version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 592
start: 4 24 119 11 7 21
data:
$ID,574
$MISSION,3
$DIVE,592
$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,49
$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
$GPS1,240419,105631,-3414.3372,2508.1497,8,0.9,42,-27.5,0.4,319.4,8,6.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-66.2
$GPS2,240419,110655,-3414.3479,2508.0293,10,0.8,16,-27.5,0.6,284.9,9,8.8
$SPEED_LIMITS,0.346,0.443
$TGT_NAME,HEADING
$TGT_LATLONG,-3404.200,2503.571
$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,22,begin dive
$GC,25,-1.11,-292.0,51,1818,638,533,0.0,0.0,0,124,0.00,0.00,-96.72,0.000,16386,0.000,0.000,53,1819,2920,2884,2957,0,0,0,0,0,0,14.96,28.83,14.97
$GC,131,-1.11,-292.0,52,1819,2886,2956,3.1,-6.1,18,172,13.85,2.38,-17.52,0.000,18692,0.293,0.070,2384,3209,3895,3911,3880,0,0,0,0,0,0,14.50,13.30,14.79
$GC,355,-1.11,-292.0,2384,3209,3911,3881,56.6,-17.6,60,363,0.08,2.38,0.00,0.000,3078,0.248,0.044,2400,1798,3896,3911,3881,0,0,0,0,0,0,14.59,14.73,14.76
$GC,430,-1.11,-292.0,2399,1798,3910,3880,70.6,-20.0,73,436,0.00,0.00,0.00,0.000,2054,0.000,0.000,2400,1798,3895,3911,3880,0,0,0,0,0,0,15.07,15.09,15.08
$GC,505,-1.11,-292.0,2399,1798,3912,3880,83.9,-16.1,86,511,0.00,0.00,0.00,0.000,2054,0.000,0.000,2400,1798,3895,3911,3880,0,0,0,0,0,0,15.07,15.08,15.08
$STATE,567,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,567,begin apogee
$GC,574,-0.17,0.0,2400,1798,3912,3880,96.7,-18.5,98,797,1.52,0.00,214.57,1.040,10246,0.166,0.000,2694,1800,2699,2737,2662,0,0,0,0,0,0,14.64,14.37,13.87
$STATE,799,end apogee,CONTROL_FINISHED_OK
$STATE,799,begin climb
$GC,802,1.11,292.0,2695,1798,2734,2659,114.7,0.0,138,1039,1.92,2.40,224.00,1.026,11012,0.070,0.045,3109,3196,1506,1549,1464,0,0,0,0,0,0,14.45,14.38,13.88
$GC,1124,1.11,295.9,3108,3197,1545,1461,74.8,19.8,195,1137,0.00,2.42,3.78,0.509,11270,0.000,0.054,3113,1800,1492,1536,1449,0,0,0,0,0,0,14.73,14.62,13.92
$GC,1202,1.11,295.9,3108,1800,1536,1449,58.1,22.0,209,1209,0.00,2.47,0.00,0.000,2564,0.000,0.072,3118,389,1492,1536,1449,0,0,0,0,0,0,14.92,14.58,14.92
$GC,1247,1.11,295.9,3118,389,1535,1449,47.3,22.3,217,1254,0.00,2.33,0.00,0.000,1030,0.000,0.032,3118,1801,1492,1535,1449,0,0,0,0,0,0,14.76,14.69,14.77
$GC,1320,1.17,338.8,3118,1803,1535,1446,33.8,18.0,230,1359,0.00,0.00,36.60,0.928,10502,0.000,0.000,3118,1803,1317,1367,1267,0,0,0,0,0,0,15.00,14.64,14.12
$GC,1424,1.17,338.8,3118,1803,1366,1264,15.2,20.1,249,1431,0.00,2.50,0.00,0.000,2564,0.000,0.070,3124,389,1315,1366,1264,0,0,0,0,0,0,14.93,14.68,14.93
$GC,1464,1.17,338.8,3124,388,1366,1264,6.9,20.6,256,1471,0.00,2.35,0.00,0.000,3078,0.000,0.033,3125,1806,1314,1365,1263,0,0,0,0,0,0,14.84,14.74,14.85
$STATE,1476,end climb,FINISH_DEPTH_REACHED
$STATE,1476,begin subsurface finish
$FINISH1,4.1,1.025638,95
$GC,1484,0.12,95.4,3128,1809,1365,1262,4.1,20.0,258,1546,1.67,2.38,-50.47,0.000,20740,0.184,0.076,2799,3202,2315,2358,2272,0,0,0,0,0,0,14.54,13.43,14.73
$FINISH2,0.1
$STATE,1549,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1549,begin surface
$IRIDIUM_FIX,-3359.08,2509.99,240419,095121
$TT8_MAMPS,0.020972,0.954226
$HUMID,44.99
$INTERNAL_PRESSURE,9.46858
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.9,35.5
$SC_FREEKB,3612576
$24V_AH,13.30,168.444
$10V_AH,12.99,0.000
$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,19.050,21.600,478.950,0.000,0.000,24.475,16.741,288.808,2.000,0.000,17.094,419.851,155.903,517.348,801.409,284.495,0.000,859.770,0.000,412.227,0.000,14.664,0.000
$DEVICE_MAMPS,292.995,75.735,1039.635,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1594.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.037,0.000,0.000,0.000
$MEM,340920
$DATA_FILE_SIZE,6825,269
$CAP_FILE_SIZE,51228,0
$CFSIZE,2097086464,1984331776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,240419,110655,-3414.348,2508.029,10,0.8,16,-27.5,0.6,284.9,9,8.8