version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 515
start: 4 22 119 3 2 23
data:
$ID,574
$MISSION,3
$DIVE,515
$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,33
$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
$GPS1,220419,023015,-3418.0803,2546.8855,7,1.0,15,-27.9,1.9,301.8,9,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.60
$_SM_ANGLEo,2.7
$GPS2,220419,023015,-3418.0803,2546.8855,7,1.0,15,-27.9,1.9,301.8,9,9.8
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3408.728,2553.410
$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,-272.5,2811,1801,2283,2201,0.0,0.0,0,33,0.00,0.00,-6.68,0.000,16386,0.000,0.000,2812,1801,2455,2495,2415,0,0,0,0,0,0,15.11,28.83,15.12
$GC,36,-0.77,-272.5,2812,1801,2498,2416,4.0,0.0,1,81,1.35,2.38,-35.70,0.000,20996,0.087,0.086,2521,399,3813,3831,3796,0,0,0,0,0,0,14.76,13.43,14.81
$GC,121,-0.77,-272.5,2521,399,3832,3797,13.8,-11.6,16,128,0.00,2.33,0.00,0.000,5126,0.000,0.034,2521,1809,3814,3831,3797,0,0,0,0,0,0,14.95,14.87,14.96
$GC,193,-0.77,-272.5,2521,1812,3832,3796,23.8,-15.0,29,200,0.00,2.35,0.00,0.000,4356,0.000,0.054,2521,3210,3814,3832,3797,0,0,0,0,0,0,15.11,14.88,15.11
$GC,217,-0.77,-272.5,2521,3205,3833,3797,27.4,-13.8,33,224,0.00,2.33,0.00,0.000,5126,0.000,0.041,2521,1809,3814,3832,3796,0,0,0,0,0,0,15.00,14.90,15.00
$GC,289,-0.77,-272.5,2521,1809,3832,3796,36.8,-14.1,46,296,0.00,2.40,0.00,0.000,4612,0.000,0.063,2521,404,3814,3832,3796,0,0,0,0,0,0,15.12,14.75,15.12
$GC,344,-0.77,-272.5,2521,404,3832,3796,44.6,-12.0,56,351,0.00,2.30,0.00,0.000,5126,0.000,0.033,2521,1815,3814,3832,3797,0,0,0,0,0,0,15.00,14.92,15.01
$GC,415,-0.77,-272.5,2520,1818,3832,3796,53.0,-11.5,69,422,0.00,2.35,0.00,0.000,4356,0.000,0.054,2521,3208,3814,3832,3797,0,0,0,0,0,0,15.13,14.81,15.13
$GC,466,-0.77,-272.5,2521,3208,3833,3796,57.7,-8.6,78,472,0.00,2.33,0.00,0.000,5126,0.000,0.039,2521,1810,3814,3832,3797,0,0,0,0,0,0,14.95,14.85,14.95
$GC,538,-0.77,-272.5,2521,1809,3832,3796,63.8,-8.9,91,544,0.00,2.40,0.00,0.000,4612,0.000,0.064,2521,405,3814,3832,3796,0,0,0,0,0,0,15.12,14.86,15.12
$GC,573,-0.77,-272.5,2521,404,3832,3796,67.3,-8.9,97,580,0.00,2.30,0.00,0.000,5126,0.000,0.032,2521,1814,3814,3832,3796,0,0,0,0,0,0,15.00,14.91,15.01
$GC,646,-0.77,-272.5,2521,1816,3832,3796,74.1,-10.3,110,652,0.00,2.35,0.00,0.000,4356,0.000,0.052,2521,3208,3815,3834,3796,0,0,0,0,0,0,15.13,14.82,15.13
$GC,676,-0.77,-272.5,2521,3209,3833,3797,76.6,-8.5,115,683,0.00,2.33,0.00,0.000,5126,0.000,0.039,2521,1810,3814,3832,3796,0,0,0,0,0,0,14.99,14.87,15.00
$GC,749,-0.77,-272.5,2521,1810,3832,3796,82.7,-8.6,128,754,0.00,0.00,0.00,0.000,4102,0.000,0.000,2521,1810,3814,3832,3796,0,0,0,0,0,0,15.11,15.11,15.11
$STATE,759,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,760,begin apogee
