version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 513
start: 4 22 119 1 45 11
data:
$ID,574
$MISSION,3
$DIVE,513
$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,40
$R_STBD_OVSHOOT,48
$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
$GPS1,220419,011419,-3418.1992,2546.9700,7,0.9,42,-27.9,1.3,15.6,8,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.87
$_SM_ANGLEo,3.0
$GPS2,220419,011419,-3418.1992,2546.9700,7,0.9,42,-27.9,1.3,15.6,8,4.9
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3408.847,2553.494
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.77,-272.5,2810,1801,2271,2194,0.0,0.0,0,32,0.00,0.00,-6.25,0.000,16386,0.000,0.000,2810,1801,2433,2473,2393,0,0,0,0,0,0,15.11,28.83,15.11
$GC,35,-0.77,-272.5,2810,1801,2475,2394,4.1,0.0,1,81,1.30,2.35,-36.03,0.000,20996,0.082,0.082,2525,410,3813,3832,3794,0,0,0,0,0,0,14.75,13.45,14.81
$GC,100,-0.77,-272.5,2525,409,3832,3794,11.2,-14.0,12,107,0.00,2.30,0.00,0.000,5126,0.000,0.031,2525,1820,3813,3832,3794,0,0,0,0,0,0,14.95,14.88,14.97
$GC,172,-0.77,-272.5,2524,1822,3832,3794,20.5,-14.1,25,179,0.00,2.33,0.00,0.000,4356,0.000,0.053,2525,3205,3813,3832,3794,0,0,0,0,0,0,15.11,14.88,15.11
$GC,202,-0.77,-272.5,2525,3206,3832,3794,24.7,-12.3,30,209,0.00,2.33,0.00,0.000,5126,0.000,0.041,2524,1807,3813,3832,3794,0,0,0,0,0,0,15.00,14.90,15.01
$GC,274,-0.77,-272.5,2525,1807,3832,3794,32.6,-10.8,43,281,0.00,2.40,0.00,0.000,4612,0.000,0.062,2525,408,3813,3832,3794,0,0,0,0,0,0,15.12,14.76,15.12
$GC,325,-0.77,-272.5,2524,408,3832,3794,38.2,-9.9,52,331,0.00,2.30,0.00,0.000,5126,0.000,0.032,2525,1812,3813,3832,3794,0,0,0,0,0,0,14.90,14.81,14.92
$GC,397,-0.77,-272.5,2525,1815,3832,3794,45.1,-9.0,65,403,0.00,2.35,0.00,0.000,4356,0.000,0.053,2526,3211,3813,3832,3794,0,0,0,0,0,0,15.12,14.88,15.13
$GC,441,-0.77,-272.5,2524,3211,3832,3794,49.2,-8.5,73,451,0.00,2.33,0.00,0.000,5126,0.000,0.040,2525,1812,3812,3830,3794,0,0,0,0,0,0,15.00,14.90,15.01
$GC,516,-0.77,-272.5,2525,1812,3832,3794,56.4,-9.8,86,522,0.00,2.40,0.00,0.000,4612,0.000,0.062,2525,409,3813,3832,3794,0,0,0,0,0,0,15.13,14.83,15.13
$GC,556,-0.77,-272.5,2524,409,3833,3794,60.4,-10.1,93,563,0.00,2.30,0.00,0.000,5126,0.000,0.033,2525,1813,3813,3832,3794,0,0,0,0,0,0,15.00,14.91,15.01
$GC,632,-0.77,-272.5,2525,1817,3832,3794,67.4,-9.0,106,638,0.00,2.35,0.00,0.000,4356,0.000,0.054,2524,3209,3812,3831,3793,0,0,0,0,0,0,15.12,14.87,15.13
$GC,662,-0.77,-272.5,2525,3209,3832,3794,70.2,-7.5,111,668,0.00,2.33,0.00,0.000,5126,0.000,0.038,2524,1809,3813,3832,3794,0,0,0,0,0,0,15.00,14.90,15.01
$GC,734,-0.77,-272.5,2524,1809,3832,3794,76.5,-9.0,124,739,0.00,0.00,0.00,0.000,4102,0.000,0.000,2525,1809,3813,3832,3794,0,0,0,0,0,0,15.12,15.13,15.13
$STATE,770,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,770,begin apogee
