version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 518
start: 4 22 119 5 12 57
data:
$ID,574
$MISSION,3
$DIVE,518
$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,55
$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,32
$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
$GPS1,220419,050027,-3417.9248,2546.6682,9,1.2,26,-27.9,0.5,235.2,8,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-64.6
$GPS2,220419,051231,-3418.0371,2546.5481,7,0.8,33,-27.9,0.0,266.0,9,5.8
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3411.843,2557.243
$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,82.9,20000,-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,24,-0.77,-272.5,53,1791,637,534,0.0,0.0,0,123,0.00,0.00,-96.68,0.000,16386,0.000,0.000,53,1792,3046,3010,3082,0,0,0,0,0,0,14.99,28.83,15.00
$GC,129,-0.77,-272.5,53,1791,3011,3081,3.5,-6.9,18,165,14.48,2.38,-12.57,0.000,18692,0.296,0.067,2494,3210,3814,3830,3798,0,0,0,0,0,0,14.54,13.38,14.82
$GC,199,-0.77,-272.5,2494,3211,3829,3798,23.2,-13.8,30,206,0.05,2.35,0.00,0.000,3078,0.294,0.042,2507,1807,3813,3830,3797,0,0,0,0,0,0,14.59,14.81,14.76
$GC,271,-0.77,-272.5,2506,1807,3830,3798,32.8,-15.0,43,277,0.00,2.40,0.00,0.000,2564,0.000,0.062,2508,409,3814,3831,3798,0,0,0,0,0,0,15.06,14.79,15.07
$GC,305,-0.77,-272.5,2507,409,3830,3798,37.8,-13.5,49,312,0.00,2.30,0.00,0.000,3078,0.000,0.032,2507,1809,3814,3830,3798,0,0,0,0,0,0,14.88,14.76,14.89
$GC,377,-0.77,-272.5,2507,1811,3829,3796,47.3,-14.4,62,384,0.00,2.35,0.00,0.000,2308,0.000,0.053,2507,3210,3814,3830,3798,0,0,0,0,0,0,15.07,14.83,15.09
$GC,407,-0.77,-272.5,2507,3210,3829,3798,51.4,-12.1,67,413,0.00,2.35,0.00,0.000,3078,0.000,0.041,2507,1802,3814,3830,3798,0,0,0,0,0,0,14.95,14.85,14.97
$GC,479,-0.77,-272.5,2507,1801,3830,3798,60.6,-13.2,80,486,0.00,2.38,0.00,0.000,2564,0.000,0.062,2507,409,3814,3830,3798,0,0,0,0,0,0,15.09,14.71,15.10
$GC,515,-0.77,-272.5,2507,409,3830,3798,65.2,-10.8,86,522,0.00,2.30,0.00,0.000,3078,0.000,0.033,2507,1812,3814,3830,3798,0,0,0,0,0,0,14.87,14.78,14.89
$GC,590,-0.77,-272.5,2507,1815,3830,3799,72.1,-9.1,99,596,0.00,0.00,0.00,0.000,2054,0.000,0.000,2507,1815,3814,3830,3798,0,0,0,0,0,0,15.11,15.11,15.11
$GC,659,-0.77,-272.5,2507,1815,3830,3798,79.3,-9.5,112,665,0.00,0.00,0.00,0.000,2054,0.000,0.000,2507,1815,3814,3830,3798,0,0,0,0,0,0,15.11,15.11,15.12
$STATE,701,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,701,begin apogee
$GC,707,-0.17,0.0,2507,1815,3830,3798,83.5,-10.4,120,912,0.95,0.00,198.73,1.013,10246,0.131,0.000,2700,1816,2701,2736,2666,0,0,0,0,0,0,14.71,14.45,13.95
$STATE,916,end apogee,CONTROL_FINISHED_OK
$STATE,916,begin climb
