version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 519
start: 4 22 119 5 45 29
data:
$ID,574
$MISSION,3
$DIVE,519
$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,35
$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
$GPS1,220419,051231,-3418.0371,2546.5481,7,0.8,33,-27.9,0.0,266.0,9,5.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.45
$_SM_ANGLEo,1.7
$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,-272.5,2808,1811,2295,2204,0.0,0.0,0,31,0.00,0.00,-5.72,0.000,16386,0.000,0.000,2808,1810,2431,2474,2388,0,0,0,0,0,0,15.11,28.83,15.12
$GC,35,-0.77,-272.5,2808,1811,2475,2388,4.0,0.0,1,80,1.30,0.00,-38.50,0.000,20742,0.078,0.000,2520,1811,3814,3832,3796,0,0,0,0,0,0,14.83,13.52,14.90
$GC,144,-0.77,-272.5,2520,1811,3832,3796,15.9,-13.4,21,150,0.00,0.00,0.00,0.000,4102,0.000,0.000,2520,1811,3814,3832,3796,0,0,0,0,0,0,15.14,15.14,15.14
$GC,213,-0.77,-272.5,2520,1811,3833,3796,25.2,-13.9,34,220,0.00,2.40,0.00,0.000,4612,0.000,0.063,2520,410,3811,3827,3796,0,0,0,0,0,0,15.13,14.86,15.13
$GC,258,-0.77,-272.5,2520,409,3832,3796,31.1,-12.0,42,265,0.00,2.30,0.00,0.000,5126,0.000,0.036,2520,1812,3814,3832,3796,0,0,0,0,0,0,15.01,14.92,15.02
$GC,330,-0.77,-272.5,2520,1815,3832,3796,39.2,-12.0,55,337,0.00,2.38,0.00,0.000,4356,0.000,0.054,2520,3219,3814,3832,3796,0,0,0,0,0,0,15.14,14.82,15.14
$GC,395,-0.77,-272.5,2520,3219,3833,3796,45.9,-9.5,67,402,0.00,2.35,0.00,0.000,5126,0.000,0.037,2520,1802,3814,3833,3796,0,0,0,0,0,0,14.95,14.85,14.96
$GC,469,-0.77,-272.5,2520,1802,3832,3796,52.6,-9.7,80,475,0.00,2.38,0.00,0.000,4612,0.000,0.063,2520,410,3813,3830,3796,0,0,0,0,0,0,15.13,14.74,15.13
$GC,499,-0.77,-272.5,2520,410,3832,3796,56.0,-10.8,85,505,0.00,2.30,0.00,0.000,5126,0.000,0.034,2520,1814,3814,3832,3796,0,0,0,0,0,0,14.96,14.92,14.96
$GC,570,-0.77,-272.5,2520,1816,3832,3796,62.6,-9.8,98,577,0.00,2.35,0.00,0.000,4356,0.000,0.054,2520,3212,3814,3833,3796,0,0,0,0,0,0,15.13,14.82,15.13
$GC,614,-0.77,-272.5,2519,3211,3833,3796,66.8,-10.0,105,620,0.00,2.33,0.00,0.000,5126,0.000,0.039,2520,1808,3813,3831,3796,0,0,0,0,0,0,14.88,14.79,14.90
$GC,686,-0.77,-272.5,2519,1808,3833,3796,73.9,-9.3,118,693,0.00,2.42,0.00,0.000,4612,0.000,0.062,2520,402,3814,3832,3796,0,0,0,0,0,0,15.13,14.85,15.14
$GC,727,-0.77,-272.5,2520,402,3832,3795,77.3,-8.2,125,734,0.00,2.35,0.00,0.000,5126,0.000,0.034,2520,1823,3814,3832,3796,0,0,0,0,0,0,15.00,14.90,15.01
$STATE,754,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,754,begin apogee