$GC,777,-0.17,0.0,2525,1809,3832,3794,80.1,-9.1,131,981,0.85,0.00,198.38,1.041,10246,0.122,0.000,2699,1809,2699,2736,2663,0,0,0,0,0,0,14.71,14.45,13.95
$STATE,985,end apogee,CONTROL_FINISHED_OK
$STATE,985,begin climb
$GC,988,0.77,272.5,2700,1809,2734,2662,95.6,0.0,168,1208,1.42,2.55,207.73,1.027,10756,0.057,0.068,3026,402,1587,1629,1545,0,0,0,0,0,0,14.47,14.38,13.95
$GC,1261,0.77,272.5,3026,402,1622,1545,71.6,15.8,216,1269,0.08,2.38,0.00,0.000,5126,0.266,0.032,3012,1813,1583,1622,1544,0,0,0,0,0,0,14.48,14.63,14.64
$GC,1334,0.77,272.5,3011,1815,1621,1542,61.5,13.8,229,1340,0.00,2.47,0.00,0.000,4612,0.000,0.067,3017,399,1581,1622,1541,0,0,0,0,0,0,14.91,14.64,14.91
$GC,1393,0.77,272.5,3016,399,1621,1541,52.6,15.4,240,1400,0.00,2.33,0.00,0.000,5126,0.000,0.032,3017,1805,1581,1621,1541,0,0,0,0,0,0,14.77,14.71,14.78
$GC,1465,0.77,272.5,3017,1808,1620,1541,42.1,15.0,253,1472,0.00,2.33,0.00,0.000,4356,0.000,0.046,3017,3200,1580,1621,1540,0,0,0,0,0,0,15.01,14.79,15.02
$GC,1515,0.77,272.5,3017,3199,1621,1538,34.3,14.6,262,1522,0.00,2.38,0.00,0.000,5126,0.000,0.050,3017,1804,1580,1621,1539,0,0,0,0,0,0,14.90,14.80,14.92
$GC,1587,0.77,272.5,3017,1804,1621,1539,26.1,10.1,275,1593,0.00,2.42,0.00,0.000,4612,0.000,0.068,3020,393,1579,1620,1539,0,0,0,0,0,0,15.04,14.80,15.04
$GC,1647,0.77,272.5,3020,392,1620,1539,18.9,12.3,286,1653,0.00,2.33,0.00,0.000,5126,0.000,0.031,3019,1813,1580,1621,1539,0,0,0,0,0,0,14.95,14.88,14.97
$GC,1719,0.77,272.5,3019,1816,1621,1538,10.7,11.4,299,1725,0.00,2.30,0.00,0.000,4356,0.000,0.044,3020,3203,1579,1620,1538,0,0,0,0,0,0,15.08,14.78,15.08
$STATE,1781,end climb,SURFACE_DEPTH_REACHED
$STATE,1781,begin surface coast
$FINISH,1.1,1.025265
$STATE,1794,end surface coast,CONTROL_FINISHED_OK
$STATE,1794,begin surface
$SM_CCo,1821,157.30,0.784,0,0,598,515.37
$SM_GC,0.90,13.50,2.38,157.30,0.042,0.045,0.784,121,1808,598,-8.18,1.05,515.37,0,0,0,0,0,0,14.90,14.88,14.14
$IRIDIUM_FIX,-3404.29,2546.08,210419,234647
$TT8_MAMPS,0.021721,0.895804
$HUMID,44.76
$INTERNAL_PRESSURE,9.33186
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.2,34.9
$SC_FREEKB,3653024
$24V_AH,13.45,152.975
$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,17.150,54.250,406.100,157.300,0.000,0.000,0.000,0.000,1.250,0.000,0.000,606.978,247.548,579.658,554.856,133.456,0.000,930.772,0.000,476.607,0.000,10.087,0.000
$DEVICE_MAMPS,266.220,81.855,1041.165,784.125,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1839.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.084,0.000,0.000,0.000
$MEM,341056
$DATA_FILE_SIZE,6807,313
$CAP_FILE_SIZE,61290,0
$CFSIZE,2097086464,1997275136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220419,021909,-3417.989,2547.026,8,1.0,15,-27.9,0.6,186.4,9,9.6