version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 520
start: 4 22 119 6 32 3
data:
$ID,574
$MISSION,3
$DIVE,520
$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,30
$R_STBD_OVSHOOT,59
$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
$GPS1,220419,061942,-3418.1921,2546.5269,8,0.9,23,-27.9,0.5,332.5,9,8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-68.3
$GPS2,220419,063137,-3418.3157,2546.4573,8,1.1,21,-27.9,0.0,111.5,8,9.7
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3412.121,2557.153
$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,23,-0.77,-272.5,53,1816,635,532,0.0,0.0,0,123,0.00,0.00,-97.35,0.000,16386,0.000,0.000,53,1818,3057,3021,3093,0,0,0,0,0,0,14.99,28.83,15.00
$GC,129,-0.77,-272.5,52,1818,3022,3093,3.7,-7.5,18,165,14.43,2.33,-12.45,0.000,18692,0.294,0.070,2493,3202,3814,3831,3798,0,0,0,0,0,0,14.54,13.39,14.83
$GC,172,-0.77,-272.5,2493,3203,3831,3798,18.9,-27.9,25,180,0.05,2.35,0.00,0.000,3078,0.298,0.043,2505,1803,3814,3831,3798,0,0,0,0,0,0,14.66,14.81,14.83
$GC,245,-0.77,-272.5,2505,1803,3832,3798,30.0,-14.9,38,252,0.00,2.40,0.00,0.000,2564,0.000,0.063,2506,408,3813,3832,3795,0,0,0,0,0,0,15.05,14.75,15.05
$GC,290,-0.77,-272.5,2506,408,3831,3798,35.8,-11.2,46,297,0.00,2.30,0.00,0.000,3078,0.000,0.036,2506,1796,3815,3832,3798,0,0,0,0,0,0,14.89,14.80,14.90
$GC,362,-0.77,-272.5,2506,1798,3832,3798,44.5,-13.5,59,368,0.00,2.40,0.00,0.000,2308,0.000,0.054,2505,3216,3815,3832,3798,0,0,0,0,0,0,15.06,14.83,15.07
$GC,396,-0.77,-272.5,2504,3216,3831,3798,48.8,-11.3,65,403,0.00,2.35,0.00,0.000,3078,0.000,0.040,2505,1807,3815,3832,3798,0,0,0,0,0,0,14.95,14.85,14.97
$GC,469,-0.77,-272.5,2505,1807,3831,3798,57.1,-12.1,78,476,0.00,2.40,0.00,0.000,2564,0.000,0.061,2505,406,3814,3831,3798,0,0,0,0,0,0,15.10,14.77,15.09
$GC,513,-0.77,-272.5,2505,406,3832,3797,63.2,-12.7,85,519,0.00,2.33,0.00,0.000,3078,0.000,0.035,2505,1819,3814,3831,3798,0,0,0,0,0,0,14.97,14.88,14.98
$GC,582,-0.77,-272.5,2505,1826,3831,3798,71.6,-12.9,98,589,0.00,2.35,0.00,0.000,2308,0.000,0.054,2505,3213,3813,3828,3798,0,0,0,0,0,0,15.10,14.85,15.11
$GC,617,-0.77,-272.5,2504,3213,3831,3798,76.0,-13.0,104,624,0.00,2.33,0.00,0.000,3078,0.000,0.039,2505,1811,3814,3831,3798,0,0,0,0,0,0,14.97,14.87,14.98
$STATE,634,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,635,begin apogee
$GC,641,-0.17,0.0,2505,1811,3831,3798,77.9,-9.3,107,852,0.98,0.00,198.68,1.005,10246,0.132,0.000,2702,1810,2698,2733,2663,0,0,0,0,0,0,14.69,14.33,13.97
$STATE,853,end apogee,CONTROL_FINISHED_OK
$STATE,854,begin climb
$GC,856,0.77,272.5,2702,1810,2732,2661,93.7,0.0,145,1077,1.40,2.50,206.98,0.996,10756,0.059,0.066,3024,396,1587,1629,1546,0,0,0,0,0,0,14.49,14.33,13.96
$GC,1181,0.77,272.5,3023,394,1621,1545,61.1,13.5,203,1188,0.08,2.33,0.00,0.000,5126,0.262,0.031,3009,1802,1583,1621,1545,0,0,0,0,0,0,14.57,14.70,14.73
$GC,1253,0.77,272.5,3007,1811,1621,1542,51.0,14.2,216,1259,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1805,1581,1621,1542,0,0,0,0,0,0,14.96,14.97,14.97
$GC,1322,0.77,272.5,3008,1805,1621,1541,41.0,13.6,229,1329,0.00,2.42,0.00,0.000,516,0.000,0.066,3016,404,1581,1621,1541,0,0,0,0,0,0,15.00,14.71,15.02
$GC,1347,0.77,272.5,3016,405,1621,1541,37.3,14.4,233,1354,0.00,2.33,0.00,0.000,5126,0.000,0.033,3017,1818,1581,1621,1542,0,0,0,0,0,0,14.84,14.73,14.84
$GC,1419,0.77,272.5,3016,1820,1621,1541,28.2,11.3,246,1426,0.00,2.28,0.00,0.000,4356,0.000,0.046,3017,3189,1581,1621,1541,0,0,0,0,0,0,15.04,14.82,15.04
$GC,1444,0.77,272.5,3016,3190,1620,1540,24.9,12.9,250,1451,0.00,2.35,0.00,0.000,5126,0.000,0.048,3017,1798,1579,1620,1539,0,0,0,0,0,0,14.93,14.83,14.95
$GC,1516,0.77,272.5,3016,1796,1621,1539,17.2,10.5,263,1523,0.00,2.40,0.00,0.000,4612,0.000,0.067,3017,395,1580,1621,1539,0,0,0,0,0,0,15.06,14.73,15.07
$GC,1612,0.77,272.5,3016,394,1620,1539,6.4,12.6,281,1619,0.00,2.30,0.00,0.000,5126,0.000,0.031,3017,1803,1579,1619,1539,0,0,0,0,0,0,14.88,14.80,14.90
$STATE,1624,end climb,FINISH_DEPTH_REACHED
$STATE,1624,begin subsurface finish
$FINISH1,4.8,1.025333,111
$GC,1632,0.14,111.1,3016,1807,1621,1537,4.8,11.6,283,1661,1.05,0.00,-23.60,0.000,20742,0.155,0.000,2807,1809,2250,2295,2206,0,0,0,0,0,0,14.73,13.56,14.81
$FINISH2,2.7
$STATE,1662,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1662,begin surface
$IRIDIUM_FIX,-3404.29,2546.08,220419,050453
$TT8_MAMPS,0.020972,0.930258
$HUMID,45.31
$INTERNAL_PRESSURE,9.51741
$TCM_TEMP,20.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,60.3,37.5
$SC_FREEKB,3649440
$24V_AH,13.39,154.235
$10V_AH,13.49,0.000
$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,17.975,42.425,405.650,0.000,0.000,25.262,55.879,335.786,1.000,0.000,22.420,508.395,193.392,472.340,926.106,282.897,0.000,823.725,0.000,444.530,0.000,8.581,0.000
$DEVICE_MAMPS,298.350,70.380,1005.210,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1711.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.191,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,6793,288
$CAP_FILE_SIZE,58954,0
$CFSIZE,2097086464,1996128256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,220419,063137,-3418.316,2546.457,8,1.1,21,-27.9,0.0,111.5,8,9.7