version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 596
start: 4 24 119 13 26 54
data:
$ID,574
$MISSION,3
$DIVE,596
$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,36
$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
$GPS1,240419,131325,-3413.9597,2506.8076,8,1.2,48,-27.5,0.9,253.6,7,4.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-72.9
$GPS2,240419,132629,-3413.9912,2506.6814,8,0.9,19,-27.5,0.6,323.0,8,9.7
$SPEED_LIMITS,0.346,0.443
$TGT_NAME,HEADING
$TGT_LATLONG,-3403.844,2502.223
$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,24,-1.11,-292.0,53,1824,1274,1204,0.0,0.0,0,103,0.00,0.00,-75.88,0.000,16386,0.000,0.000,53,1824,3116,3077,3155,0,0,0,0,0,0,14.97,28.83,14.97
$GC,107,-1.11,-292.0,53,1825,3078,3155,3.9,-9.2,14,143,13.82,2.38,-12.82,0.000,18692,0.291,0.068,2384,3244,3893,3904,3882,0,0,0,0,0,0,14.48,13.31,14.78
$GC,305,-1.11,-292.0,2383,3243,3905,3882,53.3,-19.8,51,313,0.08,2.42,0.00,0.000,3078,0.254,0.045,2398,1809,3894,3906,3882,0,0,0,0,0,0,14.62,14.75,14.79
$GC,378,-1.11,-292.0,2398,1809,3906,3882,66.8,-19.0,64,383,0.00,0.00,0.00,0.000,2054,0.000,0.000,2398,1809,3894,3906,3882,0,0,0,0,0,0,15.06,15.06,15.06
$GC,450,-1.11,-292.0,2398,1809,3906,3882,79.5,-18.5,77,458,0.00,0.00,0.00,0.000,2054,0.000,0.000,2398,1809,3894,3906,3882,0,0,0,0,0,0,15.07,15.07,15.07
$GC,524,-1.11,-292.0,2398,1805,3906,3882,93.8,-18.9,90,530,0.00,0.00,0.00,0.000,2054,0.000,0.000,2398,1809,3894,3906,3882,0,0,0,0,0,0,15.08,15.08,15.07
$STATE,535,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,535,begin apogee
$GC,542,-0.17,0.0,2398,1809,3906,3882,96.8,-18.4,92,766,1.50,0.00,214.50,1.040,10246,0.167,0.000,2697,1808,2698,2736,2660,0,0,0,0,0,0,14.66,14.42,13.90
$STATE,767,end apogee,CONTROL_FINISHED_OK
$STATE,768,begin climb
$GC,771,1.11,292.0,2697,1808,2735,2659,114.2,0.0,132,1008,1.92,2.47,224.20,1.026,11012,0.049,0.045,3142,3209,1507,1548,1466,0,0,0,0,0,0,14.49,14.39,13.88
$GC,1031,1.11,292.0,3143,3210,1546,1463,79.8,24.8,177,1039,0.15,2.45,0.00,0.000,5126,0.272,0.053,3120,1806,1504,1546,1463,0,0,0,0,0,0,14.30,14.44,14.50
$GC,1105,1.11,292.0,3120,1806,1546,1462,63.0,24.1,190,1111,0.00,2.47,0.00,0.000,4612,0.000,0.069,3128,389,1504,1546,1462,0,0,0,0,0,0,14.85,14.62,14.85
$GC,1139,1.11,292.0,3127,390,1545,1462,53.9,24.6,196,1146,0.00,2.38,0.00,0.000,5126,0.000,0.032,3128,1808,1503,1545,1461,0,0,0,0,0,0,14.79,14.71,14.80
$GC,1212,1.11,292.0,3127,1811,1545,1460,37.6,22.9,209,1219,0.00,2.35,0.00,0.000,4356,0.000,0.045,3128,3207,1502,1545,1460,0,0,0,0,0,0,14.96,14.70,14.96
$GC,1252,1.11,297.6,3127,3207,1544,1459,28.7,19.7,216,1265,0.00,2.42,4.95,0.628,13318,0.000,0.050,3128,1789,1486,1529,1443,0,0,0,0,0,0,14.82,14.72,14.06
$GC,1330,1.19,358.3,3128,1789,1530,1442,15.8,17.2,230,1381,0.00,2.47,41.45,0.825,10756,0.000,0.073,3128,401,1238,1293,1183,0,0,0,0,0,0,15.01,14.57,14.17
$STATE,1389,end climb,FINISH_DEPTH_REACHED
$STATE,1389,begin subsurface finish
$FINISH1,3.4,1.025622,96
$GC,1399,0.12,96.2,3128,1819,1294,1177,3.4,21.7,240,1462,1.50,2.50,-54.75,0.000,20996,0.053,0.081,2783,392,2310,2356,2264,0,0,0,0,0,0,14.70,13.44,14.77
$FINISH2,0.4
$STATE,1465,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1465,begin surface
$IRIDIUM_FIX,-3401.68,2505.27,240419,131754
$TT8_MAMPS,0.020223,0.829143
$HUMID,44.95
$INTERNAL_PRESSURE,9.46858
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,81.4,34.0
$SC_FREEKB,3610528
$24V_AH,13.31,169.191
$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,18.975,26.700,485.100,0.000,0.000,51.366,80.798,287.519,2.000,0.000,20.597,387.949,194.337,511.507,871.038,288.841,0.000,845.446,0.000,385.316,0.000,14.643,0.000
$DEVICE_MAMPS,290.700,81.090,1040.400,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1508.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.350,0.000,0.000,0.000
$MEM,340920
$DATA_FILE_SIZE,6792,251
$CAP_FILE_SIZE,51677,0
$CFSIZE,2097086464,1983676416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,240419,132629,-3413.991,2506.681,8,0.9,19,-27.5,0.6,323.0,8,9.7