version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 523
start: 4 22 119 8 20 5
data:
$ID,574
$MISSION,3
$DIVE,523
$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,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
$GPS1,220419,074733,-3418.5332,2546.4629,8,0.9,15,-27.9,0.0,137.9,9,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.28
$_SM_ANGLEo,3.1
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.77,-272.5,2810,1816,2300,2208,0.0,0.0,0,31,0.00,0.00,-5.45,0.000,16386,0.000,0.000,2810,1816,2447,2491,2404,0,0,0,0,0,0,15.10,28.83,15.09
$GC,35,-0.77,-272.5,2810,1816,2492,2404,5.4,0.0,1,75,1.33,2.38,-33.12,0.000,20740,0.086,0.076,2519,3197,3813,3832,3795,0,0,0,0,0,0,14.82,13.45,14.88
$GC,120,-0.77,-272.5,2519,3197,3833,3795,14.9,-10.9,16,127,0.00,2.30,0.00,0.000,5126,0.000,0.037,2519,1805,3814,3832,3796,0,0,0,0,0,0,14.90,14.81,14.92
$GC,192,-0.77,-272.5,2519,1805,3832,3796,24.6,-14.4,29,199,0.00,2.40,0.00,0.000,4612,0.000,0.062,2519,406,3813,3832,3795,0,0,0,0,0,0,15.12,14.86,15.12
$GC,246,-0.77,-272.5,2519,406,3832,3795,32.1,-11.6,39,253,0.00,2.30,0.00,0.000,5126,0.000,0.034,2519,1803,3814,3832,3796,0,0,0,0,0,0,15.00,14.91,15.01
$GC,318,-0.77,-272.5,2518,1806,3832,3795,40.3,-11.5,52,325,0.00,2.35,0.00,0.000,4356,0.000,0.053,2519,3212,3814,3832,3796,0,0,0,0,0,0,15.10,14.88,15.11
$GC,378,-0.77,-272.5,2516,3212,3833,3795,46.7,-8.7,63,385,0.00,2.33,0.00,0.000,5126,0.000,0.039,2518,1812,3813,3832,3795,0,0,0,0,0,0,15.00,14.90,15.02
$GC,450,-0.77,-272.5,2518,1811,3832,3797,53.7,-10.2,76,457,0.00,2.40,0.00,0.000,4612,0.000,0.062,2517,408,3813,3832,3795,0,0,0,0,0,0,15.13,14.81,15.13
$GC,475,-0.77,-272.5,2518,408,3832,3795,56.2,-9.7,80,482,0.00,2.30,0.00,0.000,5126,0.000,0.032,2518,1818,3813,3832,3795,0,0,0,0,0,0,14.95,14.87,14.98
$GC,548,-0.77,-272.5,2519,1820,3832,3795,63.5,-11.0,93,554,0.00,2.33,0.00,0.000,4356,0.000,0.054,2519,3206,3814,3832,3796,0,0,0,0,0,0,15.11,14.87,15.11
$GC,590,-0.77,-272.5,2518,3206,3833,3796,68.0,-8.3,100,597,0.00,2.33,0.00,0.000,5126,0.000,0.038,2518,1806,3813,3832,3795,0,0,0,0,0,0,14.95,14.85,14.95
$GC,663,-0.77,-272.5,2519,1806,3832,3795,75.0,-9.9,113,670,0.00,2.38,0.00,0.000,4612,0.000,0.062,2519,410,3813,3832,3795,0,0,0,0,0,0,15.11,14.88,15.11
$GC,698,-0.77,-272.5,2518,411,3832,3795,78.9,-11.0,119,705,0.00,2.30,0.00,0.000,5126,0.000,0.033,2519,1821,3813,3831,3795,0,0,0,0,0,0,15.00,14.91,15.01
$STATE,710,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,710,begin apogee
$GC,716,-0.17,0.0,2519,1824,3832,3796,80.0,-8.0,121,921,0.90,0.00,198.57,1.025,10246,0.126,0.000,2702,1823,2700,2737,2664,0,0,0,0,0,0,14.66,14.45,13.96
