version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 511
start: 4 22 119 0 28 12
data:
$ID,574
$MISSION,3
$DIVE,511
$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,30
$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,36
$R_STBD_OVSHOOT,50
$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
$GPS1,210419,235346,-3418.4490,2547.1045,7,0.8,13,-27.9,0.0,244.4,11,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,1.6
$GPS2,210419,235346,-3418.4490,2547.1045,7,0.8,13,-27.9,0.0,244.4,11,10.0
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3409.097,2553.629
$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,57.9,20000,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.77,-272.5,2813,1792,2266,2187,0.0,0.0,0,32,0.00,0.00,-5.90,0.000,16386,0.000,0.000,2813,1792,2400,2442,2358,0,0,0,0,0,0,15.10,28.83,15.11
$GC,35,-0.77,-272.5,2813,1792,2443,2358,3.3,0.0,1,86,1.35,2.42,-39.35,0.000,20740,0.090,0.074,2522,3202,3813,3832,3795,0,0,0,0,0,0,14.83,13.46,14.87
$GC,101,-0.77,-272.5,2522,3201,3832,3795,9.7,-13.7,12,107,0.00,2.33,0.00,0.000,5126,0.000,0.041,2522,1808,3813,3832,3795,0,0,0,0,0,0,14.95,14.85,14.96
$GC,171,-0.77,-272.5,2521,1808,3832,3794,17.9,-12.2,25,176,0.00,0.00,0.00,0.000,4102,0.000,0.000,2522,1808,3813,3832,3795,0,0,0,0,0,0,15.12,15.13,15.13
$GC,239,-0.77,-272.5,2522,1808,3832,3795,26.1,-12.1,38,245,0.00,2.38,0.00,0.000,4356,0.000,0.052,2522,3211,3813,3832,3795,0,0,0,0,0,0,15.13,14.77,15.13
$GC,269,-0.77,-272.5,2522,3211,3833,3795,29.1,-10.8,43,276,0.00,2.35,0.00,0.000,5126,0.000,0.041,2522,1799,3813,3832,3795,0,0,0,0,0,0,15.00,14.90,15.01
$GC,341,-0.77,-272.5,2521,1803,3832,3795,35.8,-9.9,56,348,0.00,2.38,0.00,0.000,4612,0.000,0.063,2522,413,3813,3831,3795,0,0,0,0,0,0,15.13,14.86,15.13
$GC,376,-0.77,-272.5,2522,413,3832,3795,39.1,-9.1,62,383,0.00,2.30,0.00,0.000,5126,0.000,0.032,2522,1817,3813,3832,3795,0,0,0,0,0,0,15.00,14.92,15.02
$GC,448,-0.77,-272.5,2522,1816,3832,3794,46.0,-10.4,75,455,0.00,2.35,0.00,0.000,4356,0.000,0.052,2522,3216,3813,3832,3795,0,0,0,0,0,0,15.11,14.88,15.11
$GC,498,-0.77,-272.5,2522,3215,3832,3795,51.3,-8.3,84,505,0.00,2.33,0.00,0.000,5126,0.000,0.039,2522,1811,3813,3832,3795,0,0,0,0,0,0,15.00,14.90,15.01
$GC,570,-0.77,-272.5,2522,1812,3832,3795,58.7,-9.7,97,577,0.00,2.40,0.00,0.000,4612,0.000,0.059,2522,408,3813,3832,3795,0,0,0,0,0,0,15.13,14.82,15.13
$GC,611,-0.77,-272.5,2522,408,3832,3795,62.7,-9.4,104,618,0.00,2.30,0.00,0.000,5126,0.000,0.031,2522,1819,3813,3832,3795,0,0,0,0,0,0,14.95,14.87,14.97
$GC,686,-0.77,-272.5,2521,1819,3832,3795,69.4,-8.4,117,692,0.00,2.33,0.00,0.000,4356,0.000,0.050,2522,3201,3813,3832,3795,0,0,0,0,0,0,15.13,14.83,15.13
$GC,741,-0.77,-272.5,2522,3201,3832,3795,73.8,-8.2,127,747,0.00,2.30,0.00,0.000,5126,0.000,0.037,2522,1812,3813,3832,3795,0,0,0,0,0,0,14.95,14.85,14.95
