version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 522
start: 4 22 119 7 47 59
data:
$ID,574
$MISSION,3
$DIVE,522
$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
$GPS1,220419,073601,-3418.4348,2546.5149,8,0.9,28,-27.9,0.6,232.0,9,5.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-64.1
$GPS2,220419,074733,-3418.5332,2546.4629,8,0.9,15,-27.9,0.0,137.9,9,9.3
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3412.339,2557.159
$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,-272.5,53,1811,634,532,0.0,0.0,0,123,0.00,0.00,-97.18,0.000,16386,0.000,0.000,53,1812,3084,3050,3119,0,0,0,0,0,0,14.99,28.83,15.00
$GC,129,-0.77,-272.5,52,1812,3051,3117,3.8,-8.3,18,165,14.45,2.40,-11.68,0.000,18692,0.294,0.067,2495,3212,3814,3829,3799,0,0,0,0,0,0,14.54,13.44,14.82
$GC,225,-0.77,-272.5,2494,3212,3830,3799,28.0,-12.6,35,232,0.05,2.35,0.00,0.000,3078,0.291,0.041,2508,1810,3814,3829,3799,0,0,0,0,0,0,14.62,14.73,14.80
$GC,297,-0.77,-272.5,2508,1810,3830,3799,37.6,-14.0,48,304,0.00,2.38,0.00,0.000,2308,0.000,0.052,2508,3205,3814,3830,3799,0,0,0,0,0,0,15.06,14.81,15.07
$GC,312,-0.77,-272.5,2507,3206,3830,3799,39.6,-13.4,50,318,0.00,2.35,0.00,0.000,3078,0.000,0.041,2508,1801,3814,3830,3799,0,0,0,0,0,0,14.94,14.85,14.95
$GC,384,-0.77,-272.5,2507,1801,3830,3799,48.5,-13.6,63,390,0.00,2.38,0.00,0.000,2564,0.000,0.063,2508,410,3814,3829,3799,0,0,0,0,0,0,15.07,14.72,15.07
$GC,413,-0.77,-272.5,2507,409,3830,3799,52.9,-14.1,68,420,0.00,2.30,0.00,0.000,3078,0.000,0.035,2508,1808,3814,3830,3799,0,0,0,0,0,0,14.96,14.87,14.97
$GC,487,-0.77,-272.5,2507,1810,3830,3805,61.4,-11.1,81,493,0.00,2.38,0.00,0.000,2308,0.000,0.054,2508,3217,3814,3830,3799,0,0,0,0,0,0,15.09,14.84,15.09
$GC,533,-0.77,-272.5,2508,3217,3830,3799,67.0,-10.7,89,540,0.00,2.35,0.00,0.000,3078,0.000,0.040,2508,1801,3814,3830,3799,0,0,0,0,0,0,14.97,14.86,14.97
$GC,605,-0.77,-272.5,2508,1802,3830,3799,74.2,-10.2,102,612,0.00,2.38,0.00,0.000,2564,0.000,0.061,2507,412,3814,3830,3799,0,0,0,0,0,0,15.11,14.79,15.11
$GC,640,-0.77,-272.5,2507,412,3830,3799,77.5,-9.1,108,647,0.00,2.33,0.00,0.000,3078,0.000,0.034,2508,1821,3814,3830,3799,0,0,0,0,0,0,14.92,14.84,14.94
$STATE,652,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,652,begin apogee
$GC,658,-0.17,0.0,2508,1824,3829,3800,79.1,-10.5,110,870,0.95,0.00,199.15,1.004,10246,0.129,0.000,2701,1825,2697,2732,2662,0,0,0,0,0,0,14.73,14.42,13.95
$STATE,872,end apogee,CONTROL_FINISHED_OK
$STATE,872,begin climb
$GC,875,0.77,272.5,2701,1825,2730,2661,94.0,0.0,148,1095,1.35,2.55,207.32,0.996,10756,0.061,0.070,3006,403,1587,1629,1545,0,0,0,0,0,0,14.50,14.33,13.95
