version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 593
start: 4 24 119 11 36 10
data:
$ID,574
$MISSION,3
$DIVE,593
$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,25
$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
$GPS1,240419,110655,-3414.3479,2508.0293,10,0.8,16,-27.5,0.6,284.9,9,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,4.7
$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,21,begin dive
$GC,25,-1.11,-292.0,2800,1807,2356,2278,0.0,0.0,0,107,0.00,0.00,-79.18,0.000,16390,0.000,0.000,2800,1807,3892,3914,3870,0,0,0,0,0,0,15.05,13.42,15.06
$GC,114,-1.11,-292.0,2800,1806,3915,3871,1.8,-8.4,15,121,1.80,2.42,0.00,0.000,4356,0.069,0.049,2394,3215,3892,3915,3870,0,0,0,0,0,0,14.85,14.79,14.92
$GC,226,-1.11,-292.0,2394,3215,3913,3871,23.6,-20.2,36,232,0.00,2.38,0.00,0.000,3078,0.000,0.047,2395,1805,3892,3914,3871,0,0,0,0,0,0,14.90,14.80,14.92
$GC,298,-1.11,-292.0,2394,1805,3914,3871,40.1,-25.3,49,304,0.00,2.40,0.00,0.000,2564,0.000,0.066,2395,408,3892,3913,3871,0,0,0,0,0,0,15.08,14.83,15.09
$GC,347,-1.11,-292.0,2394,408,3913,3871,51.0,-18.4,58,354,0.00,2.33,0.00,0.000,3078,0.000,0.035,2392,1811,3892,3913,3871,0,0,0,0,0,0,14.97,14.88,14.97
$GC,420,-1.11,-292.0,2392,1813,3914,3871,64.0,-20.1,71,430,0.00,2.38,0.00,0.000,2308,0.000,0.054,2391,3219,3892,3914,3871,0,0,0,0,0,0,15.10,14.75,15.11
$GC,473,-1.11,-292.0,2390,3219,3914,3872,73.5,-15.3,80,480,0.00,2.38,0.00,0.000,3078,0.000,0.044,2388,1802,3893,3914,3872,0,0,0,0,0,0,14.97,14.85,14.97
$GC,546,-1.11,-292.0,2390,1801,3914,3872,86.1,-17.1,93,552,0.00,0.00,0.00,0.000,2054,0.000,0.000,2390,1801,3893,3914,3872,0,0,0,0,0,0,15.10,15.11,15.10
$STATE,597,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,598,begin apogee
$GC,605,-0.17,0.0,2391,1801,3914,3872,96.5,-19.3,103,828,1.55,0.00,214.02,1.045,10246,0.168,0.000,2698,1801,2698,2737,2659,0,0,0,0,0,0,14.69,14.38,13.88
$STATE,830,end apogee,CONTROL_FINISHED_OK
$STATE,830,begin climb
$GC,833,1.11,292.0,2698,1800,2735,2659,112.8,0.0,143,1070,1.95,2.42,224.43,1.032,10500,0.060,0.045,3127,3202,1507,1549,1465,0,0,0,0,0,0,14.47,14.38,13.88
$GC,1141,1.11,292.0,3126,3203,1546,1462,71.2,22.0,197,1147,0.00,2.42,0.00,0.000,5126,0.000,0.054,3127,1806,1504,1547,1462,0,0,0,0,0,0,14.70,14.59,14.72
$GC,1214,1.11,292.0,3127,1806,1546,1461,55.2,23.3,210,1221,0.00,2.50,0.00,0.000,4612,0.000,0.072,3127,386,1503,1546,1461,0,0,0,0,0,0,14.91,14.62,14.91
$GC,1239,1.11,292.0,3127,386,1546,1461,48.2,24.8,214,1246,0.00,2.35,0.00,0.000,5126,0.000,0.031,3128,1806,1503,1546,1461,0,0,0,0,0,0,14.78,14.71,14.79
$GC,1312,1.14,314.9,3127,1809,1546,1460,33.5,18.9,227,1335,0.00,0.00,19.45,0.900,12550,0.000,0.000,3128,1809,1414,1461,1367,0,0,0,0,0,0,14.97,14.67,14.12
$GC,1400,1.14,314.9,3127,1809,1460,1364,16.6,20.4,243,1406,0.00,2.50,0.00,0.000,4612,0.000,0.070,3128,389,1413,1460,1366,0,0,0,0,0,0,14.96,14.68,14.97
$GC,1440,1.14,314.9,3129,389,1459,1366,8.3,20.8,250,1446,0.00,2.33,0.00,0.000,5126,0.000,0.032,3129,1799,1412,1459,1365,0,0,0,0,0,0,14.83,14.76,14.84
$STATE,1467,end climb,SURFACE_DEPTH_REACHED
$STATE,1467,begin surface coast
$FINISH,0.1,1.025636
$STATE,1483,end surface coast,CONTROL_FINISHED_OK
$STATE,1483,begin surface
$SM_CCo,1512,134.70,0.777,0,0,597,515.37
$SM_GC,0.97,14.10,0.00,134.70,0.037,0.000,0.777,120,1802,597,-8.18,-0.28,515.37,0,0,0,0,0,0,14.85,15.03,14.07
$IRIDIUM_FIX,-3359.08,2509.99,240419,095121
$TT8_MAMPS,0.021721,0.948234
$HUMID,44.92
$INTERNAL_PRESSURE,9.2928
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.6,35.2
$SC_FREEKB,3612064
$24V_AH,13.42,168.633
$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,19.400,31.200,457.900,134.700,0.000,0.000,0.000,0.000,2.000,0.000,0.000,441.901,164.777,588.430,471.856,127.424,0.000,905.559,0.000,396.943,0.000,14.651,0.000
$DEVICE_MAMPS,167.535,71.910,1044.990,777.240,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1528.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.224,0.000,0.000,0.000
$MEM,341064
$DATA_FILE_SIZE,6810,258
$CAP_FILE_SIZE,48371,0
$CFSIZE,2097086464,1984167936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240419,120511,-3414.162,2507.449,8,1.0,48,-27.5,0.0,210.7,7,3.8