version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 560
start: 4 23 119 12 15 25
data:
$ID,574
$MISSION,3
$DIVE,560
$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,300
$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,310
$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
$GPS1,230419,120152,-3419.0332,2531.5652,7,1.0,47,-27.8,0.6,300.0,7,4.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-64.8
$GPS2,230419,121500,-3419.0149,2531.2744,8,1.0,48,-27.8,0.3,239.6,7,3.8
$SPEED_LIMITS,0.173,0.352
$TGT_NAME,HEADING
$TGT_LATLONG,-3412.073,2521.272
$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,337.8,20000,-12.6,-10.010,-15.87,4448
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.78,-292.0,53,1778,638,533,0.0,0.0,0,124,0.00,0.00,-97.10,0.000,16386,0.000,0.000,53,1779,3020,2987,3054,0,0,0,0,0,0,14.99,28.83,14.99
$GC,130,-0.78,-292.0,53,1778,2987,3055,3.7,-7.7,18,166,14.45,2.45,-14.48,0.000,18692,0.291,0.072,2500,3212,3887,3906,3869,0,0,0,0,0,0,14.51,13.88,14.80
$GC,302,-0.78,-292.0,2500,3213,3908,3869,33.1,-11.7,50,309,0.00,2.38,0.00,0.000,3078,0.000,0.041,2505,1798,3888,3907,3870,0,0,0,0,0,0,14.92,14.81,14.93
$GC,374,-0.78,-292.0,2500,1798,3907,3869,41.8,-11.3,63,381,0.00,2.38,0.00,0.000,2564,0.000,0.063,2501,411,3888,3907,3869,0,0,0,0,0,0,15.04,14.78,15.05
$GC,414,-0.78,-292.0,2500,411,3907,3869,46.8,-10.5,70,421,0.00,2.30,0.00,0.000,3078,0.000,0.032,2500,1809,3888,3907,3869,0,0,0,0,0,0,14.94,14.85,14.95
$GC,486,-0.78,-292.0,2500,1812,3907,3869,54.3,-11.7,83,493,0.00,2.38,0.00,0.000,2308,0.000,0.054,2501,3209,3888,3907,3869,0,0,0,0,0,0,15.07,14.76,15.08
$GC,517,-0.78,-292.0,2500,3209,3907,3869,57.8,-11.2,88,523,0.00,2.35,0.00,0.000,3078,0.000,0.040,2501,1807,3888,3907,3870,0,0,0,0,0,0,14.94,14.83,14.95
$GC,589,-0.78,-292.0,2500,1807,3907,3869,65.6,-11.0,101,595,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1807,3888,3907,3869,0,0,0,0,0,0,15.08,15.09,15.09
$GC,663,-0.78,-292.0,2500,1807,3907,3868,72.0,-6.9,114,669,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1807,3888,3907,3870,0,0,0,0,0,0,15.08,15.08,15.08
$GC,732,-0.78,-292.0,2501,1808,3907,3870,75.7,-5.6,127,739,0.00,2.40,0.00,0.000,2308,0.000,0.054,2501,3210,3888,3907,3869,0,0,0,0,0,0,15.09,14.82,15.09
$GC,778,-0.78,-292.0,2498,3210,3907,3869,79.3,-7.5,135,785,0.00,2.35,0.00,0.000,3078,0.000,0.040,2501,1806,3888,3907,3869,0,0,0,0,0,0,14.95,14.85,14.97
$STATE,830,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,830,begin apogee
$GC,837,-0.17,0.0,2501,1805,3906,3869,84.9,-12.0,145,1060,0.98,0.00,212.98,1.009,10246,0.127,0.000,2697,1805,2698,2734,2663,0,0,0,0,0,0,14.65,14.40,13.93
$STATE,1061,end apogee,CONTROL_FINISHED_OK
$STATE,1061,begin climb
$GC,1064,0.78,292.0,2699,1805,2733,2662,96.5,0.0,185,1300,1.42,0.00,224.12,0.997,11014,0.089,0.000,2995,1805,1506,1551,1461,0,0,0,0,0,0,14.42,14.25,13.90
$GC,1366,0.78,292.0,2994,1804,1548,1458,72.1,14.2,238,1373,0.00,2.40,0.00,0.000,2308,0.000,0.047,2994,3199,1503,1549,1458,0,0,0,0,0,0,14.81,14.57,14.81
$GC,1410,0.78,292.0,2994,3198,1548,1456,64.9,13.9,246,1417,0.00,2.40,0.00,0.000,3078,0.000,0.049,2995,1804,1502,1548,1456,0,0,0,0,0,0,14.68,14.59,14.70
$GC,1483,0.93,417.7,2995,1804,1548,1456,58.4,7.1,259,1596,0.17,2.50,101.43,0.963,10756,0.098,0.070,3071,390,995,1062,929,0,0,0,0,0,0,14.71,14.43,13.98
$GC,1650,0.93,417.7,3070,389,1061,926,28.0,22.5,289,1657,0.00,2.38,0.00,0.000,5126,0.000,0.031,3071,1809,993,1062,925,0,0,0,0,0,0,14.64,14.58,14.66
$GC,1722,0.93,417.7,3071,1812,1062,923,15.2,15.4,302,1728,0.00,0.00,0.00,0.000,4102,0.000,0.000,3071,1812,992,1062,923,0,0,0,0,0,0,14.92,14.92,14.92
$STATE,1789,end climb,FINISH_DEPTH_REACHED
$STATE,1789,begin subsurface finish
$FINISH1,4.8,1.025405,107
$GC,1799,0.13,107.4,3071,1812,1061,922,4.8,14.5,315,1861,1.35,2.35,-51.03,0.000,20740,0.154,0.068,2806,3201,2268,2305,2231,0,0,0,0,0,0,14.62,13.43,14.72
$FINISH2,1.3
$STATE,1864,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1864,begin surface
$IRIDIUM_FIX,-3406.89,2532.06,230419,103948
$TT8_MAMPS,0.021721,0.842625
$HUMID,45.70
$INTERNAL_PRESSURE,9.48811
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.3,34.2
$SC_FREEKB,3628960
$24V_AH,13.43,162.047
$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,18.375,31.000,538.525,0.000,0.000,24.070,38.132,378.507,1.500,0.000,49.646,520.586,207.926,578.816,1040.934,307.307,0.000,980.092,0.000,494.854,0.000,11.607,0.000
$DEVICE_MAMPS,291.465,71.910,1009.035,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1917.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.175,0.000,0.000,0.000
$MEM,340920
$DATA_FILE_SIZE,6798,326
$CAP_FILE_SIZE,61675,0
$CFSIZE,2097086464,1989574656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,230419,121500,-3419.015,2531.274,8,1.0,48,-27.8,0.3,239.6,7,3.8