version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 584
start: 4 24 119 6 34 21
data:
$ID,574
$MISSION,3
$DIVE,584
$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,167
$T_MISSION,177
$T_ABORT,245
$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,300
$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,340
$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,31
$R_STBD_OVSHOOT,47
$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,20
$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
$GPS1,240419,062055,-3415.1086,2511.4810,8,0.9,38,-27.6,0.7,325.1,8,5.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-65.6
$GPS2,240419,063355,-3415.1523,2511.2886,8,1.0,42,-27.6,1.0,287.7,8,4.1
$SPEED_LIMITS,0.346,0.443
$TGT_NAME,HEADING
$TGT_LATLONG,-3405.004,2506.829
$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,7.6,20000,-22.5,-19.960,-24.24,2247
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,24,-1.11,-292.0,52,1791,637,533,0.0,0.0,0,123,0.00,0.00,-96.65,0.000,16386,0.000,0.000,52,1791,2958,2923,2994,0,0,0,0,0,0,14.97,28.83,14.98
$GC,129,-1.11,-292.0,52,1790,2923,2995,3.4,-6.4,18,165,13.98,2.47,-16.23,0.000,18692,0.300,0.070,2385,3215,3894,3909,3879,0,0,0,0,0,0,14.48,13.31,14.78
$GC,256,-1.11,-292.0,2385,3215,3910,3880,37.1,-22.0,41,263,0.05,2.40,0.00,0.000,3078,0.311,0.047,2396,1806,3895,3910,3880,0,0,0,0,0,0,14.62,14.81,14.81
$GC,328,-1.11,-292.0,2396,1806,3910,3885,54.4,-23.8,54,335,0.00,0.00,0.00,0.000,2054,0.000,0.000,2396,1806,3895,3910,3880,0,0,0,0,0,0,15.05,15.06,15.05
$GC,401,-1.11,-292.0,2396,1806,3910,3880,68.8,-19.3,67,409,0.00,2.40,0.00,0.000,2308,0.000,0.050,2386,3213,3895,3910,3880,0,0,0,0,0,0,15.06,14.80,15.06
$GC,423,-1.11,-292.0,2388,3213,3910,3880,72.8,-16.8,70,429,0.00,2.38,0.00,0.000,3078,0.000,0.044,2388,1801,3895,3911,3880,0,0,0,0,0,0,14.92,14.81,14.94
$GC,495,-1.11,-292.0,2388,1801,3910,3880,84.7,-19.1,83,504,0.00,0.00,0.00,0.000,2054,0.000,0.000,2388,1801,3894,3910,3879,0,0,0,0,0,0,15.07,15.07,15.07
$GC,570,-1.11,-292.0,2388,1801,3910,3880,98.9,-19.1,96,576,0.00,0.00,0.00,0.000,2054,0.000,0.000,2389,1801,3895,3910,3880,0,0,0,0,0,0,15.08,15.08,15.08
$STATE,581,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,581,begin apogee
$GC,588,-0.17,0.0,2389,1801,3910,3880,101.8,-17.6,98,812,1.58,0.00,214.55,1.040,10246,0.173,0.000,2698,1801,2699,2735,2663,0,0,0,0,0,0,14.66,14.38,13.87
$STATE,813,end apogee,CONTROL_FINISHED_OK
$STATE,814,begin climb
$GC,817,1.11,292.0,2698,1801,2733,2661,119.9,0.0,138,1054,1.90,2.40,223.90,1.033,10500,0.071,0.041,3107,3197,1507,1549,1465,0,0,0,0,0,0,14.45,14.23,13.85
$GC,1124,1.11,292.0,3107,3197,1546,1462,92.3,21.8,192,1131,0.00,2.42,0.00,0.000,1030,0.000,0.053,3116,1804,1504,1546,1462,0,0,0,0,0,0,14.68,14.59,14.70
$GC,1197,1.11,292.0,3116,1803,1546,1461,75.4,26.3,205,1203,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1803,1503,1546,1461,0,0,0,0,0,0,14.90,14.91,14.91
$GC,1266,1.11,292.0,3115,1803,1546,1460,56.7,27.4,218,1272,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1803,1502,1545,1460,0,0,0,0,0,0,14.95,14.96,14.96
$GC,1335,1.14,321.1,3116,1803,1545,1459,41.0,18.6,231,1364,0.00,0.00,24.48,0.927,10246,0.000,0.000,3116,1803,1386,1432,1340,0,0,0,0,0,0,14.99,14.66,14.15
$GC,1429,1.14,321.1,3115,1803,1434,1338,24.3,20.5,248,1435,0.00,2.47,0.00,0.000,2564,0.000,0.070,3125,391,1386,1434,1338,0,0,0,0,0,0,14.96,14.71,14.96
$GC,1479,1.14,321.1,3124,391,1433,1338,14.4,20.3,257,1486,0.00,2.35,0.00,0.000,1030,0.000,0.034,3125,1801,1385,1433,1338,0,0,0,0,0,0,14.85,14.78,14.87
$STATE,1526,end climb,FINISH_DEPTH_REACHED
$STATE,1526,begin subsurface finish
$FINISH1,4.5,1.025613,97
$GC,1534,0.12,96.7,3123,1804,1433,1337,4.5,19.6,266,1586,1.67,2.35,-41.03,0.000,20740,0.196,0.072,2803,3199,2308,2351,2265,0,0,0,0,0,0,14.59,13.44,14.79
$FINISH2,1.1
$STATE,1587,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1587,begin surface
$IRIDIUM_FIX,-3401.68,2511.10,240419,050108
$TT8_MAMPS,0.021721,0.945238
$HUMID,44.88
$INTERNAL_PRESSURE,9.45881
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,86.1,33.4
$SC_FREEKB,3616672
$24V_AH,13.31,166.917
$10V_AH,13.00,0.000
$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,19.175,21.650,462.925,0.000,0.000,23.103,40.644,369.541,2.250,0.000,43.742,443.478,168.784,506.425,947.854,305.633,0.000,857.138,0.000,420.896,0.000,16.142,0.000
$DEVICE_MAMPS,311.355,71.910,1039.635,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1646.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.875,0.000,0.000,0.000
$MEM,340920
$DATA_FILE_SIZE,6806,275
$CAP_FILE_SIZE,55215,0
$CFSIZE,2097086464,1985642496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,240419,063355,-3415.152,2511.289,8,1.0,42,-27.6,1.0,287.7,8,4.1