$STATE,810,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,810,begin apogee
$GC,817,-0.17,0.0,2522,1812,3832,3795,79.9,-8.8,140,1024,0.85,0.00,198.35,1.034,10246,0.096,0.000,2704,1812,2699,2736,2662,0,0,0,0,0,0,14.71,14.44,13.96
$STATE,1025,end apogee,CONTROL_FINISHED_OK
$STATE,1026,begin climb
$GC,1028,0.77,272.5,2704,1812,2733,2660,95.9,0.0,177,1248,1.40,2.42,207.57,1.020,10500,0.050,0.044,3030,3191,1587,1629,1545,0,0,0,0,0,0,14.50,14.40,13.95
$GC,1363,0.77,272.5,3030,3191,1621,1542,59.5,17.1,237,1370,0.12,2.38,0.00,0.000,5126,0.239,0.053,3009,1809,1581,1621,1542,0,0,0,0,0,0,14.57,14.69,14.73
$GC,1436,0.77,272.5,3008,1810,1622,1540,47.9,16.1,250,1442,0.00,2.47,0.00,0.000,4612,0.000,0.068,3017,388,1581,1622,1540,0,0,0,0,0,0,14.97,14.72,14.97
$GC,1466,0.77,272.5,3017,388,1621,1540,42.6,17.1,255,1472,0.00,2.33,0.00,0.000,5126,0.000,0.031,3017,1799,1581,1622,1540,0,0,0,0,0,0,14.88,14.81,14.90
$GC,1537,0.77,272.5,3017,1802,1621,1539,32.0,15.3,268,1544,0.00,2.33,0.00,0.000,4356,0.000,0.046,3017,3202,1580,1621,1539,0,0,0,0,0,0,15.01,14.81,15.00
$GC,1567,0.77,272.5,3017,3195,1621,1537,27.3,15.4,273,1574,0.00,2.38,0.00,0.000,5126,0.000,0.047,3017,1798,1579,1621,1538,0,0,0,0,0,0,14.92,14.81,14.93
$GC,1639,0.77,272.5,3017,1798,1621,1538,19.3,11.5,286,1645,0.00,2.42,0.00,0.000,4612,0.000,0.068,3017,389,1579,1621,1538,0,0,0,0,0,0,15.05,14.71,15.06
$GC,1673,0.77,272.5,3017,389,1621,1538,15.2,11.9,292,1680,0.00,2.30,0.00,0.000,5126,0.000,0.030,3017,1799,1579,1621,1538,0,0,0,0,0,0,14.95,14.88,14.97
$GC,1745,0.77,272.5,3017,1800,1621,1537,7.9,10.3,305,1752,0.00,2.33,0.00,0.000,4356,0.000,0.046,3017,3195,1579,1621,1537,0,0,0,0,0,0,15.08,14.81,15.09
$STATE,1786,end climb,SURFACE_DEPTH_REACHED
$STATE,1787,begin surface coast
$FINISH,1.0,1.025226
$STATE,1805,end surface coast,CONTROL_FINISHED_OK
$STATE,1805,begin surface
$SM_CCo,1832,157.50,0.782,0,0,599,515.37
$SM_GC,0.88,13.48,2.35,157.50,0.036,0.033,0.782,117,1800,599,-8.18,0.74,515.37,0,0,0,0,0,0,14.90,14.88,14.14
$IRIDIUM_FIX,-3406.89,2549.56,210419,222741
$TT8_MAMPS,0.021721,0.718291
$HUMID,44.84
$INTERNAL_PRESSURE,9.34163
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.1,34.5
$SC_FREEKB,3654080
$24V_AH,13.46,152.616
$10V_AH,13.47,0.000
$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,17.200,54.225,405.925,157.500,0.000,0.000,0.000,0.000,1.250,0.000,0.000,611.279,246.585,580.810,562.902,133.641,0.000,934.805,0.000,483.625,0.000,10.095,0.000
$DEVICE_MAMPS,238.680,74.205,1033.515,781.830,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1852.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.020,0.000,0.000,0.000
$MEM,341064
$DATA_FILE_SIZE,6828,316
$CAP_FILE_SIZE,61637,0
$CFSIZE,2097086464,1997602816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220419,010225,-3418.135,2547.146,8,1.0,19,-27.9,1.5,242.3,9,9.8