$GC,761,-0.17,0.0,2520,1825,3832,3796,79.7,-6.8,130,965,0.88,0.00,198.30,1.030,10246,0.127,0.000,2699,1825,2699,2736,2663,0,0,0,0,0,0,14.64,14.43,13.96
$STATE,969,end apogee,CONTROL_FINISHED_OK
$STATE,969,begin climb
$GC,972,0.77,272.5,2699,1825,2733,2661,92.2,0.0,167,1193,1.45,2.38,207.80,1.011,11012,0.067,0.046,3009,3207,1587,1628,1546,0,0,0,0,0,0,14.47,14.32,13.94
$GC,1362,0.77,272.5,3009,3206,1622,1542,53.1,13.5,238,1369,0.00,2.40,0.00,0.000,5126,0.000,0.050,3006,1801,1582,1622,1542,0,0,0,0,0,0,14.74,14.65,14.76
$GC,1434,0.77,272.5,3009,1801,1622,1540,43.9,13.6,251,1441,0.00,2.45,0.00,0.000,4612,0.000,0.070,3010,393,1581,1622,1541,0,0,0,0,0,0,15.00,14.75,15.01
$GC,1485,0.77,272.5,3010,393,1622,1541,36.7,13.5,260,1491,0.00,2.33,0.00,0.000,5126,0.000,0.032,3010,1803,1581,1622,1541,0,0,0,0,0,0,14.91,14.83,14.92
$GC,1557,0.77,272.5,3010,1806,1622,1540,28.2,11.9,273,1563,0.00,2.33,0.00,0.000,4356,0.000,0.047,3010,3205,1581,1622,1540,0,0,0,0,0,0,15.03,14.83,15.02
$GC,1587,0.77,272.5,3009,3205,1622,1539,24.8,10.1,278,1593,0.00,2.38,0.00,0.000,5126,0.000,0.049,3010,1800,1581,1622,1540,0,0,0,0,0,0,14.94,14.83,14.96
$GC,1659,0.81,304.8,3009,1797,1622,1539,17.7,9.2,291,1688,0.00,2.42,21.05,0.856,10756,0.000,0.067,3010,393,1454,1501,1408,0,0,0,0,0,0,15.07,14.76,14.26
$GC,1777,0.81,304.8,3009,393,1499,1406,4.9,10.8,313,1784,0.00,2.30,0.00,0.000,3078,0.000,0.029,3010,1811,1451,1498,1405,0,0,0,0,0,0,14.84,14.78,14.85
$STATE,1794,end climb,SURFACE_DEPTH_REACHED
$STATE,1794,begin surface coast
$FINISH,0.5,1.025735
$STATE,1821,end surface coast,CONTROL_FINISHED_OK
$STATE,1821,begin surface
$SM_CCo,1848,136.77,0.776,0,0,599,515.37
$SM_GC,1.01,13.60,0.00,136.77,0.043,0.000,0.776,109,1813,599,-8.22,0.03,515.37,0,0,0,0,0,0,14.85,15.07,14.14
$IRIDIUM_FIX,-3406.89,2547.21,220419,034146
$TT8_MAMPS,0.021721,0.835884
$HUMID,44.68
$INTERNAL_PRESSURE,9.35139
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.1,34.3
$SC_FREEKB,3649952
$24V_AH,13.52,154.061
$10V_AH,13.44,0.000
$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,17.225,42.525,427.150,136.775,0.000,0.000,0.000,0.000,1.250,0.000,0.000,612.722,255.382,561.337,568.408,129.729,0.000,917.025,0.000,488.329,0.000,10.098,0.000
$DEVICE_MAMPS,126.990,69.615,1029.690,776.475,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1869.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.237,0.000,0.000,0.000
$MEM,341064
$DATA_FILE_SIZE,6790,321
$CAP_FILE_SIZE,59529,0
$CFSIZE,2097086464,1996292096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220419,061942,-3418.192,2546.527,8,0.9,23,-27.9,0.5,332.5,9,8.7