version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 305
start: 4 10 119 7 39 14
data:
$ID,574
$MISSION,3
$DIVE,305
$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,125
$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,41
$R_STBD_OVSHOOT,61
$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
$GPS1,100419,070527,-3227.2729,2852.5940,6,0.9,15,-27.1,1.5,217.4,9,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,20.05
$_SM_ANGLEo,-2.7
$GPS2,100419,070527,-3227.2729,2852.5940,6,0.9,15,-27.1,1.5,217.4,9,9.4
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3233.467,2903.089
$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,152.1,20000,-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,-92.5,2828,1809,2027,1946,0.0,0.0,0,29,0.00,0.00,-6.12,0.000,16386,0.000,0.000,2828,1809,2388,2420,2357,0,0,0,0,0,0,15.16,28.83,15.16
$GC,32,-0.88,-92.5,2826,1809,2421,2358,20.0,0.0,1,51,1.62,2.25,-9.73,0.000,20740,0.075,0.065,2458,3204,3079,3077,3082,0,0,0,0,0,0,14.95,14.25,15.00
$GC,440,-0.88,-92.5,2458,3204,3077,3081,80.5,-13.3,80,447,0.05,2.28,0.00,0.000,3078,0.321,0.038,2468,1799,3079,3077,3081,0,0,0,0,0,0,14.85,15.00,15.03
$GC,511,-0.88,-92.5,2469,1798,3077,3081,87.3,-6.1,93,518,0.00,2.33,0.00,0.000,2564,0.000,0.067,2469,416,3079,3077,3081,0,0,0,0,0,0,15.23,15.00,15.25
$STATE,523,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,524,begin apogee
$GC,531,-0.17,0.0,2460,1792,3077,3081,88.2,-7.3,95,603,1.23,0.00,66.82,0.979,10246,0.177,0.000,2697,1797,2699,2718,2681,0,0,0,0,0,0,14.85,14.79,14.34
$STATE,606,end apogee,CONTROL_FINISHED_OK
$STATE,606,begin climb
$GC,608,0.88,92.5,2697,1796,2718,2681,92.6,0.0,108,690,1.52,2.38,71.93,0.980,10500,0.078,0.044,3029,3201,2321,2347,2295,0,0,0,0,0,0,14.77,14.64,14.20
$GC,757,0.88,92.5,3030,3201,2342,2294,90.1,14.2,134,764,0.00,2.30,0.00,0.000,3078,0.000,0.034,3033,1791,2317,2341,2293,0,0,0,0,0,0,14.90,14.82,14.91
$GC,828,0.88,93.9,3033,1790,2341,2292,84.7,9.9,147,834,0.00,2.33,0.00,0.000,2564,0.000,0.062,3033,406,2315,2339,2292,0,0,0,0,0,0,15.07,14.87,15.07
$GC,857,0.95,146.1,3033,406,2338,2292,82.9,6.2,152,908,0.00,2.25,41.88,0.953,11270,0.000,0.033,3033,1803,2102,2134,2071,0,0,0,0,0,0,15.00,14.92,14.28
$GC,970,0.95,146.1,3033,1802,2131,2067,72.9,10.5,173,977,0.00,2.38,0.00,0.000,2564,0.000,0.063,3031,406,2098,2130,2067,0,0,0,0,0,0,15.05,14.81,15.05
$GC,1051,0.95,146.1,3033,406,2126,2066,63.2,11.4,188,1058,0.00,2.25,0.00,0.000,3078,0.000,0.031,3033,1811,2096,2126,2066,0,0,0,0,0,0,15.01,14.93,15.02
$GC,1121,0.95,146.1,3033,1813,2126,2065,55.3,10.7,201,1128,0.00,2.38,0.00,0.000,2564,0.000,0.062,3037,408,2095,2125,2065,0,0,0,0,0,0,15.14,14.93,15.14
$GC,1155,0.95,146.1,3037,407,2125,2064,51.5,11.2,207,1162,0.00,2.22,0.00,0.000,3078,0.000,0.030,3037,1799,2094,2125,2064,0,0,0,0,0,0,15.02,14.96,15.04
$GC,1226,0.96,154.8,3037,1802,2125,2064,43.8,9.4,220,1239,0.00,2.40,7.07,0.743,10756,0.000,0.061,3040,401,2068,2101,2035,0,0,0,0,0,0,15.19,14.90,14.47
$GC,1744,1.03,215.6,3040,402,2094,2035,21.6,5.6,322,1790,0.15,2.25,36.65,0.879,11270,0.114,0.031,3095,1815,1818,1857,1780,0,0,0,0,0,0,14.97,14.98,14.47
$GC,1854,1.12,283.0,3095,1815,1854,1775,17.3,5.1,342,1899,0.00,2.42,39.30,0.836,10756,0.000,0.063,3100,408,1544,1585,1504,0,0,0,0,0,0,15.14,14.72,14.39
$STATE,1989,end climb,SURFACE_DEPTH_REACHED
$STATE,1990,begin surface coast
$FINISH,0.5,1.023691
$STATE,2013,end surface coast,CONTROL_FINISHED_OK
$STATE,2013,begin surface
$SM_CCo,2038,129.73,0.727,0,0,599,515.37
$SM_GC,0.84,13.73,2.30,129.73,0.040,0.031,0.727,118,1799,599,-8.17,-1.61,515.37,0,0,0,0,0,0,14.96,14.95,14.34
$IRIDIUM_FIX,-3213.52,2854.35,100419,061832
$TT8_MAMPS,0.021721,0.96621
$HUMID,43.22
$INTERNAL_PRESSURE,9.6053
$TCM_TEMP,22.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.5,32.2
$SC_FREEKB,3761184
$24V_AH,14.20,104.301
$10V_AH,13.89,0.000
$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,18.300,39.225,263.650,129.725,0.000,0.000,0.000,0.000,1.250,0.000,0.000,798.249,368.054,403.409,640.590,83.784,0.000,737.698,0.000,574.118,0.000,10.104,0.000
$DEVICE_MAMPS,321.300,66.555,979.965,726.750,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2052.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.191,0.000,0.000,0.000
$MEM,341056
$DATA_FILE_SIZE,10129,372
$CAP_FILE_SIZE,61171,0
$CFSIZE,2097086464,2034630656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100419,081631,-3229.769,2850.521,6,1.0,29,-27.2,2.7,216.3,9,5.3