version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 603
start: 4 24 119 17 29 5
data:
$ID,574
$MISSION,3
$DIVE,603
$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,-1
$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,0
$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,34
$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
$GPS1,240419,172051,-3413.6194,2504.5276,8,0.8,20,-27.5,0.6,270.8,9,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-70.9
$GPS2,240419,172840,-3413.6401,2504.4199,8,0.9,17,-27.5,0.4,258.2,8,9.1
$SPEED_LIMITS,0.346,0.443
$TGT_NAME,WP1
$TGT_LATLONG,-3411.620,2507.270
$TGT_RADIUS,100.000
$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,76.9,5750,-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,-292.0,55,1823,1202,1118,0.0,0.0,0,102,0.00,0.00,-75.20,0.000,16386,0.000,0.000,54,1823,2977,2940,3015,0,0,0,0,0,0,14.99,28.83,15.00
$GC,106,-1.11,-292.0,53,1824,2941,3016,3.4,-6.9,14,142,13.80,2.40,-16.08,0.000,18692,0.291,0.070,2385,3216,3894,3907,3882,0,0,0,0,0,0,14.51,13.28,14.80
$GC,217,-1.11,-292.0,2384,3216,3908,3881,33.0,-19.0,34,224,0.05,2.38,0.00,0.000,3078,0.308,0.045,2396,1811,3893,3908,3879,0,0,0,0,0,0,14.64,14.80,14.83
$GC,291,-1.11,-292.0,2396,1810,3907,3881,47.2,-20.6,47,297,0.00,0.00,0.00,0.000,2054,0.000,0.000,2396,1811,3895,3908,3882,0,0,0,0,0,0,15.06,15.06,15.06
$GC,364,-1.11,-292.0,2396,1811,3908,3882,61.0,-18.8,60,370,0.00,0.00,0.00,0.000,2054,0.000,0.000,2396,1811,3894,3908,3881,0,0,0,0,0,0,15.07,15.08,15.08
$GC,433,-1.11,-292.0,2396,1811,3908,3882,74.8,-20.6,73,443,0.00,2.40,0.00,0.000,2564,0.000,0.065,2397,409,3894,3908,3881,0,0,0,0,0,0,15.07,14.80,15.08
$GC,457,-1.11,-292.0,2396,409,3907,3881,79.0,-18.0,76,468,0.00,2.30,0.00,0.000,3078,0.000,0.034,2392,1805,3895,3908,3882,0,0,0,0,0,0,14.95,14.85,14.96
$GC,535,-1.11,-292.0,2392,1808,3908,3881,93.4,-19.4,89,541,0.00,2.38,0.00,0.000,2308,0.000,0.051,2385,3214,3894,3908,3881,0,0,0,0,0,0,15.09,14.72,15.09
$STATE,546,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,546,begin apogee
$GC,556,-0.17,0.0,2385,1797,3908,3881,97.1,-20.4,91,780,1.62,0.00,214.15,1.041,10246,0.159,0.000,2697,1797,2698,2737,2660,0,0,0,0,0,0,14.62,14.41,13.90
$STATE,781,end apogee,CONTROL_FINISHED_OK
$STATE,782,begin climb
$GC,785,1.11,292.0,2698,1797,2734,2659,115.0,0.0,131,1022,1.98,2.47,225.02,1.026,11012,0.076,0.069,3121,390,1507,1549,1466,0,0,0,0,0,0,14.44,14.36,13.88
$GC,1102,1.11,292.0,3121,390,1546,1465,74.1,22.6,187,1109,0.00,2.35,0.00,0.000,5126,0.000,0.031,3121,1806,1504,1545,1464,0,0,0,0,0,0,14.73,14.66,14.74
$GC,1175,1.11,292.0,3121,1809,1545,1462,57.9,23.5,200,1182,0.00,2.50,0.00,0.000,4612,0.000,0.070,3125,391,1503,1545,1462,0,0,0,0,0,0,14.92,14.59,14.92
$GC,1205,1.11,292.0,3124,390,1545,1461,50.0,24.3,205,1212,0.00,2.35,0.00,0.000,5126,0.000,0.032,3125,1802,1503,1545,1462,0,0,0,0,0,0,14.73,14.66,14.75
$GC,1278,1.11,292.0,3124,1805,1545,1461,33.7,23.4,218,1284,0.00,2.35,0.00,0.000,4356,0.000,0.045,3125,3210,1503,1545,1461,0,0,0,0,0,0,14.98,14.77,14.99
$GC,1360,1.16,334.7,3125,3209,1543,1460,16.8,18.0,233,1394,0.00,2.40,29.27,0.835,11270,0.000,0.051,3125,1797,1333,1382,1285,0,0,0,0,0,0,14.81,14.71,14.19
$STATE,1435,end climb,SURFACE_DEPTH_REACHED
$STATE,1435,begin surface coast
$FINISH,0.7,1.025721
$STATE,1447,end surface coast,CONTROL_FINISHED_OK
$STATE,1448,begin surface
$SM_CCo,1474,9.43,0.703,0,0,1271,350.04
$SM_GC,1.23,14.15,0.00,9.43,0.041,0.000,0.703,114,1796,1271,-8.21,-0.45,350.04,0,0,0,0,0,0,14.77,14.99,14.18
$IRIDIUM_FIX,-3359.08,2504.16,240419,165408
$TT8_MAMPS,0.021721,0.94374
$HUMID,45.86
$INTERNAL_PRESSURE,9.35139
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.7,33.8
$SC_FREEKB,3606944
$24V_AH,13.28,170.466
$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,31.600,28.700,468.450,9.425,0.000,25.740,40.649,167.086,2.000,0.000,18.617,419.345,150.950,486.651,690.130,218.408,0.000,808.470,0.000,385.511,0.000,14.634,0.000
$DEVICE_MAMPS,308.295,70.380,1041.165,703.035,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1489.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.986,0.000,0.000,0.000
$MEM,340952
$DATA_FILE_SIZE,6801,249
$CAP_FILE_SIZE,50013,0
$CFSIZE,2097086464,1982529536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,240419,175453,-3413.690,2504.462,8,1.0,20,-27.5,0.7,192.7,8,9.4