version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 309
start: 4 10 119 10 9 10
data:
$ID,574
$MISSION,3
$DIVE,309
$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,40
$R_STBD_OVSHOOT,64
$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
$GPS1,100419,093731,-3233.3420,2847.4482,6,0.7,35,-27.2,2.5,228.8,10,5.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,17.42
$_SM_ANGLEo,-2.4
$GPS2,100419,093731,-3233.3420,2847.4482,6,0.7,35,-27.2,2.5,228.8,10,5.2
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3239.536,2857.956
$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,152.2,20000,-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,22,-0.88,-92.5,2843,1819,1950,1874,0.0,0.0,0,30,0.00,0.00,-6.55,0.000,16386,0.000,0.000,2843,1819,2294,2327,2262,0,0,0,0,0,0,15.20,28.83,15.21
$GC,33,-0.88,-92.5,2843,1819,2328,2263,16.4,0.0,1,57,1.67,2.30,-12.30,0.000,20740,0.072,0.070,2461,3202,3081,3079,3084,0,0,0,0,0,0,14.98,13.81,15.03
$GC,64,-0.88,-92.5,2460,3202,3078,3084,19.3,-11.7,6,71,0.00,2.28,0.00,0.000,3078,0.000,0.042,2461,1815,3081,3078,3085,0,0,0,0,0,0,15.09,15.00,15.11
$GC,134,-0.88,-92.5,2461,1813,3078,3084,33.7,-19.6,19,142,0.03,2.35,0.00,0.000,2564,0.504,0.057,2466,398,3081,3078,3084,0,0,0,0,0,0,14.93,14.92,15.04
$GC,374,-0.88,-92.5,2466,398,3078,3084,71.3,-14.5,65,381,0.05,2.25,0.00,0.000,3078,0.342,0.031,2468,1812,3081,3079,3084,0,0,0,0,0,0,14.81,15.00,15.00
$GC,445,-0.88,-92.5,2468,1814,3078,3084,80.6,-14.5,78,452,0.00,2.28,0.00,0.000,2308,0.000,0.046,2460,3213,3081,3078,3084,0,0,0,0,0,0,15.24,15.00,15.25
$GC,459,-0.88,-92.5,2459,3214,3078,3084,82.7,-12.7,80,465,0.00,2.30,0.00,0.000,3078,0.000,0.041,2460,1801,3081,3078,3084,0,0,0,0,0,0,15.13,15.04,15.14
$GC,529,-0.88,-92.5,2460,1801,3079,3084,92.4,-14.6,93,536,0.03,2.30,0.00,0.000,2564,0.501,0.056,2469,409,3081,3078,3084,0,0,0,0,0,0,14.90,14.95,15.07
$STATE,552,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,552,begin apogee
$GC,559,-0.17,0.0,2460,1801,3079,3085,95.8,-14.2,97,632,1.20,0.00,67.20,0.978,10246,0.155,0.000,2699,1804,2700,2719,2682,0,0,0,0,0,0,14.90,14.78,14.33
$STATE,635,end apogee,CONTROL_FINISHED_OK
$STATE,635,begin climb
$GC,637,0.88,92.5,2700,1803,2718,2681,99.5,0.0,110,718,1.50,2.47,71.70,0.978,11012,0.071,0.062,3031,394,2321,2347,2296,0,0,0,0,0,0,14.78,14.64,14.21
$GC,922,0.91,111.6,3033,394,2340,2293,80.9,8.6,163,946,0.00,2.25,15.45,0.882,11270,0.000,0.029,3033,1806,2245,2274,2217,0,0,0,0,0,0,14.95,14.90,14.38
$GC,1009,0.93,134.5,3033,1806,2271,2216,73.5,8.3,179,1038,0.00,2.40,19.42,0.931,10756,0.000,0.059,3040,402,2149,2180,2118,0,0,0,0,0,0,15.13,14.81,14.38
$GC,1105,0.93,134.5,3039,402,2177,2116,63.0,11.6,197,1112,0.00,2.22,0.00,0.000,3078,0.000,0.029,3039,1794,2145,2176,2115,0,0,0,0,0,0,15.01,14.95,15.02
$GC,1175,0.93,134.5,3039,1795,2176,2114,54.6,10.8,210,1182,0.00,2.38,0.00,0.000,2564,0.000,0.062,3040,390,2144,2176,2113,0,0,0,0,0,0,15.14,14.92,15.14
$GC,1688,1.10,266.2,3040,389,2173,2112,31.8,0.5,311,1796,0.22,2.25,95.50,0.935,11270,0.086,0.030,3112,1819,1610,1650,1570,0,0,0,0,0,0,15.03,15.03,14.31
$GC,1860,1.10,266.2,3112,1819,1651,1569,16.6,10.9,342,1866,0.00,2.42,0.00,0.000,4612,0.000,0.062,3123,392,1606,1651,1562,0,0,0,0,0,0,15.02,14.81,15.03
$STATE,1977,end climb,SURFACE_DEPTH_REACHED
$STATE,1977,begin surface coast
$FINISH,0.6,1.023620
$STATE,1998,end surface coast,CONTROL_FINISHED_OK
$STATE,1998,begin surface
$SM_CCo,2024,138.30,0.730,0,0,598,515.37
$SM_GC,0.89,13.90,2.30,138.30,0.041,0.029,0.730,107,1812,598,-8.21,-1.89,515.37,0,0,0,0,0,0,14.97,14.98,14.35
$IRIDIUM_FIX,-3216.07,2849.88,100419,082201
$TT8_MAMPS,0.021721,0.550515
$HUMID,42.83
$INTERNAL_PRESSURE,9.58576
$TCM_TEMP,22.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.0,35.5
$SC_FREEKB,3759136
$24V_AH,13.81,104.803
$10V_AH,13.87,0.000
$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,18.600,39.275,269.275,138.300,0.000,0.000,0.000,0.000,1.500,0.000,0.000,785.020,358.841,424.597,635.036,84.721,0.000,760.635,0.000,569.997,0.000,11.636,0.000
$DEVICE_MAMPS,504.135,69.615,978.435,729.810,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2035.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.348,0.000,0.000,0.000
$MEM,341056
$DATA_FILE_SIZE,10128,369
$CAP_FILE_SIZE,61021,0
$CFSIZE,2097086464,2033975296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100419,104631,-3235.770,2845.279,7,1.1,37,-27.2,2.3,228.1,8,4.9