version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 525
start: 4 22 119 9 37 18
data:
$ID,574
$MISSION,3
$DIVE,525
$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,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
$GPS1,220419,090514,-3418.6599,2546.5591,8,0.7,18,-27.9,0.6,51.2,11,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,2.4
$GPS2,220419,090514,-3418.6599,2546.5591,8,0.7,18,-27.9,0.6,51.2,11,9.6
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3412.466,2557.256
$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,-272.5,2807,1802,2298,2217,0.0,0.0,0,53,0.00,0.00,-27.33,0.000,16386,0.000,0.000,2807,1809,3067,3088,3047,0,0,0,0,0,0,15.11,28.83,15.12
$GC,57,-0.77,-272.5,2806,1802,3089,3047,3.2,-2.2,5,87,1.33,2.40,-20.67,0.000,20740,0.092,0.077,2521,3214,3811,3831,3791,0,0,0,0,0,0,14.82,14.05,14.88
$GC,122,-0.77,-272.5,2522,3212,3830,3793,10.3,-11.3,16,129,0.00,2.35,0.00,0.000,5126,0.000,0.040,2522,1799,3811,3829,3793,0,0,0,0,0,0,15.00,14.90,15.02
$GC,194,-0.77,-272.5,2522,1799,3831,3792,19.3,-13.4,29,200,0.00,2.38,0.00,0.000,4612,0.000,0.063,2522,406,3811,3831,3792,0,0,0,0,0,0,15.12,14.76,15.12
$GC,244,-0.77,-272.5,2522,406,3831,3792,27.0,-12.9,38,250,0.00,2.30,0.00,0.000,5126,0.000,0.032,2522,1815,3811,3831,3792,0,0,0,0,0,0,14.97,14.92,14.98
$GC,316,-0.77,-272.5,2522,1818,3831,3792,36.1,-13.3,51,322,0.00,2.38,0.00,0.000,4356,0.000,0.053,2522,3218,3811,3831,3792,0,0,0,0,0,0,15.14,14.83,15.14
$GC,376,-0.77,-272.5,2522,3218,3830,3793,42.7,-10.4,62,382,0.00,2.33,0.00,0.000,5126,0.000,0.037,2522,1808,3811,3831,3792,0,0,0,0,0,0,14.95,14.85,14.96
$GC,448,-0.77,-272.5,2522,1809,3831,3793,50.0,-10.8,75,455,0.00,2.40,0.00,0.000,4612,0.000,0.062,2522,412,3811,3831,3792,0,0,0,0,0,0,15.11,14.86,15.12
$GC,473,-0.77,-272.5,2522,411,3831,3792,53.4,-12.3,79,480,0.00,2.30,0.00,0.000,5126,0.000,0.032,2522,1824,3811,3831,3792,0,0,0,0,0,0,15.00,14.92,15.02
$GC,546,-0.77,-272.5,2522,1826,3836,3793,59.9,-9.8,92,553,0.00,2.33,0.00,0.000,4356,0.000,0.052,2522,3206,3812,3831,3793,0,0,0,0,0,0,15.14,14.83,15.14
$GC,587,-0.77,-272.5,2522,3206,3830,3792,63.6,-8.7,99,593,0.00,2.30,0.00,0.000,5126,0.000,0.039,2522,1816,3812,3831,3793,0,0,0,0,0,0,15.00,14.90,15.01
$GC,662,-0.77,-272.5,2522,1815,3831,3792,71.0,-10.6,112,669,0.00,2.40,0.00,0.000,4612,0.000,0.061,2522,406,3812,3831,3793,0,0,0,0,0,0,15.12,14.86,15.12
$GC,702,-0.77,-272.5,2522,405,3831,3793,75.5,-10.2,119,709,0.00,2.30,0.00,0.000,5126,0.000,0.032,2522,1816,3811,3831,3792,0,0,0,0,0,0,15.00,14.91,15.04
$STATE,744,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,744,begin apogee
$GC,751,-0.17,0.0,2529,1819,3831,3793,79.7,-9.1,127,955,0.85,0.00,198.57,1.023,10246,0.090,0.000,2707,1819,2700,2737,2663,0,0,0,0,0,0,14.70,14.45,13.95