$GC,766,-0.17,0.0,2521,1809,3832,3796,84.0,-8.5,130,977,0.85,0.00,198.35,1.040,10246,0.096,0.000,2704,1809,2700,2737,2664,0,0,0,0,0,0,14.68,14.40,13.94
$STATE,979,end apogee,CONTROL_FINISHED_OK
$STATE,979,begin climb
$GC,981,0.77,272.5,2704,1809,2735,2662,97.0,0.0,168,1201,1.40,2.55,207.88,1.024,10756,0.060,0.067,3023,399,1587,1629,1546,0,0,0,0,0,0,14.48,14.38,13.95
$GC,1326,0.77,272.5,3018,399,1621,1540,60.5,12.7,230,1333,0.05,2.33,0.00,0.000,5126,0.317,0.031,3012,1809,1583,1622,1544,0,0,0,0,0,0,14.56,14.72,14.74
$GC,1400,0.77,272.5,3011,1812,1621,1542,51.8,12.3,243,1406,0.00,0.00,0.00,0.000,4102,0.000,0.000,3011,1812,1581,1621,1542,0,0,0,0,0,0,14.97,14.97,14.97
$GC,1469,0.77,272.5,3011,1812,1621,1541,41.9,13.8,256,1475,0.00,0.00,0.00,0.000,4102,0.000,0.000,3011,1812,1581,1621,1542,0,0,0,0,0,0,15.02,15.02,15.02
$GC,1538,0.77,272.5,3011,1812,1621,1541,33.7,11.7,269,1544,0.00,0.00,0.00,0.000,4102,0.000,0.000,3011,1812,1581,1621,1541,0,0,0,0,0,0,15.04,15.05,15.04
$GC,1607,0.77,272.5,3011,1812,1621,1540,26.1,11.4,282,1613,0.00,2.45,0.00,0.000,4612,0.000,0.067,3017,396,1581,1621,1541,0,0,0,0,0,0,15.07,14.73,15.07
$GC,1651,0.77,272.5,3017,396,1621,1540,21.1,11.8,290,1658,0.00,2.30,0.00,0.000,5126,0.000,0.033,3017,1799,1580,1621,1539,0,0,0,0,0,0,14.95,14.88,14.97
$GC,1723,0.77,272.5,3017,1802,1621,1540,13.1,12.0,303,1730,0.00,2.33,0.00,0.000,4356,0.000,0.045,3017,3198,1580,1621,1540,0,0,0,0,0,0,15.09,14.81,15.09
$GC,1767,0.77,272.5,3017,3198,1620,1539,7.6,11.3,311,1774,0.00,2.38,0.00,0.000,5126,0.000,0.047,3017,1804,1580,1621,1539,0,0,0,0,0,0,14.88,14.77,14.89
$STATE,1810,end climb,SURFACE_DEPTH_REACHED
$STATE,1810,begin surface coast
$FINISH,0.2,1.025949
$STATE,1837,end surface coast,CONTROL_FINISHED_OK
$STATE,1837,begin surface
$SM_CCo,1862,156.93,0.780,0,0,599,515.37
$SM_GC,0.86,13.45,0.00,156.93,0.036,0.000,0.780,121,1800,599,-8.17,-0.34,515.37,0,0,0,0,0,0,14.92,15.12,14.14
$IRIDIUM_FIX,-3406.89,2546.08,220419,010645
$TT8_MAMPS,0.020972,0.950481
$HUMID,44.88
$INTERNAL_PRESSURE,9.35139
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.3,33.4
$SC_FREEKB,3652000
$24V_AH,13.43,153.333
$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,17.100,44.825,406.225,156.925,0.000,0.000,0.000,0.000,1.500,0.000,0.000,625.241,253.140,578.460,573.480,132.391,0.000,935.629,0.000,495.457,0.000,11.614,0.000
$DEVICE_MAMPS,317.475,85.680,1039.635,779.535,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1882.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.196,0.000,0.000,0.000
$MEM,341064
$DATA_FILE_SIZE,6818,324
$CAP_FILE_SIZE,61319,0
$CFSIZE,2097086464,1996947456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220419,033731,-3417.889,2546.849,8,0.9,44,-27.9,0.8,231.7,10,4.7