version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 310
start: 4 10 119 10 57 0
data:
$ID,574
$MISSION,3
$DIVE,310
$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,39
$R_STBD_OVSHOOT,63
$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
$GPS1,100419,104631,-3235.7698,2845.2793,7,1.1,37,-27.2,2.3,228.1,8,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-67.0
$GPS2,100419,105636,-3236.3809,2844.7073,6,1.1,17,-27.2,2.5,219.3,8,9.8
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3242.575,2855.221
$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,21,-0.88,-92.5,53,1820,624,548,0.0,0.0,0,105,0.00,0.00,-81.15,0.000,16386,0.000,0.000,53,1820,2787,2759,2816,0,0,0,0,0,0,15.13,28.83,15.14
$GC,108,-0.88,-92.5,53,1820,2759,2816,3.3,-5.1,15,133,13.80,2.40,-5.25,0.000,18948,0.284,0.073,2469,398,3080,3071,3089,0,0,0,0,0,0,14.72,13.79,14.95
$GC,419,-0.88,-92.5,2468,398,3072,3089,69.8,-16.2,75,427,0.00,2.25,0.00,0.000,3078,0.000,0.031,2460,1804,3080,3073,3087,0,0,0,0,0,0,15.06,14.96,15.04
$GC,492,-0.88,-92.5,2459,1806,3073,3087,82.1,-17.2,88,498,0.00,2.30,0.00,0.000,2308,0.000,0.048,2456,3216,3080,3074,3086,0,0,0,0,0,0,15.23,15.01,15.23
$GC,549,-0.88,-92.5,2457,3216,3073,3086,89.2,-12.1,98,556,0.08,2.28,0.00,0.000,3078,0.269,0.040,2471,1810,3079,3073,3086,0,0,0,0,0,0,14.81,14.95,14.99
$GC,620,-0.88,-92.5,2470,1810,3074,3086,97.1,-11.5,111,626,0.00,2.33,0.00,0.000,2564,0.000,0.057,2471,409,3080,3074,3086,0,0,0,0,0,0,15.23,14.97,15.23
$STATE,732,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,733,begin apogee
$GC,740,-0.17,0.0,2463,1804,3074,3086,111.4,-13.6,133,812,1.17,0.00,67.57,0.977,10246,0.158,0.000,2696,1807,2699,2717,2682,0,0,0,0,0,0,14.82,14.79,14.33
$STATE,816,end apogee,CONTROL_FINISHED_OK
$STATE,816,begin climb
$GC,818,0.88,92.5,2696,1808,2716,2681,114.5,0.0,146,904,1.55,2.45,72.25,0.988,11012,0.100,0.058,3027,395,2319,2342,2297,0,0,0,0,0,0,14.75,14.59,14.22
$GC,911,0.97,162.1,3026,395,2342,2296,114.6,5.0,161,973,0.10,2.30,54.15,0.966,11270,0.145,0.031,3069,1814,2038,2070,2006,0,0,0,0,0,0,14.71,14.72,14.19
$GC,1037,0.97,162.1,3069,1813,2065,2000,98.9,14.0,184,1044,0.00,2.38,0.00,0.000,516,0.000,0.055,3080,399,2032,2064,2000,0,0,0,0,0,0,14.98,14.75,14.99
$GC,1243,0.97,162.1,3080,399,2059,1997,66.2,15.2,224,1250,0.00,2.22,0.00,0.000,5126,0.000,0.030,3080,1792,2027,2058,1996,0,0,0,0,0,0,14.97,14.91,14.99
$GC,1313,0.97,162.1,3080,1794,2058,1995,56.8,14.0,237,1320,0.00,2.33,0.00,0.000,4612,0.000,0.059,3090,399,2027,2059,1996,0,0,0,0,0,0,15.18,14.89,15.19
$GC,1826,1.11,276.8,3090,400,2056,1993,23.0,1.7,338,1900,0.00,2.22,67.90,0.871,11266,0.000,0.029,3090,1815,1586,1628,1544,0,0,0,0,0,0,15.14,15.07,15.15
$STATE,1902,end climb,FINISH_DEPTH_REACHED
$STATE,1902,begin subsurface finish
$FINISH1,19.9,1.023779,191
$GC,1909,0.23,191.0,3090,1816,1625,1541,19.9,7.0,351,1923,1.27,2.42,-5.72,0.000,20996,0.168,0.083,2841,402,1923,1963,1883,0,0,0,0,0,0,14.67,14.19,14.77
$FINISH2,18.0
$STATE,1924,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1924,begin surface
$IRIDIUM_FIX,-3221.17,2816.83,100419,093114
$TT8_MAMPS,0.020972,0.929509
$HUMID,43.69
$INTERNAL_PRESSURE,9.72248
$TCM_TEMP,23.00
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,85.1,36.1
$SC_FREEKB,3758624
$24V_AH,13.79,104.933
$10V_AH,13.83,0.000
$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,17.975,30.150,261.875,0.000,0.000,22.883,44.374,301.270,5.250,0.000,18.337,721.373,329.874,312.880,997.160,177.029,0.000,647.787,0.000,544.635,0.000,17.528,0.000
$DEVICE_MAMPS,283.815,82.620,987.615,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1966.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.375,0.000,0.000,0.000
$MEM,340920
$DATA_FILE_SIZE,10128,353
$CAP_FILE_SIZE,59709,0
$CFSIZE,2097086464,2033811456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,100419,105636,-3236.381,2844.707,6,1.1,17,-27.2,2.5,219.3,8,9.8