version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 585
start: 4 24 119 7 3 50
data:
$ID,574
$MISSION,3
$DIVE,585
$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,37
$R_STBD_OVSHOOT,43
$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
$GPS1,240419,063355,-3415.1523,2511.2886,8,1.0,42,-27.6,1.0,287.7,8,4.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.16
$_SM_ANGLEo,4.6
$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,21,begin dive
$GC,24,-1.11,-292.0,2803,1799,2351,2272,0.0,0.0,0,32,0.00,0.00,-5.68,0.000,16386,0.000,0.000,2804,1799,2518,2558,2479,0,0,0,0,0,0,15.06,28.83,15.07
$GC,35,-1.11,-292.0,2803,1799,2559,2479,5.9,0.0,1,76,1.80,2.42,-32.92,0.000,20996,0.087,0.081,2411,410,3893,3906,3880,0,0,0,0,0,0,14.75,13.38,14.83
$GC,115,-1.11,-292.0,2411,411,3907,3880,19.4,-22.6,15,122,0.00,2.33,0.00,0.000,1030,0.000,0.034,2406,1812,3893,3907,3880,0,0,0,0,0,0,14.90,14.82,14.91
$GC,186,-1.11,-292.0,2406,1815,3907,3880,36.0,-26.2,28,192,0.00,2.35,0.00,0.000,260,0.000,0.050,2406,3218,3894,3907,3881,0,0,0,0,0,0,15.09,14.79,15.09
$GC,200,-1.11,-292.0,2406,3217,3900,3881,39.9,-26.6,30,207,0.00,2.38,0.00,0.000,1030,0.000,0.045,2406,1813,3894,3907,3881,0,0,0,0,0,0,14.88,14.79,14.90
$GC,272,-1.11,-292.0,2406,1812,3906,3880,55.5,-21.3,43,278,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,1812,3893,3907,3880,0,0,0,0,0,0,15.09,15.09,15.09
$GC,345,-1.11,-292.0,2406,1812,3907,3880,68.3,-18.3,56,353,0.00,2.40,0.00,0.000,260,0.000,0.054,2399,3214,3893,3907,3880,0,0,0,0,0,0,15.09,14.79,15.10
$GC,372,-1.11,-292.0,2399,3214,3907,3880,73.4,-17.4,60,378,0.00,2.38,0.00,0.000,3078,0.000,0.044,2399,1803,3893,3907,3880,0,0,0,0,0,0,14.96,14.85,14.97
$GC,447,-1.11,-292.0,2399,1802,3907,3880,85.5,-18.9,73,453,0.00,0.00,0.00,0.000,2054,0.000,0.000,2399,1802,3893,3906,3880,0,0,0,0,0,0,15.09,15.09,15.09
$STATE,514,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,514,begin apogee
$GC,521,-0.17,0.0,2399,1802,3907,3880,99.4,-18.8,86,745,1.55,0.00,213.62,1.059,10246,0.166,0.000,2695,1802,2700,2737,2664,0,0,0,0,0,0,14.62,14.40,13.89
$STATE,746,end apogee,CONTROL_FINISHED_OK
$STATE,746,begin climb
$GC,749,1.11,292.0,2696,1802,2735,2662,114.2,0.0,126,987,1.98,2.53,223.80,1.043,10756,0.060,0.066,3135,399,1507,1549,1466,0,0,0,0,0,0,14.46,14.23,13.85
$GC,1000,1.11,292.0,3134,392,1547,1466,85.7,25.1,169,1008,0.08,2.40,0.00,0.000,5126,0.296,0.032,3120,1813,1506,1548,1465,0,0,0,0,0,0,14.27,14.43,14.44
$GC,1073,1.11,292.0,3125,1816,1547,1464,68.1,23.9,182,1079,0.00,0.00,0.00,0.000,4102,0.000,0.000,3121,1816,1504,1547,1462,0,0,0,0,0,0,14.82,14.82,14.82
$GC,1142,1.11,292.0,3121,1816,1546,1462,51.4,24.0,195,1149,0.00,2.35,0.00,0.000,4356,0.000,0.046,3121,3210,1503,1546,1461,0,0,0,0,0,0,14.91,14.70,14.91
$GC,1173,1.11,292.0,3121,3209,1545,1461,44.6,23.1,200,1179,0.00,2.40,0.00,0.000,5126,0.000,0.049,3128,1804,1503,1546,1460,0,0,0,0,0,0,14.83,14.72,14.83
$GC,1245,1.20,366.5,3128,1804,1545,1460,31.7,16.6,213,1313,0.00,2.50,57.92,0.930,10756,0.000,0.074,3128,385,1203,1260,1146,0,0,0,0,0,0,14.98,14.50,14.09
$GC,1352,1.20,366.5,3127,385,1260,1145,10.3,21.7,232,1359,0.00,2.38,0.00,0.000,3078,0.000,0.031,3126,1810,1202,1260,1145,0,0,0,0,0,0,14.75,14.68,14.76
$STATE,1384,end climb,SURFACE_DEPTH_REACHED
$STATE,1384,begin surface coast
$FINISH,0.9,1.025630
$STATE,1395,end surface coast,CONTROL_FINISHED_OK
$STATE,1396,begin surface
$SM_CCo,1424,101.10,0.774,0,0,599,515.37
$SM_GC,0.86,14.27,0.00,101.10,0.046,0.000,0.774,124,1813,599,-8.18,0.03,515.37,0,0,0,0,0,0,14.76,14.94,14.07
$IRIDIUM_FIX,-3401.68,2511.10,240419,050108
$TT8_MAMPS,0.020972,0.892808
$HUMID,44.56
$INTERNAL_PRESSURE,9.28303
$TCM_TEMP,19.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.5,33.7
$SC_FREEKB,3616160
$24V_AH,13.38,167.110
$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,19.675,31.175,495.350,101.100,0.000,0.000,0.000,0.000,2.250,0.000,0.000,404.000,144.003,556.832,445.225,120.844,0.000,865.616,0.000,370.463,0.000,18.452,0.000
$DEVICE_MAMPS,296.055,81.090,1058.760,774.180,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1443.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.987,0.000,0.000,0.000
$MEM,341064
$DATA_FILE_SIZE,6801,240
$CAP_FILE_SIZE,47211,0
$CFSIZE,2097086464,1985478656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240419,073015,-3414.883,2510.524,8,1.0,16,-27.5,0.5,275.1,8,9.7