$STATE,959,end apogee,CONTROL_FINISHED_OK
$STATE,959,begin climb
$GC,962,0.77,272.5,2707,1819,2734,2661,94.7,0.0,164,1187,1.38,2.40,209.55,1.008,11012,0.055,0.045,3019,3198,1587,1629,1545,0,0,0,0,0,0,14.49,14.41,13.93
$GC,1322,0.77,272.5,3018,3198,1621,1541,58.4,13.8,229,1330,0.05,2.38,0.00,0.000,5126,0.337,0.050,3010,1806,1581,1622,1540,0,0,0,0,0,0,14.49,14.64,14.69
$GC,1395,0.77,272.5,3011,1806,1621,1540,49.6,11.6,242,1401,0.00,0.00,0.00,0.000,4102,0.000,0.000,3011,1806,1581,1622,1540,0,0,0,0,0,0,14.98,14.98,14.98
$GC,1464,0.77,272.5,3011,1806,1622,1539,41.2,12.7,255,1471,0.00,2.35,0.00,0.000,4356,0.000,0.044,3012,3202,1581,1622,1540,0,0,0,0,0,0,15.03,14.80,15.03
$GC,1484,0.77,272.5,3011,3202,1621,1540,38.7,12.9,258,1491,0.00,2.38,0.00,0.000,5126,0.000,0.048,3010,1800,1580,1621,1539,0,0,0,0,0,0,14.90,14.77,14.92
$GC,1556,0.77,272.5,3011,1800,1622,1539,31.2,10.4,271,1562,0.00,2.33,0.00,0.000,4356,0.000,0.044,3011,3200,1580,1621,1539,0,0,0,0,0,0,15.04,14.83,15.06
$GC,1586,0.77,272.5,3009,3199,1621,1538,27.8,11.1,276,1592,0.00,2.38,0.00,0.000,5126,0.000,0.048,3011,1792,1579,1621,1538,0,0,0,0,0,0,14.94,14.83,14.95
$GC,1658,0.81,307.6,3010,1792,1621,1538,21.2,9.1,289,1692,0.00,2.42,25.23,0.872,10756,0.000,0.068,3011,405,1443,1490,1397,0,0,0,0,0,0,15.07,14.71,14.28
$GC,1747,0.82,316.6,3010,405,1489,1395,11.9,9.8,305,1760,0.00,2.30,5.50,0.664,11270,0.000,0.031,3010,1812,1406,1455,1357,0,0,0,0,0,0,14.90,14.83,14.19
$GC,1823,0.88,358.8,3010,1812,1454,1356,3.1,9.0,319,1831,0.00,0.00,5.28,0.614,10242,0.000,0.000,3010,1812,1371,1420,1322,0,0,0,0,0,0,15.03,28.83,15.04
$STATE,1832,end climb,SURFACE_DEPTH_REACHED
$STATE,1832,begin surface coast
$FINISH,0.3,1.012237
$STATE,1858,end surface coast,CONTROL_FINISHED_OK
$STATE,1858,begin surface
$SM_CCo,1883,122.20,0.767,0,0,598,515.37
$SM_GC,0.97,13.57,0.00,122.20,0.040,0.000,0.767,106,1813,598,-8.22,0.00,515.37,0,0,0,0,0,0,14.85,15.05,14.15
$IRIDIUM_FIX,-3404.29,2546.08,220419,074025
$TT8_MAMPS,0.021721,0.922768
$HUMID,45.15
$INTERNAL_PRESSURE,9.36116
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.5,34.0
$SC_FREEKB,3646880
$24V_AH,13.93,155.136
$10V_AH,13.45,0.000
$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,17.175,49.475,444.125,122.200,0.000,0.000,0.000,0.000,1.250,0.000,0.000,615.260,251.658,573.364,575.428,134.070,0.000,938.787,0.000,500.209,0.000,10.084,0.000
$DEVICE_MAMPS,337.365,77.265,1022.805,767.295,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1905.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.006,0.000,0.000,0.000
$MEM,341056
$DATA_FILE_SIZE,6794,325
$CAP_FILE_SIZE,62120,0
$CFSIZE,2097086464,1995309056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220419,101201,-3418.556,2546.654,8,1.1,34,-27.9,0.2,135.6,8,5.1