version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 604
start: 4 24 119 18 3 26
data:
$ID,574
$MISSION,3
$DIVE,604
$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,29
$R_STBD_OVSHOOT,48
$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
$GPS1,240419,175453,-3413.6897,2504.4619,8,1.0,20,-27.5,0.7,192.7,8,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-73.8
$GPS2,240419,180301,-3413.7146,2504.3647,7,0.8,30,-27.5,0.7,204.6,11,5.6
$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,76.4,5904,-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,-292.0,54,1791,1295,1232,0.0,0.0,0,97,0.00,0.00,-69.93,0.000,16386,0.000,0.000,53,1792,2940,2902,2978,0,0,0,0,0,0,14.99,28.83,15.00
$GC,101,-1.11,-292.0,53,1792,2903,2978,3.2,-6.0,13,142,13.82,2.42,-17.08,0.000,18692,0.293,0.070,2386,3214,3892,3907,3878,0,0,0,0,0,0,14.50,13.31,14.81
$GC,223,-1.11,-292.0,2390,3212,3907,3885,34.6,-19.6,35,230,0.05,2.38,0.00,0.000,3078,0.311,0.046,2397,1807,3893,3907,3880,0,0,0,0,0,0,14.64,14.80,14.83
$GC,296,-1.11,-292.0,2397,1806,3907,3880,49.9,-22.3,48,304,0.00,2.42,0.00,0.000,2564,0.000,0.063,2398,400,3893,3907,3879,0,0,0,0,0,0,15.06,14.78,15.07
$GC,311,-1.11,-292.0,2397,399,3907,3880,53.5,-21.6,50,319,0.00,2.38,0.00,0.000,3078,0.000,0.034,2391,1817,3893,3907,3880,0,0,0,0,0,0,14.93,14.84,14.94
$GC,385,-1.11,-292.0,2390,1820,3907,3880,68.5,-19.4,63,391,0.00,0.00,0.00,0.000,2054,0.000,0.000,2392,1820,3893,3907,3880,0,0,0,0,0,0,15.07,15.08,15.08
$GC,460,-1.11,-292.0,2390,1820,3907,3880,82.9,-19.7,76,466,0.00,2.35,0.00,0.000,2308,0.000,0.051,2385,3212,3893,3907,3880,0,0,0,0,0,0,15.09,14.71,15.09
$GC,500,-1.11,-292.0,2385,3212,3907,3880,91.2,-17.6,83,507,0.05,2.38,0.00,0.000,3078,0.303,0.045,2396,1804,3893,3907,3880,0,0,0,0,0,0,14.60,14.73,14.80
$STATE,522,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,522,begin apogee
$GC,530,-0.17,0.0,2396,1804,3907,3880,95.6,-17.2,87,753,1.55,0.00,214.40,1.042,10246,0.170,0.000,2695,1803,2699,2737,2662,0,0,0,0,0,0,14.64,14.39,13.88
$STATE,755,end apogee,CONTROL_FINISHED_OK
$STATE,755,begin climb
$GC,758,1.11,292.0,2695,1803,2735,2659,114.1,0.0,127,995,1.92,2.55,224.48,1.032,10756,0.051,0.067,3141,391,1507,1548,1467,0,0,0,0,0,0,14.48,14.38,13.86
$GC,1028,1.11,292.0,3141,390,1545,1466,78.6,24.5,174,1036,0.12,2.38,0.00,0.000,5126,0.256,0.031,3120,1813,1505,1545,1466,0,0,0,0,0,0,14.32,14.48,14.49
$GC,1101,1.11,292.0,3119,1816,1545,1463,61.9,23.8,187,1107,0.00,2.50,0.00,0.000,4612,0.000,0.065,3128,394,1504,1546,1463,0,0,0,0,0,0,14.86,14.63,14.86
$GC,1121,1.11,292.0,3127,394,1545,1463,56.1,25.1,190,1128,0.00,2.35,0.00,0.000,5126,0.000,0.032,3128,1797,1504,1545,1463,0,0,0,0,0,0,14.78,14.71,14.79
$GC,1194,1.11,292.0,3127,1799,1544,1462,39.0,23.7,203,1200,0.00,2.35,0.00,0.000,4356,0.000,0.044,3128,3206,1503,1545,1462,0,0,0,0,0,0,14.95,14.65,14.95
$GC,1266,1.15,326.1,3128,3207,1543,1461,24.4,18.4,216,1301,0.00,2.42,25.83,0.857,9222,0.000,0.052,3128,1797,1369,1416,1322,0,0,0,0,0,0,14.86,14.76,14.16
$GC,1366,1.15,326.1,3128,1803,1414,1319,4.2,20.8,234,1372,0.00,2.42,0.00,0.000,516,0.000,0.070,3128,394,1365,1414,1317,0,0,0,0,0,0,14.95,14.71,14.96
$STATE,1377,end climb,SURFACE_DEPTH_REACHED
$STATE,1377,begin surface coast
$FINISH,0.3,1.006677
$STATE,1389,end surface coast,CONTROL_FINISHED_OK
$STATE,1389,begin surface
$SM_CCo,1418,15.50,0.735,0,0,1272,350.04
$SM_GC,0.77,14.18,2.40,15.50,0.038,0.034,0.735,111,1808,1272,-8.21,-1.24,350.04,0,0,0,0,0,0,14.81,14.81,14.21
$IRIDIUM_FIX,-3401.68,2504.16,240419,172415
$TT8_MAMPS,0.021721,0.937748
$HUMID,45.86
$INTERNAL_PRESSURE,9.35139
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.7,34.8
$SC_FREEKB,3606432
$24V_AH,13.31,170.646
$10V_AH,12.98,0.000
$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,31.700,33.700,464.700,15.500,0.000,25.953,41.660,171.770,2.000,0.000,31.247,397.686,134.205,492.232,692.782,217.352,0.000,807.951,0.000,366.716,0.000,14.638,0.000
$DEVICE_MAMPS,310.590,69.615,1041.930,735.165,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1432.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.360,0.000,0.000,0.000
$MEM,340956
$DATA_FILE_SIZE,6805,238
$CAP_FILE_SIZE,50518,0
$CFSIZE,2097086464,1982365696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,240419,182819,-3413.753,2504.434,7,0.8,16,-27.5,0.6,231.7,10,8.6