version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 601
start: 4 24 119 16 14 12
data:
$ID,574
$MISSION,3
$DIVE,601
$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,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
$GPS1,240419,154555,-3413.6062,2505.4900,8,1.2,20,-27.5,0.4,195.1,8,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.08
$_SM_ANGLEo,1.1
$GPS2,240419,154555,-3413.6062,2505.4900,8,1.2,20,-27.5,0.4,195.1,8,9.4
$SPEED_LIMITS,0.346,0.443
$TGT_NAME,HEADING
$TGT_LATLONG,-3403.458,2501.032
$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,-292.0,2801,1818,2358,2268,0.0,0.0,0,106,0.00,0.00,-75.45,0.000,16390,0.000,0.000,2801,1819,3889,3912,3866,0,0,0,0,0,0,15.02,13.97,15.03
$GC,112,-1.11,-292.0,2801,1819,3912,3866,2.8,-8.4,15,120,1.75,2.40,0.00,0.000,4356,0.062,0.055,2403,3210,3889,3912,3866,0,0,0,0,0,0,14.83,14.72,14.91
$GC,260,-1.11,-292.0,2403,3210,3911,3868,29.7,-18.3,43,266,0.00,2.38,0.00,0.000,1030,0.000,0.045,2403,1801,3889,3911,3868,0,0,0,0,0,0,14.87,14.76,14.90
$GC,332,-1.11,-292.0,2403,1801,3912,3868,43.4,-20.9,56,339,0.00,2.35,0.00,0.000,260,0.000,0.050,2394,3209,3889,3911,3868,0,0,0,0,0,0,15.06,14.83,15.07
$GC,378,-1.11,-292.0,2393,3209,3911,3868,51.9,-16.3,64,384,0.00,2.35,0.00,0.000,3078,0.000,0.045,2394,1809,3889,3911,3868,0,0,0,0,0,0,14.95,14.85,14.97
$GC,451,-1.11,-292.0,2394,1809,3912,3868,64.2,-17.5,77,457,0.00,0.00,0.00,0.000,2054,0.000,0.000,2394,1809,3889,3911,3868,0,0,0,0,0,0,15.09,15.09,15.09
$GC,527,-1.11,-292.0,2394,1809,3912,3868,77.9,-19.4,90,533,0.00,2.42,0.00,0.000,2564,0.000,0.065,2394,400,3889,3911,3868,0,0,0,0,0,0,15.09,14.82,15.09
$GC,556,-1.11,-292.0,2394,400,3911,3868,83.6,-17.8,95,563,0.00,2.33,0.00,0.000,3078,0.000,0.037,2393,1804,3889,3911,3868,0,0,0,0,0,0,14.96,14.87,14.97
$STATE,604,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,604,begin apogee
$GC,611,-0.17,0.0,2393,1807,3911,3869,92.5,-18.4,104,834,1.55,0.00,213.70,1.040,10246,0.164,0.000,2698,1808,2699,2738,2660,0,0,0,0,0,0,14.66,14.43,13.88
$STATE,835,end apogee,CONTROL_FINISHED_OK
$STATE,835,begin climb
$GC,839,1.11,292.0,2698,1808,2735,2659,109.1,0.0,144,1076,1.95,2.45,224.90,1.027,11012,0.057,0.047,3131,3207,1507,1549,1466,0,0,0,0,0,0,14.47,14.39,13.88
$GC,1156,1.11,292.0,3131,3206,1546,1462,66.1,22.2,200,1164,0.08,2.45,0.00,0.000,5126,0.317,0.054,3121,1798,1503,1545,1462,0,0,0,0,0,0,14.46,14.60,14.65
$GC,1229,1.11,292.0,3121,1798,1546,1462,50.1,24.1,213,1236,0.00,2.45,0.00,0.000,4612,0.000,0.068,3128,391,1503,1546,1461,0,0,0,0,0,0,14.92,14.60,14.92
$GC,1259,1.11,292.0,3128,391,1545,1461,42.9,22.3,218,1266,0.00,2.35,0.00,0.000,5126,0.000,0.033,3128,1816,1503,1546,1461,0,0,0,0,0,0,14.76,14.68,14.76
$GC,1332,1.11,292.0,3125,1817,1546,1461,28.5,21.1,231,1339,0.00,2.33,0.00,0.000,4356,0.000,0.049,3128,3201,1502,1545,1460,0,0,0,0,0,0,14.97,14.76,14.98
$GC,1382,1.23,393.6,3128,3201,1545,1460,19.4,15.3,240,1461,0.00,2.40,71.03,0.842,11270,0.000,0.051,3128,1792,1091,1146,1036,0,0,0,0,0,0,14.88,14.78,14.09
$STATE,1468,end climb,SURFACE_DEPTH_REACHED
$STATE,1468,begin surface coast
$FINISH,0.1,1.025646
$STATE,1480,end surface coast,CONTROL_FINISHED_OK
$STATE,1480,begin surface
$SM_CCo,1567,0.00,0.000,0,0,1086,396.15
$SM_GC,1.06,14.20,0.00,0.00,0.034,0.000,0.000,123,1789,1086,-8.17,-0.65,396.15,0,0,0,0,0,0,14.69,14.85,14.75
$IRIDIUM_FIX,-3359.08,2504.16,240419,142937
$TT8_MAMPS,0.021721,0.938497
$HUMID,45.23
$INTERNAL_PRESSURE,9.33186
$TCM_TEMP,19.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,75.3,36.5
$SC_FREEKB,3607968
$24V_AH,13.88,170.092
$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,19.525,31.000,509.625,0.000,0.000,0.000,0.000,0.000,1.750,0.000,0.000,417.722,215.265,485.989,470.051,118.320,0.000,809.053,0.000,397.338,0.000,13.134,0.000
$DEVICE_MAMPS,316.710,68.085,1040.400,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1523.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.209,0.000,0.000,0.000
$MEM,341064
$DATA_FILE_SIZE,6823,257
$CAP_FILE_SIZE,45764,0
$CFSIZE,2097086464,1982857216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240419,164131,-3413.467,2505.046,8,0.8,32,-27.5,0.4,128.8,10,5.3