$STATE,925,end apogee,CONTROL_FINISHED_OK
$STATE,925,begin climb
$GC,928,0.77,272.5,2702,1823,2734,2663,93.8,0.0,158,1149,1.40,2.58,208.40,1.011,11012,0.052,0.067,3033,405,1587,1629,1545,0,0,0,0,0,0,14.47,14.40,13.93
$GC,1243,0.77,272.5,3032,404,1621,1546,61.7,17.4,214,1251,0.15,2.33,0.00,0.000,5126,0.207,0.032,3004,1802,1582,1621,1544,0,0,0,0,0,0,14.50,14.61,14.65
$GC,1316,0.77,272.5,3003,1805,1621,1542,51.6,13.8,227,1322,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1805,1581,1621,1542,0,0,0,0,0,0,14.94,14.95,14.94
$GC,1385,0.77,272.5,3003,1805,1621,1541,42.9,12.0,240,1391,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,1805,1581,1621,1541,0,0,0,0,0,0,14.99,15.00,15.00
$GC,1454,0.77,272.5,3003,1805,1621,1541,34.8,12.0,253,1460,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1805,1581,1621,1541,0,0,0,0,0,0,15.03,15.04,15.04
$GC,1523,0.79,291.3,3003,1805,1621,1541,27.4,9.5,266,1547,0.00,2.38,14.68,0.866,10500,0.000,0.048,3004,3206,1512,1556,1468,0,0,0,0,0,0,15.06,14.73,14.24
$GC,1560,0.79,291.3,3004,3207,1555,1466,23.5,10.2,272,1567,0.00,2.38,0.00,0.000,3078,0.000,0.047,3004,1803,1510,1555,1465,0,0,0,0,0,0,14.90,14.79,14.90
$GC,1633,0.80,300.3,3003,1803,1555,1464,16.6,9.8,285,1646,0.00,2.42,5.82,0.721,10756,0.000,0.067,3003,396,1472,1519,1426,0,0,0,0,0,0,15.03,14.64,14.23
$GC,1720,0.80,300.3,3003,396,1518,1426,7.5,10.5,301,1727,0.00,2.33,0.00,0.000,3078,0.000,0.033,3004,1811,1472,1518,1426,0,0,0,0,0,0,14.93,14.85,14.95
$STATE,1761,end climb,SURFACE_DEPTH_REACHED
$STATE,1761,begin surface coast
$FINISH,0.2,1.025354
$STATE,1789,end surface coast,CONTROL_FINISHED_OK
$STATE,1789,begin surface
$SM_CCo,1814,138.95,0.769,0,0,598,515.37
$SM_GC,0.98,13.43,0.00,138.95,0.037,0.000,0.769,121,1814,598,-8.17,0.06,515.37,0,0,0,0,0,0,14.90,15.09,14.15
$IRIDIUM_FIX,-3401.68,2436.13,220419,062419
$TT8_MAMPS,0.021721,0.945987
$HUMID,44.29
$INTERNAL_PRESSURE,9.35139
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.4,34.3
$SC_FREEKB,3647904
$24V_AH,13.45,154.777
$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,17.200,42.475,427.475,138.950,0.000,0.000,0.000,0.000,1.250,0.000,0.000,600.033,241.927,563.880,559.561,131.890,0.000,916.667,0.000,482.478,0.000,10.096,0.000
$DEVICE_MAMPS,207.315,75.735,1025.100,768.825,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1837.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.352,0.000,0.000,0.000
$MEM,341064
$DATA_FILE_SIZE,6791,314
$CAP_FILE_SIZE,59964,0
$CFSIZE,2097086464,1995636736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220419,085401,-3418.607,2546.580,8,0.7,37,-27.9,0.6,278.7,11,5.0