$GC,919,0.77,272.5,2700,1815,2733,2663,97.4,0.0,157,1139,1.35,2.53,206.77,1.008,10756,0.060,0.065,3014,396,1587,1629,1545,0,0,0,0,0,0,14.48,14.33,13.95
$GC,1147,0.77,272.5,3011,396,1627,1545,81.3,14.3,196,1154,0.00,2.38,0.00,0.000,5126,0.000,0.032,3011,1802,1586,1627,1545,0,0,0,0,0,0,14.59,14.52,14.59
$GC,1219,0.77,272.5,3011,1805,1625,1541,71.4,14.2,209,1225,0.00,2.47,0.00,0.000,4612,0.000,0.067,3017,397,1583,1625,1542,0,0,0,0,0,0,14.85,14.54,14.85
$GC,1310,0.77,272.5,3016,397,1621,1542,57.2,16.4,226,1317,0.00,2.33,0.00,0.000,5126,0.000,0.032,3017,1809,1582,1622,1542,0,0,0,0,0,0,14.81,14.74,14.81
$GC,1382,0.77,272.5,3016,1812,1615,1540,46.0,16.5,239,1388,0.00,0.00,0.00,0.000,4102,0.000,0.000,3017,1812,1580,1621,1540,0,0,0,0,0,0,14.99,15.00,15.00
$GC,1451,0.77,272.5,3016,1812,1621,1540,36.1,12.4,252,1458,0.00,2.45,0.00,0.000,4612,0.000,0.066,3017,396,1581,1622,1540,0,0,0,0,0,0,15.03,14.78,15.03
$GC,1466,0.77,272.5,3013,396,1621,1540,34.4,11.7,254,1472,0.00,2.33,0.00,0.000,5126,0.000,0.032,3017,1810,1580,1621,1540,0,0,0,0,0,0,14.92,14.84,14.94
$GC,1538,0.77,272.5,3016,1813,1621,1539,27.0,10.9,267,1543,0.00,0.00,0.00,0.000,4102,0.000,0.000,3016,1813,1579,1621,1537,0,0,0,0,0,0,15.04,15.03,15.04
$GC,1607,0.77,272.5,3016,1813,1621,1538,19.3,10.7,280,1613,0.00,2.45,0.00,0.000,4612,0.000,0.068,3017,396,1579,1621,1538,0,0,0,0,0,0,15.07,14.81,15.07
$GC,1708,0.77,272.5,3016,396,1621,1538,8.1,10.1,299,1714,0.00,2.30,0.00,0.000,5126,0.000,0.031,3016,1807,1579,1621,1538,0,0,0,0,0,0,14.98,14.91,14.99
$STATE,1739,end climb,FINISH_DEPTH_REACHED
$STATE,1739,begin subsurface finish
$FINISH1,4.5,1.025324,112
$GC,1747,0.14,111.5,3017,1810,1621,1537,4.5,9.2,305,1776,1.05,0.00,-24.00,0.000,20742,0.155,0.000,2809,1811,2247,2291,2203,0,0,0,0,0,0,14.71,13.53,14.81
$FINISH2,2.7
$STATE,1777,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1777,begin surface
$IRIDIUM_FIX,-3406.89,2547.21,220419,034146
$TT8_MAMPS,0.021721,0.917525
$HUMID,45.07
$INTERNAL_PRESSURE,9.50764
$TCM_TEMP,20.50
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,70.3,32.8
$SC_FREEKB,3650464
$24V_AH,13.38,153.877
$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,17.875,38.025,405.500,0.000,0.000,26.282,43.379,342.537,2.250,0.000,34.987,555.734,217.555,472.311,970.343,291.286,0.000,838.252,0.000,475.383,0.000,11.617,0.000
$DEVICE_MAMPS,296.055,68.085,1012.860,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1828.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.937,0.000,0.000,0.000
$MEM,340920
$DATA_FILE_SIZE,6814,310
$CAP_FILE_SIZE,61484,0
$CFSIZE,2097086464,1996455936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,220419,051231,-3418.037,2546.548,7,0.8,33,-27.9,0.0,266.0,9,5.8