version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 521
start: 4 22 119 7 2 38
data:
$ID,574
$MISSION,3
$DIVE,521
$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,51
$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
$GPS1,220419,063137,-3418.3157,2546.4573,8,1.1,21,-27.9,0.0,111.5,8,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.23
$_SM_ANGLEo,3.0
$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,-272.5,2807,1808,2299,2210,0.0,0.0,0,31,0.00,0.00,-5.82,0.000,16386,0.000,0.000,2807,1807,2456,2499,2414,0,0,0,0,0,0,15.11,28.83,15.12
$GC,35,-0.77,-272.5,2807,1807,2500,2414,4.9,0.0,1,80,1.30,2.42,-34.65,0.000,20996,0.087,0.080,2526,408,3813,3831,3795,0,0,0,0,0,0,14.82,13.45,14.91
$GC,106,-0.77,-272.5,2525,408,3832,3796,11.7,-14.1,13,113,0.00,2.30,0.00,0.000,5126,0.000,0.034,2525,1811,3814,3832,3796,0,0,0,0,0,0,14.99,14.88,15.00
$GC,178,-0.77,-272.5,2525,1812,3832,3796,20.9,-14.5,26,184,0.00,0.00,0.00,0.000,4102,0.000,0.000,2525,1812,3814,3832,3796,0,0,0,0,0,0,15.11,15.11,15.11
$GC,247,-0.77,-272.5,2525,1812,3832,3796,30.9,-13.3,39,253,0.00,0.00,0.00,0.000,4102,0.000,0.000,2525,1812,3814,3832,3796,0,0,0,0,0,0,15.12,15.12,15.12
$GC,316,-0.77,-272.5,2525,1812,3832,3796,39.7,-12.3,52,322,0.00,0.00,0.00,0.000,4102,0.000,0.000,2525,1812,3814,3833,3796,0,0,0,0,0,0,15.13,15.14,15.14
$GC,385,-0.77,-272.5,2529,1812,3833,3793,48.1,-11.3,65,391,0.00,0.00,0.00,0.000,4102,0.000,0.000,2525,1812,3814,3832,3796,0,0,0,0,0,0,15.13,15.14,15.14
$GC,457,-0.77,-272.5,2525,1812,3832,3796,55.4,-10.2,78,463,0.00,0.00,0.00,0.000,4102,0.000,0.000,2525,1812,3814,3832,3796,0,0,0,0,0,0,15.11,15.11,15.11
$GC,526,-0.77,-272.5,2525,1812,3832,3795,62.9,-10.6,91,533,0.00,2.42,0.00,0.000,4612,0.000,0.063,2525,408,3814,3832,3796,0,0,0,0,0,0,15.13,14.86,15.14
$GC,554,-0.77,-272.5,2525,408,3832,3796,66.1,-11.3,95,561,0.00,2.30,0.00,0.000,5126,0.000,0.034,2525,1810,3813,3832,3795,0,0,0,0,0,0,14.90,14.81,14.90
$GC,626,-0.77,-272.5,2525,1812,3832,3795,72.9,-9.9,108,633,0.00,2.38,0.00,0.000,4356,0.000,0.054,2526,3218,3814,3832,3796,0,0,0,0,0,0,15.13,14.87,15.14
$GC,656,-0.77,-272.5,2525,3218,3832,3796,75.4,-7.5,113,663,0.00,2.35,0.00,0.000,5126,0.000,0.036,2525,1794,3814,3832,3796,0,0,0,0,0,0,15.00,14.90,15.01
$STATE,688,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,688,begin apogee
$GC,695,-0.17,0.0,2525,1794,3832,3796,78.4,-8.4,119,906,0.82,0.00,198.73,1.027,10246,0.091,0.000,2705,1794,2697,2734,2661,0,0,0,0,0,0,14.81,14.42,13.95
$STATE,908,end apogee,CONTROL_FINISHED_OK
$STATE,908,begin climb
