,0,0,0,0,0,0,15.08,14.81,15.08
$GC,467,-0.77,-272.5,2500,410,3832,3797,62.2,-13.0,78,474,0.00,2.33,0.00,0.000,3078,0.000,0.035,2501,1821,3815,3833,3797,0,0,0,0,0,0,14.95,14.86,14.97
$GC,540,-0.77,-272.5,2501,1824,3832,3797,70.7,-13.3,91,547,0.00,2.35,0.00,0.000,2308,0.000,0.054,2501,3210,3814,3832,3796,0,0,0,0,0,0,15.09,14.77,15.09
$GC,583,-0.77,-272.5,2501,3210,3833,3797,76.6,-13.3,98,589,0.00,2.33,0.00,0.000,3078,0.000,0.040,2501,1813,3815,3833,3797,0,0,0,0,0,0,14.96,14.85,14.97
$GC,653,-0.77,-272.5,2501,1812,3831,3797,85.8,-13.4,111,659,0.00,2.40,0.00,0.000,2564,0.000,0.062,2501,408,3814,3832,3797,0,0,0,0,0,0,15.10,14.83,15.10
$STATE,705,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,705,begin apogee
$GC,714,-0.17,0.0,2501,1802,3832,3796,92.8,-12.2,121,926,1.00,0.00,200.23,1.024,10246,0.146,0.000,2700,1806,2699,2735,2663,0,0,0,0,0,0,14.68,14.31,13.93
$STATE,928,end apogee,CONTROL_FINISHED_OK
$STATE,928,begin climb
$GC,931,0.77,272.5,2698,1805,2733,2661,111.1,0.0,159,1152,1.40,2.58,208.50,1.014,11012,0.078,0.070,3003,395,1587,1630,1544,0,0,0,0,0,0,14.45,14.39,13.91
$GC,1277,0.77,272.5,3002,395,1622,1544,78.6,12.5,221,1284,0.00,2.35,0.00,0.000,1030,0.000,0.034,3003,1806,1582,1622,1543,0,0,0,0,0,0,14.71,14.64,14.72
$GC,1349,0.77,272.5,3003,1809,1622,1541,69.2,13.9,234,1355,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1809,1581,1622,1541,0,0,0,0,0,0,14.96,14.97,14.97
$GC,1418,0.77,272.5,3002,1809,1622,1540,59.2,14.2,247,1425,0.00,2.45,0.00,0.000,516,0.000,0.068,3010,402,1580,1621,1540,0,0,0,0,0,0,15.00,14.76,15.01
$GC,1443,0.77,272.5,3010,402,1621,1541,55.5,15.1,251,1450,0.00,2.35,0.00,0.000,5126,0.000,0.034,3010,1809,1581,1622,1541,0,0,0,0,0,0,14.86,14.78,14.88
$GC,1516,0.77,272.5,3010,1811,1621,1539,44.4,16.6,264,1521,0.00,0.00,0.00,0.000,4102,0.000,0.000,3010,1812,1580,1621,1540,0,0,0,0,0,0,15.02,15.03,15.02
$GC,1585,0.77,272.5,3010,1812,1622,1546,33.0,15.5,277,1591,0.00,2.33,0.00,0.000,4356,0.000,0.046,3009,3204,1580,1621,1539,0,0,0,0,0,0,15.05,14.83,15.06
$GC,1625,0.77,272.5,3010,3204,1621,1538,26.7,15.4,284,1632,0.00,2.38,0.00,0.000,5126,0.000,0.048,3011,1801,1579,1621,1538,0,0,0,0,0,0,14.94,14.83,14.96
$GC,1697,0.77,272.5,3011,1800,1621,1538,17.1,12.3,297,1703,0.00,0.00,0.00,0.000,4102,0.000,0.000,3011,1800,1579,1621,1538,0,0,0,0,0,0,15.08,15.08,15.08
$GC,1766,0.77,272.5,3010,1800,1621,1537,9.7,10.4,310,1772,0.00,0.00,0.00,0.000,4102,0.000,0.000,3011,1799,1579,1621,1537,0,0,0,0,0,0,15.09,15.09,15.09
$STATE,1812,end climb,FINISH_DEPTH_REACHED
$STATE,1812,begin subsurface finish
$FINISH1,4.7,1.025396,108
$GC,1820,0.13,107.8,3011,1800,1621,1537,4.7,9.0,319,1849,1.02,0.00,-23.62,0.000,20998,0.155,0.000,2808,1800,2263,2308,2218,0,0,0,0,0,0,14.69,13.47,14.81
$FINISH2,3.2
$STATE,1850,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1850,begin surface
$IRIDIUM_FIX,-3404.29,2536.77,230419,044618
$TT8_MAMPS,0.021721,0.894306
$HUMID,46.18
$INTERNAL_PRESSURE,9.47834
$TCM_TEMP,20.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,75.4,36.9
$SC_FREEKB,3633056
$24V_AH,13.47,160.411
$10V_AH,13.39,0.000
$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,17.950,38.075,408.725,0.000,0.000,24.644,21.050,363.377,2.000,0.000,18.342,586.274,236.128,477.778,972.505,299.752,0.000,854.195,0.000,491.939,0.000,13.150,0.000
$DEVICE_MAMPS,296.820,82.620,1023.570,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1904.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.021,0.000,0.000,0.000
$MEM,340920
$DATA_FILE_SIZE,6795,324
$CAP_FILE_SIZE,62975,0
$CFSIZE,2097086464,1990885376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,230419,062028,-3417.683,2536.464,8,0.9,17,-27.8,0.0,138.9,9,9.6