version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 531
start: 4 22 119 14 9 22
data:
$ID,574
$MISSION,3
$DIVE,531
$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,350
$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,50
$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,10
$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
$GPS1,220419,132827,-3417.3335,2545.3408,8,1.2,48,-27.9,0.3,239.2,7,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-0.8
$GPS2,220419,132827,-3417.3335,2545.3408,8,1.2,48,-27.9,0.3,239.2,7,4.8
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3406.698,2543.076
$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,17.9,20000,-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,-272.5,2805,1806,2303,2208,0.0,0.0,0,32,0.00,0.00,-5.82,0.000,16386,0.000,0.000,2805,1808,2425,2469,2381,0,0,0,0,0,0,15.06,28.83,15.07
$GC,36,-0.77,-272.5,2805,1808,2471,2382,3.1,0.0,1,82,1.35,2.45,-38.53,0.000,20996,0.064,0.083,2502,408,3813,3829,3798,0,0,0,0,0,0,14.73,13.42,14.78
$GC,102,-0.77,-272.5,2502,408,3829,3797,10.4,-14.0,12,109,0.00,2.33,0.00,0.000,3078,0.000,0.034,2502,1811,3814,3831,3798,0,0,0,0,0,0,14.97,14.88,14.98
$GC,175,-0.77,-272.5,2501,1813,3831,3798,21.5,-15.7,25,181,0.00,2.35,0.00,0.000,2308,0.000,0.053,2502,3209,3814,3831,3798,0,0,0,0,0,0,15.09,14.75,15.09
$GC,214,-0.77,-272.5,2501,3210,3831,3798,28.1,-13.5,32,221,0.00,2.33,0.00,0.000,3078,0.000,0.043,2502,1810,3814,3831,3798,0,0,0,0,0,0,15.00,14.87,15.00
$GC,287,-0.77,-272.5,2501,1810,3831,3797,37.3,-13.3,45,292,0.00,0.00,0.00,0.000,2054,0.000,0.000,2502,1810,3814,3831,3798,0,0,0,0,0,0,15.11,15.11,15.11
$GC,356,-0.77,-272.5,2502,1810,3830,3797,46.8,-13.5,58,361,0.00,0.00,0.00,0.000,2054,0.000,0.000,2502,1810,3814,3831,3798,0,0,0,0,0,0,15.11,15.11,15.11
$GC,426,-0.77,-272.5,2502,1810,3831,3798,56.0,-12.8,71,431,0.00,0.00,0.00,0.000,2054,0.000,0.000,2502,1810,3814,3831,3798,0,0,0,0,0,0,15.12,15.12,15.12
$GC,495,-0.77,-272.5,2501,1810,3831,3798,65.3,-13.0,84,501,0.00,0.00,0.00,0.000,2054,0.000,0.000,2498,1810,3814,3831,3798,0,0,0,0,0,0,15.12,15.13,15.13
$GC,565,-0.77,-272.5,2501,1810,3832,3798,73.7,-11.3,97,570,0.00,0.00,0.00,0.000,2054,0.000,0.000,2502,1809,3814,3831,3798,0,0,0,0,0,0,15.13,15.13,15.13
$GC,641,-0.77,-272.5,2502,1810,3832,3798,81.4,-10.0,110,646,0.00,0.00,0.00,0.000,2054,0.000,0.000,2502,1810,3814,3831,3798,0,0,0,0,0,0,15.11,15.12,15.12
$GC,709,-0.77,-272.5,2501,1810,3832,3798,89.2,-10.0,123,715,0.00,0.00,0.00,0.000,2054,0.000,0.000,2502,1810,3814,3831,3798,0,0,0,0,0,0,15.13,15.14,15.13
$GC,778,-0.77,-272.5,2501,1810,3828,3798,96.0,-10.6,136,784,0.00,0.00,0.00,0.000,2054,0.000,0.000,2502,1812,3815,3832,3798,0,0,0,0,0,0,15.12,15.13,15.12
$GC,847,-0.77,-272.5,2502,1810,3832,3797,103.4,-10.7,149,853,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1810,3815,3832,3798,0,0,0,0,0,0,15.12,15.12,15.12
$STATE,873,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,874,begin apogee
$GC,880,-0.17,0.0,2501,1810,3832,3797,106.4,-8.9,154,1088,0.98,0.00,199.30,1.055,10246,0.129,0.000,2700,1806,2699,2735,2663,0,0,0,0,0,0,14.73,14.42,13.93
$STATE,1092,end apogee,CONTROL_FINISHED_OK
$STATE,1092,begin climb
$GC,1095,0.77,272.5,2700,1805,2733,2662,116.4,0.0,191,1317,1.38,2.47,209.12,1.036,10500,0.070,0.046,2997,3208,1588,1631,1545,0,0,0,0,0,0,14.47,14.39,13.91
$GC,1355,0.77,272.5,2996,3208,1628,1543,102.1,14.0,236,1362,0.00,2.42,0.00,0.000,3078,0.000,0.050,2999,1805,1585,1627,1543,0,0,0,0,0,0,14.59,14.50,14.60