$GC,910,0.77,272.5,2705,1794,2733,2660,92.1,0.0,157,1131,1.40,2.50,208.25,1.014,10756,0.061,0.067,3018,407,1586,1629,1544,0,0,0,0,0,0,14.50,14.41,13.95
$GC,1256,0.77,272.5,3020,406,1621,1544,59.9,14.5,219,1263,0.03,2.33,0.00,0.000,5126,0.458,0.034,3011,1808,1582,1621,1544,0,0,0,0,0,0,14.48,14.66,14.66
$GC,1328,0.77,272.5,3011,1811,1621,1542,50.5,13.1,232,1335,0.00,0.00,0.00,0.000,4102,0.000,0.000,3011,1812,1581,1621,1542,0,0,0,0,0,0,14.97,14.97,14.97
$GC,1398,0.77,272.5,3010,1812,1621,1541,41.3,12.0,245,1404,0.00,2.45,0.00,0.000,4612,0.000,0.067,3019,400,1581,1621,1541,0,0,0,0,0,0,15.02,14.77,15.02
$GC,1427,0.77,272.5,3018,400,1620,1541,37.0,16.1,250,1434,0.00,2.33,0.00,0.000,5126,0.000,0.032,3019,1814,1581,1621,1541,0,0,0,0,0,0,14.91,14.82,14.92
$GC,1499,0.77,272.5,3018,1817,1621,1540,28.1,12.5,263,1506,0.00,2.30,0.00,0.000,4356,0.000,0.047,3015,3194,1580,1621,1540,0,0,0,0,0,0,15.04,14.83,15.04
$GC,1534,0.77,272.5,3018,3195,1621,1540,24.0,10.5,269,1541,0.00,2.35,0.00,0.000,5126,0.000,0.048,3020,1802,1580,1621,1539,0,0,0,0,0,0,14.94,14.83,14.95
$GC,1606,0.77,272.5,3020,1802,1620,1539,16.5,11.7,282,1612,0.00,2.42,0.00,0.000,4612,0.000,0.067,3022,386,1580,1621,1540,0,0,0,0,0,0,15.07,14.73,15.07
$GC,1712,0.77,272.5,3022,386,1620,1539,4.1,11.6,302,1719,0.05,2.33,0.00,0.000,5126,0.314,0.032,3011,1804,1579,1620,1539,0,0,0,0,0,0,14.66,14.85,14.87
$STATE,1724,end climb,SURFACE_DEPTH_REACHED
$STATE,1724,begin surface coast
$FINISH,0.3,1.025339
$STATE,1745,end surface coast,CONTROL_FINISHED_OK
$STATE,1746,begin surface
$SM_CCo,1773,156.82,0.771,0,0,598,515.37
$SM_GC,0.96,13.43,0.00,156.82,0.038,0.000,0.771,122,1807,598,-8.18,-0.11,515.37,0,0,0,0,0,0,14.90,15.12,14.15
$IRIDIUM_FIX,-3404.29,2546.08,220419,050453
$TT8_MAMPS,0.021721,0.578977
$HUMID,44.25
$INTERNAL_PRESSURE,9.34163
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.0,33.2
$SC_FREEKB,3648928
$24V_AH,13.45,154.417
$10V_AH,13.46,0.000
$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,17.025,33.175,406.975,156.825,0.000,0.000,0.000,0.000,1.250,0.000,0.000,585.893,239.879,568.876,549.124,127.782,0.000,912.741,0.000,477.152,0.000,10.415,0.000
$DEVICE_MAMPS,458.235,80.325,1027.395,771.120,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1791.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.177,0.000,0.000,0.000
$MEM,341056
$DATA_FILE_SIZE,6792,308
$CAP_FILE_SIZE,57420,0
$CFSIZE,2097086464,1995964416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220419,073601,-3418.435,2546.515,8,0.9,28,-27.9,0.6,232.0,9,5.4