version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 294
start: 4 10 119 0 6 25
data:
$ID,574
$MISSION,3
$DIVE,294
$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,20
$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,95
$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,134
$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,0
$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,39
$R_STBD_OVSHOOT,62
$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,3
$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
$GPS1,090419,235826,-3208.9272,2906.9480,6,1.1,20,-26.8,2.4,217.3,8,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-70.7
$GPS2,100419,000601,-3209.3533,2906.5530,6,0.8,31,-26.9,2.4,210.7,11,7.4
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3216.855,2915.741
$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,160.9,20000,-23.0,-10.010,-25.49,1417
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.88,-92.5,97,1810,620,559,0.0,0.0,0,106,0.00,0.00,-82.15,0.000,16386,0.000,0.000,97,1811,2812,2782,2842,0,0,0,0,0,0,15.15,28.83,15.16
$GC,109,-0.88,-92.5,97,1811,2781,2843,3.3,-5.8,15,134,13.30,2.40,-4.80,0.000,18948,0.266,0.080,2467,400,3079,3069,3089,0,0,0,0,0,0,14.74,13.81,14.97
$GC,328,-0.88,-92.5,2466,399,3071,3089,46.0,-15.6,57,335,0.05,2.25,0.00,0.000,3078,0.347,0.032,2468,1806,3079,3071,3088,0,0,0,0,0,0,14.85,15.02,15.05
$GC,398,-0.88,-92.5,2468,1809,3073,3087,55.6,-13.3,70,405,0.00,2.30,0.00,0.000,2308,0.000,0.050,2459,3218,3079,3073,3085,0,0,0,0,0,0,15.22,15.01,15.23
$GC,479,-0.88,-92.5,2458,3220,3072,3087,65.9,-11.3,85,486,0.05,2.30,0.00,0.000,3078,0.324,0.039,2469,1795,3079,3073,3086,0,0,0,0,0,0,14.81,14.95,14.97
$GC,549,-0.88,-92.5,2468,1795,3073,3086,76.0,-14.0,98,556,0.00,2.30,0.00,0.000,2564,0.000,0.062,2469,416,3079,3073,3086,0,0,0,0,0,0,15.23,14.94,15.24
$STATE,642,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,642,begin apogee
$GC,650,-0.17,0.0,2460,1805,3073,3086,87.5,-7.8,116,722,1.23,0.00,66.47,0.824,10246,0.176,0.000,2700,1809,2700,2717,2683,0,0,0,0,0,0,14.84,14.83,14.42
$STATE,725,end apogee,CONTROL_FINISHED_OK
$STATE,725,begin climb
$GC,727,0.88,92.5,2700,1809,2716,2682,91.4,0.0,129,808,1.50,2.33,71.60,0.828,10500,0.071,0.041,3032,3199,2321,2343,2300,0,0,0,0,0,0,14.81,14.70,14.31
$GC,892,0.89,97.3,3032,3202,2338,2296,82.9,9.7,158,904,0.00,2.30,4.45,0.539,9222,0.000,0.041,3040,1803,2303,2325,2281,0,0,0,0,0,0,14.92,14.85,14.36
$GC,967,0.96,157.3,3040,1803,2324,2279,77.3,5.7,172,1023,0.00,2.42,46.95,0.806,10756,0.000,0.063,3040,397,2056,2088,2025,0,0,0,0,0,0,15.11,14.73,14.32
$GC,1157,0.96,157.3,3040,401,2080,2021,54.9,13.6,208,1163,0.00,2.25,0.00,0.000,3078,0.000,0.030,3040,1804,2050,2080,2020,0,0,0,0,0,0,15.02,14.95,15.02
$GC,1227,0.96,157.3,3039,1806,2080,2018,45.2,14.4,221,1234,0.00,2.25,0.00,0.000,2308,0.000,0.043,3040,3199,2049,2080,2018,0,0,0,0,0,0,15.16,14.89,15.16
$GC,1267,0.96,157.3,3040,3200,2080,2018,39.2,14.3,228,1273,0.00,2.30,0.00,0.000,3078,0.000,0.045,3047,1803,2049,2080,2018,0,0,0,0,0,0,15.06,14.97,15.07
$GC,1337,0.96,157.3,3046,1802,2080,2018,30.1,13.3,241,1344,0.00,2.25,0.00,0.000,2308,0.000,0.040,3047,3198,2048,2080,2017,0,0,0,0,0,0,15.19,14.92,15.20
$GC,1351,0.96,157.3,3046,3198,2079,2017,28.2,13.4,243,1357,0.00,2.30,0.00,0.000,3078,0.000,0.044,3047,1798,2047,2078,2017,0,0,0,0,0,0,15.08,14.99,15.09
$GC,1421,1.03,216.8,3047,1798,2079,2017,22.8,5.7,256,1467,0.08,2.33,36.60,0.860,10756,0.189,0.059,3100,398,1811,1845,1778,0,0,0,0,0,0,14.98,14.84,14.47
$STATE,1714,end climb,SURFACE_DEPTH_REACHED
$STATE,1714,begin surface coast
$FINISH,0.4,1.023543
$STATE,1745,end surface coast,CONTROL_FINISHED_OK
$STATE,1746,begin surface
$SM_CCo,1771,163.95,0.738,0,0,599,515.37
$SM_GC,0.83,13.68,2.30,163.95,0.042,0.029,0.738,122,1806,599,-8.18,-1.67,515.37,0,0,0,0,0,0,15.01,15.03,14.34
$IRIDIUM_FIX,-3153.16,2908.71,090419,231418
$TT8_MAMPS,0.020223,0.834386
$HUMID,41.69
$INTERNAL_PRESSURE,9.576
$TCM_TEMP,22.90
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,60.4,37.1
$SC_FREEKB,3766816
$24V_AH,13.81,102.795
$10V_AH,14.06,0.000
$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,29.875,36.825,226.075,163.950,0.000,25.294,28.430,183.819,2.750,0.000,32.932,669.169,289.997,471.609,841.972,132.676,0.000,784.129,0.000,492.519,0.000,8.592,0.000
$DEVICE_MAMPS,347.310,79.560,859.860,738.225,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1789.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.396,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,6799,319
$CAP_FILE_SIZE,60713,0
$CFSIZE,2097086464,2036432896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,100419,003933,-3210.615,2905.508,6,0.8,12,-26.9,2.7,218.6,11,9.1