$GC,1427,0.77,272.5,2998,1805,1627,1542,91.7,15.0,249,1434,0.00,2.50,0.00,0.000,2564,0.000,0.073,2998,388,1583,1626,1541,0,0,0,0,0,0,14.89,14.63,14.89
$GC,1472,0.77,272.5,2998,388,1625,1542,84.7,14.0,257,1479,0.00,2.35,0.00,0.000,3078,0.000,0.031,2999,1809,1583,1625,1542,0,0,0,0,0,0,14.79,14.71,14.80
$GC,1544,0.77,272.5,2998,1812,1625,1541,75.6,12.7,270,1550,0.00,0.00,0.00,0.000,2054,0.000,0.000,2998,1812,1583,1625,1541,0,0,0,0,0,0,14.97,14.97,14.97
$GC,1613,0.77,272.5,2998,1812,1625,1540,66.8,11.8,283,1620,0.00,2.33,0.00,0.000,2308,0.000,0.047,2999,3197,1582,1625,1540,0,0,0,0,0,0,15.02,14.80,15.02
$GC,1643,0.77,272.5,2998,3197,1623,1540,63.4,12.9,288,1650,0.00,2.38,0.00,0.000,3078,0.000,0.050,3003,1799,1581,1623,1539,0,0,0,0,0,0,14.91,14.81,14.92
$GC,1715,0.77,272.5,2999,1799,1623,1540,55.3,11.3,301,1722,0.00,2.42,0.00,0.000,2564,0.000,0.070,2999,392,1581,1623,1540,0,0,0,0,0,0,15.04,14.71,15.04
$GC,1740,0.77,272.5,2998,392,1623,1540,52.5,10.1,305,1747,0.00,2.30,0.00,0.000,3078,0.000,0.031,2999,1805,1581,1623,1540,0,0,0,0,0,0,14.95,14.87,14.96
$GC,1812,0.77,272.5,2999,1808,1623,1539,44.4,11.5,318,1818,0.00,0.00,0.00,0.000,2054,0.000,0.000,2999,1808,1581,1624,1539,0,0,0,0,0,0,15.07,15.08,15.08
$GC,1881,0.77,273.6,2999,1807,1623,1539,36.7,10.0,331,1888,0.00,2.33,0.00,0.000,2308,0.000,0.047,3000,3196,1581,1623,1539,0,0,0,0,0,0,15.09,14.76,15.09
$GC,1911,0.77,273.6,2999,3196,1622,1539,33.5,10.6,336,1918,0.00,2.38,0.00,0.000,3078,0.000,0.050,2999,1800,1580,1622,1539,0,0,0,0,0,0,14.85,14.74,14.87
$GC,1983,0.81,306.9,2999,1799,1622,1539,26.7,9.2,349,2012,0.00,0.00,26.48,0.936,10246,0.000,0.000,2999,1799,1447,1495,1400,0,0,0,0,0,0,15.09,14.78,14.25
$GC,2077,0.81,306.9,2999,1797,1492,1396,18.1,10.7,366,2083,0.00,2.45,0.00,0.000,2564,0.000,0.070,2999,394,1444,1492,1396,0,0,0,0,0,0,15.02,14.72,15.01
$GC,2102,0.89,367.4,2999,395,1491,1395,15.9,8.5,370,2152,0.10,2.33,41.58,0.871,11270,0.145,0.031,3047,1810,1200,1257,1143,0,0,0,0,0,0,14.76,14.77,14.19
$GC,2216,0.89,367.4,3046,1809,1256,1139,3.2,12.2,390,2222,0.00,0.00,0.00,0.000,4102,0.000,0.000,3047,1810,1197,1255,1139,0,0,0,0,0,0,14.95,14.95,14.95
$STATE,2227,end climb,SURFACE_DEPTH_REACHED
$STATE,2227,begin surface coast
$FINISH,0.4,1.009203
$STATE,2249,end surface coast,CONTROL_FINISHED_OK
$STATE,2249,begin surface
$SM_CCo,2274,97.93,0.780,0,0,599,515.37
$SM_GC,0.87,13.80,0.00,97.93,0.043,0.000,0.780,125,1810,599,-8.18,-0.06,515.37,0,0,0,0,0,0,14.78,15.00,14.14
$IRIDIUM_FIX,-3404.29,2546.08,220419,131729
$TT8_MAMPS,0.020972,0.909286
$HUMID,45.94
$INTERNAL_PRESSURE,9.33186
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.1,36.2
$SC_FREEKB,3643808
$24V_AH,13.42,156.303
$10V_AH,13.35,0.000
$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,17.600,38.100,476.475,97.925,0.000,0.000,0.000,0.000,2.000,0.000,0.000,763.031,323.743,585.061,694.099,155.049,0.000,1017.868,0.000,596.553,0.000,14.669,0.000
$DEVICE_MAMPS,144.585,82.620,1054.935,779.535,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2303.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.036,0.000,0.000,0.000
$MEM,341056
$DATA_FILE_SIZE,10114,396
$CAP_FILE_SIZE,73416,0
$CFSIZE,2097086464,1994293248
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,876.43,0x2131c2,2,24
$INTR,1,2134.26,0x23609a,1,24
$GPS,220419,145019,-3416.682,2544.670,8,0.9,41,-27.9,0.9,262.0,9,4.4