version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 594
start: 4 24 119 12 16 45
data:
$ID,574
$MISSION,3
$DIVE,594
$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,350
$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,28
$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
$GPS1,240419,120511,-3414.1616,2507.4487,8,1.0,48,-27.5,0.0,210.7,7,3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-67.8
$GPS2,240419,121617,-3414.1780,2507.3335,8,1.0,49,-27.5,1.1,321.8,7,3.8
$SPEED_LIMITS,0.346,0.443
$TGT_NAME,HEADING
$TGT_LATLONG,-3404.030,2502.875
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.11,-292.0,53,1806,637,534,0.0,0.0,0,128,0.00,0.00,-101.60,0.000,16386,0.000,0.000,54,1807,3088,3052,3124,0,0,0,0,0,0,14.98,28.83,15.00
$GC,135,-1.11,-292.0,53,1806,3053,3124,4.0,-10.2,19,170,13.85,2.35,-13.10,0.000,18692,0.294,0.069,2386,3210,3895,3910,3881,0,0,0,0,0,0,14.50,13.31,14.80
$GC,303,-1.11,-292.0,2386,3210,3908,3882,45.5,-17.2,50,310,0.05,2.38,0.00,0.000,3078,0.309,0.045,2397,1802,3894,3908,3880,0,0,0,0,0,0,14.65,14.81,14.84
$GC,377,-1.11,-292.0,2397,1801,3908,3882,60.0,-18.4,63,383,0.00,0.00,0.00,0.000,2054,0.000,0.000,2397,1800,3895,3908,3882,0,0,0,0,0,0,15.07,15.07,15.07
$GC,450,-1.11,-292.0,2396,1801,3908,3882,73.3,-18.2,76,457,0.00,0.00,0.00,0.000,2054,0.000,0.000,2397,1801,3895,3908,3882,0,0,0,0,0,0,15.08,15.09,15.08
$GC,525,-1.11,-292.0,2396,1804,3909,3882,86.8,-18.2,89,531,0.00,0.00,0.00,0.000,2054,0.000,0.000,2397,1801,3895,3908,3882,0,0,0,0,0,0,15.08,15.09,15.09
$STATE,556,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,556,begin apogee
$GC,563,-0.17,0.0,2397,1801,3908,3882,93.9,-19.3,95,790,1.52,0.00,215.32,1.030,10246,0.167,0.000,2700,1801,2697,2735,2660,0,0,0,0,0,0,14.67,14.26,13.86
$STATE,792,end apogee,CONTROL_FINISHED_OK
$STATE,792,begin climb
$GC,795,1.11,292.0,2700,1801,2733,2659,111.7,0.0,136,1032,1.88,2.42,224.57,1.020,10500,0.070,0.047,3104,3200,1506,1549,1464,0,0,0,0,0,0,14.47,14.38,13.88
$GC,1112,1.11,292.0,3104,3200,1545,1461,71.0,21.9,192,1119,0.00,2.42,0.00,0.000,3078,0.000,0.054,3104,1806,1502,1545,1460,0,0,0,0,0,0,14.72,14.61,14.73
$GC,1184,1.11,292.0,3104,1806,1545,1460,55.0,22.9,205,1190,0.00,0.00,0.00,0.000,2054,0.000,0.000,3104,1806,1502,1545,1460,0,0,0,0,0,0,14.90,14.90,14.90
$GC,1253,1.11,292.0,3104,1806,1546,1459,40.0,20.3,218,1260,0.00,2.45,0.00,0.000,2564,0.000,0.069,3105,391,1502,1545,1459,0,0,0,0,0,0,14.96,14.72,14.97
$GC,1268,1.11,292.0,3104,391,1542,1459,37.1,20.2,220,1275,0.00,2.33,0.00,0.000,3078,0.000,0.030,3104,1808,1502,1545,1459,0,0,0,0,0,0,14.87,14.78,14.88
$GC,1341,1.24,398.7,3104,1811,1545,1457,25.6,15.1,233,1427,0.12,2.53,74.47,0.859,10756,0.140,0.071,3158,386,1070,1130,1011,0,0,0,0,0,0,14.76,14.52,14.11
$STATE,1432,end climb,FINISH_DEPTH_REACHED
$STATE,1433,begin subsurface finish
$FINISH1,4.1,1.025625,96
$GC,1443,0.12,96.1,3158,1799,1130,1009,4.1,25.3,249,1516,1.70,2.45,-61.83,0.000,20996,0.084,0.089,2793,390,2311,2355,2267,0,0,0,0,0,0,14.60,13.40,14.69
$FINISH2,0.4
$STATE,1519,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1519,begin surface
$IRIDIUM_FIX,-3401.68,2507.63,240419,110057
$TT8_MAMPS,0.021721,0.933254
$HUMID,44.60
$INTERNAL_PRESSURE,9.46858
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.1,33.4
$SC_FREEKB,3611552
$24V_AH,13.31,168.832
$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,19.125,21.725,514.375,0.000,0.000,30.971,15.910,296.965,2.000,0.000,50.179,381.809,136.178,556.266,836.803,281.629,0.000,902.616,0.000,400.256,0.000,14.645,0.000
$DEVICE_MAMPS,309.060,88.740,1030.455,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1562.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.524,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,6809,262
$CAP_FILE_SIZE,50104,0
$CFSIZE,2097086464,1984004096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,240419,121617,-3414.178,2507.333,8,1.0,49,-27.5,1.1,321.8,7,3.8