version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 595
start: 4 24 119 12 45 3
data:
$ID,574
$MISSION,3
$DIVE,595
$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,27
$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
$GPS1,240419,121617,-3414.1780,2507.3335,8,1.0,49,-27.5,1.1,321.8,7,3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.07
$_SM_ANGLEo,2.9
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,25,-1.11,-292.0,2793,1839,2356,2268,0.0,0.0,0,107,0.00,0.00,-75.45,0.000,16390,0.000,0.000,2794,1839,3891,3912,3870,0,0,0,0,0,0,15.01,13.97,15.02
$GC,114,-1.11,-292.0,2793,1840,3912,3870,2.7,-9.4,15,121,1.73,2.38,0.00,0.000,4356,0.072,0.050,2409,3226,3891,3912,3870,0,0,0,0,0,0,14.81,14.76,14.90
$GC,231,-1.11,-292.0,2408,3226,3911,3870,23.0,-18.0,37,238,0.00,2.40,0.00,0.000,5126,0.000,0.044,2408,1798,3890,3912,3868,0,0,0,0,0,0,14.94,14.81,14.95
$GC,304,-1.11,-292.0,2408,1798,3912,3870,37.9,-22.5,50,310,0.00,2.38,0.00,0.000,4612,0.000,0.066,2408,409,3891,3912,3870,0,0,0,0,0,0,15.06,14.81,15.07
$GC,354,-1.11,-292.0,2408,409,3911,3870,47.8,-16.3,59,361,0.00,2.33,0.00,0.000,1030,0.000,0.035,2404,1819,3891,3912,3870,0,0,0,0,0,0,14.85,14.81,14.86
$GC,428,-1.11,-292.0,2406,1822,3907,3871,59.4,-16.2,72,436,0.00,2.33,0.00,0.000,260,0.000,0.053,2406,3217,3891,3912,3870,0,0,0,0,0,0,15.08,14.84,15.09
$GC,475,-1.11,-292.0,2406,3217,3912,3871,66.9,-13.4,80,481,0.00,2.35,0.00,0.000,1030,0.000,0.042,2406,1811,3891,3912,3871,0,0,0,0,0,0,14.82,14.73,14.84
$GC,548,-1.11,-292.0,2406,1811,3912,3871,78.2,-16.1,93,554,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,1810,3891,3912,3871,0,0,0,0,0,0,15.08,15.09,15.09
$GC,622,-1.11,-292.0,2406,1811,3912,3871,91.2,-17.2,106,628,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,1810,3891,3912,3871,0,0,0,0,0,0,15.09,15.10,15.09
$STATE,643,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,643,begin apogee
$GC,650,-0.17,0.0,2406,1811,3911,3871,95.7,-17.1,110,873,1.50,0.00,213.90,1.046,10246,0.162,0.000,2697,1810,2697,2737,2658,0,0,0,0,0,0,14.68,14.38,13.87
$STATE,875,end apogee,CONTROL_FINISHED_OK
$STATE,875,begin climb
$GC,878,1.11,292.0,2697,1810,2736,2658,112.2,0.0,150,1114,1.90,0.00,224.45,1.028,10758,0.066,0.000,3108,1810,1507,1551,1464,0,0,0,0,0,0,14.47,14.37,13.89
$GC,1177,1.11,292.0,3109,1810,1548,1461,74.6,25.8,203,1183,0.00,0.00,0.00,0.000,2054,0.000,0.000,3109,1810,1505,1549,1461,0,0,0,0,0,0,14.78,14.79,14.78
$GC,1246,1.11,292.0,3109,1810,1548,1461,57.4,25.3,216,1253,0.00,2.47,0.00,0.000,2564,0.000,0.068,3122,392,1503,1546,1461,0,0,0,0,0,0,14.89,14.66,14.89
$GC,1261,1.11,292.0,3118,391,1547,1460,53.8,24.3,218,1268,0.00,2.35,0.00,0.000,5126,0.000,0.031,3118,1820,1504,1547,1461,0,0,0,0,0,0,14.81,14.72,14.81
$GC,1334,1.11,292.0,3116,1823,1547,1459,37.3,22.7,231,1340,0.00,2.30,0.00,0.000,4356,0.000,0.045,3118,3193,1503,1547,1459,0,0,0,0,0,0,14.97,14.67,14.97
$GC,1374,1.13,311.7,3118,3192,1546,1458,28.9,19.1,238,1398,0.00,2.38,15.68,0.868,9222,0.000,0.049,3124,1797,1428,1475,1382,0,0,0,0,0,0,14.78,14.69,14.14
$GC,1463,1.19,355.1,3123,1796,1474,1378,13.8,18.0,254,1498,0.00,2.47,29.73,0.816,10756,0.000,0.069,3124,401,1248,1303,1194,0,0,0,0,0,0,14.98,14.59,14.14
$STATE,1513,end climb,SURFACE_DEPTH_REACHED
$STATE,1513,begin surface coast
$FINISH,0.4,1.025618
$STATE,1525,end surface coast,CONTROL_FINISHED_OK
$STATE,1525,begin surface
$SM_CCo,1614,0.00,0.000,0,0,1244,357.15
$SM_GC,1.06,14.12,2.38,0.00,0.035,0.032,0.000,124,1802,1244,-8.18,-1.53,357.15,0,0,0,0,0,0,14.76,14.75,14.82
$IRIDIUM_FIX,-3401.68,2507.63,240419,110057
$TT8_MAMPS,0.021721,0.933254
$HUMID,45.58
$INTERNAL_PRESSURE,9.34163
$TCM_TEMP,19.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.9,34.7
$SC_FREEKB,3611040
$24V_AH,13.87,168.998
$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,19.250,30.900,483.750,0.000,0.000,0.000,0.000,0.000,2.000,0.000,0.000,449.288,224.796,474.662,482.788,123.343,0.000,802.921,0.000,405.546,0.000,14.649,0.000
$DEVICE_MAMPS,162.180,68.850,1045.755,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1569.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.860,0.000,0.000,0.000
$MEM,341056
$DATA_FILE_SIZE,6801,265
$CAP_FILE_SIZE,48108,0
$CFSIZE,2097086464,1983840256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240419,131325,-3413.960,2506.808,8,1.2,48,-27.5,0.9,253.6,7,4.6