$GC,1184,0.77,272.5,3005,403,1621,1545,63.9,12.8,203,1191,0.00,2.33,0.00,0.000,1030,0.000,0.034,3006,1796,1582,1621,1544,0,0,0,0,0,0,14.76,14.69,14.77
$GC,1256,0.77,272.5,3006,1799,1621,1541,54.5,13.4,216,1262,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1799,1581,1621,1541,0,0,0,0,0,0,14.95,14.96,14.96
$GC,1325,0.77,272.5,3005,1799,1621,1541,45.0,13.7,229,1331,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1799,1581,1621,1541,0,0,0,0,0,0,15.00,15.01,15.01
$GC,1394,0.77,272.5,3005,1799,1621,1541,36.5,12.2,242,1401,0.00,2.42,0.00,0.000,516,0.000,0.069,3014,398,1580,1621,1540,0,0,0,0,0,0,15.02,14.78,15.03
$GC,1429,0.77,272.5,3014,397,1620,1540,32.3,10.8,248,1436,0.00,2.35,0.00,0.000,5126,0.000,0.034,3014,1815,1580,1621,1540,0,0,0,0,0,0,14.93,14.86,14.95
$GC,1501,0.77,272.5,3013,1818,1621,1539,24.8,10.8,261,1508,0.00,2.30,0.00,0.000,4356,0.000,0.047,3013,3198,1580,1620,1540,0,0,0,0,0,0,15.07,14.79,15.08
$GC,1521,0.77,272.5,3013,3198,1620,1539,22.2,11.8,264,1528,0.00,2.38,0.00,0.000,5126,0.000,0.047,3014,1802,1579,1620,1538,0,0,0,0,0,0,14.86,14.76,14.88
$GC,1593,0.79,285.4,3014,1802,1621,1538,15.2,9.7,277,1606,0.00,2.47,6.85,0.739,12804,0.000,0.067,3017,388,1536,1579,1493,0,0,0,0,0,0,15.07,14.76,14.26
$GC,1696,0.88,364.4,3016,388,1577,1493,5.2,8.1,296,1704,0.00,2.33,3.22,0.474,11266,0.000,0.032,3017,1813,1515,1558,1472,0,0,0,0,0,0,14.88,14.79,14.87
$STATE,1705,end climb,FINISH_DEPTH_REACHED
$STATE,1705,begin subsurface finish
$FINISH1,4.5,1.025341,111
$GC,1713,0.14,110.7,3018,1816,1557,1468,4.5,8.7,297,1747,1.05,0.00,-27.80,0.000,21254,0.161,0.000,2810,1816,2252,2296,2208,0,0,0,0,0,0,14.67,13.54,14.78
$FINISH2,2.3
$STATE,1748,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1748,begin surface
$IRIDIUM_FIX,-3401.68,2436.13,220419,062419
$TT8_MAMPS,0.021721,0.913031
$HUMID,45.39
$INTERNAL_PRESSURE,9.51741
$TCM_TEMP,20.50
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,65.2,33.6
$SC_FREEKB,3648416
$24V_AH,13.44,154.594
$10V_AH,13.61,0.000
$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,17.850,42.700,416.550,0.000,0.000,30.971,45.889,328.152,1.750,0.000,16.821,537.706,207.318,485.072,931.651,287.557,0.000,851.084,0.000,463.036,0.000,10.095,0.000
$DEVICE_MAMPS,293.760,69.615,1004.445,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1795.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.047,0.000,0.000,0.000
$MEM,340920
$DATA_FILE_SIZE,6803,303
$CAP_FILE_SIZE,63231,0
$CFSIZE,2097086464,1995800576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,220419,074733,-3418.533,2546.463,8,0.9,15,-27.9,0.0,137.9,9,9.3