version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 591
start: 4 24 119 10 27 5
data:
$ID,574
$MISSION,3
$DIVE,591
$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,29
$R_STBD_OVSHOOT,39
$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
$GPS1,240419,095756,-3414.5579,2508.7175,8,1.1,20,-27.5,0.7,123.3,8,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-2.7
$GPS2,240419,095756,-3414.5579,2508.7175,8,1.1,20,-27.5,0.7,123.3,8,9.1
$SPEED_LIMITS,0.346,0.443
$TGT_NAME,HEADING
$TGT_LATLONG,-3404.410,2504.259
$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,7.5,20000,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,25,-1.11,-292.0,2802,1826,2355,2280,0.0,0.0,0,107,0.00,0.00,-78.25,0.000,16390,0.000,0.000,2803,1826,3894,3917,3871,0,0,0,0,0,0,15.02,13.43,15.03
$GC,114,-1.11,-292.0,2802,1827,3917,3869,2.0,-9.1,15,121,1.77,2.40,0.00,0.000,4356,0.083,0.054,2415,3218,3893,3917,3869,0,0,0,0,0,0,14.81,14.78,14.90
$GC,271,-1.11,-292.0,2415,3217,3916,3868,29.0,-18.0,45,278,0.00,2.38,0.00,0.000,5126,0.000,0.045,2415,1809,3893,3916,3870,0,0,0,0,0,0,14.90,14.80,14.91
$GC,344,-1.11,-292.0,2415,1809,3916,3871,43.8,-21.7,58,351,0.00,2.40,0.00,0.000,4612,0.000,0.064,2415,407,3893,3915,3871,0,0,0,0,0,0,15.07,14.83,15.07
$GC,384,-1.11,-292.0,2414,406,3916,3868,52.1,-17.9,65,391,0.00,2.33,0.00,0.000,5126,0.000,0.035,2414,1820,3893,3916,3871,0,0,0,0,0,0,14.86,14.80,14.88
$GC,458,-1.11,-292.0,2413,1822,3915,3871,62.9,-14.9,78,464,0.00,2.35,0.00,0.000,4356,0.000,0.053,2407,3217,3893,3916,3871,0,0,0,0,0,0,15.09,14.84,15.09
$GC,508,-1.11,-292.0,2407,3217,3916,3872,70.8,-12.2,87,515,0.00,2.38,0.00,0.000,1030,0.000,0.044,2407,1802,3894,3916,3872,0,0,0,0,0,0,14.95,14.85,14.97
$GC,582,-1.11,-292.0,2407,1802,3916,3872,82.3,-15.9,100,587,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,1801,3894,3916,3872,0,0,0,0,0,0,15.08,15.10,15.10
$GC,651,-1.11,-292.0,2407,1801,3916,3872,94.3,-17.3,113,657,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,1802,3893,3916,3871,0,0,0,0,0,0,15.10,15.11,15.11
$STATE,662,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,662,begin apogee
$GC,669,-0.17,0.0,2407,1802,3916,3872,97.0,-18.0,115,892,1.50,0.00,213.35,1.044,10246,0.165,0.000,2696,1802,2700,2738,2662,0,0,0,0,0,0,14.67,14.42,13.90
$STATE,893,end apogee,CONTROL_FINISHED_OK
$STATE,894,begin climb
$GC,897,1.11,292.0,2696,1802,2737,2660,113.4,0.0,155,1134,1.92,2.50,223.10,1.039,10756,0.048,0.069,3141,399,1507,1549,1466,0,0,0,0,0,0,14.49,14.23,13.86
$GC,1173,1.11,292.0,3141,399,1546,1465,76.1,26.2,203,1180,0.15,2.35,0.00,0.000,5126,0.253,0.033,3116,1802,1505,1546,1465,0,0,0,0,0,0,14.36,14.50,14.54
$GC,1245,1.11,292.0,3115,1805,1546,1462,58.5,23.0,216,1252,0.00,2.35,0.00,0.000,260,0.000,0.047,3115,3210,1504,1546,1462,0,0,0,0,0,0,14.85,14.66,14.86
$GC,1285,1.11,292.0,3115,3207,1545,1461,48.4,23.4,223,1292,0.00,2.42,0.00,0.000,5126,0.000,0.052,3121,1798,1502,1545,1460,0,0,0,0,0,0,14.80,14.69,14.81
$GC,1358,1.14,319.2,3121,1798,1545,1460,33.9,18.7,236,1387,0.00,2.50,23.00,0.913,8708,0.000,0.072,3121,394,1396,1443,1349,0,0,0,0,0,0,14.97,14.65,14.12
$GC,1428,1.15,324.9,3121,393,1442,1348,21.5,19.7,248,1441,0.00,2.35,3.75,0.614,11270,0.000,0.032,3121,1813,1373,1421,1325,0,0,0,0,0,0,14.78,14.70,14.02
$GC,1506,1.21,372.8,3121,1813,1421,1323,6.1,17.8,262,1524,0.00,0.00,15.88,0.753,10498,0.000,0.000,3121,1813,1275,1327,1224,0,0,0,0,0,0,14.97,28.83,14.97
$STATE,1525,end climb,SURFACE_DEPTH_REACHED
$STATE,1525,begin surface coast
$FINISH,0.1,1.004781
$STATE,1542,end surface coast,CONTROL_FINISHED_OK
$STATE,1542,begin surface
$SM_CCo,1568,111.65,0.773,0,0,599,515.37
$SM_GC,0.83,14.15,0.00,111.65,0.040,0.000,0.773,122,1814,599,-8.18,0.06,515.37,0,0,0,0,0,0,14.78,14.96,14.07
$IRIDIUM_FIX,-3359.08,2507.63,240419,084219
$TT8_MAMPS,0.021721,0.949732
$HUMID,44.48
$INTERNAL_PRESSURE,9.30256
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.6,35.9
$SC_FREEKB,3613088
$24V_AH,13.43,168.253
$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,19.500,31.075,479.075,111.650,0.000,0.000,0.000,0.000,2.000,0.000,0.000,460.081,170.168,581.699,488.167,124.821,0.000,911.170,0.000,411.767,0.000,14.663,0.000
$DEVICE_MAMPS,253.215,71.910,1044.225,773.415,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1585.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.065,0.000,0.000,0.000
$MEM,341056
$DATA_FILE_SIZE,6778,268
$CAP_FILE_SIZE,50642,0
$CFSIZE,2097086464,1984495616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240419,105631,-3414.337,2508.150,8,0.9,42,-27.5,0.4,319.4,8,6.0