version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 606
start: 4 24 119 19 12 47
data:
$ID,574
$MISSION,3
$DIVE,606
$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,47
$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
$GPS1,240419,190226,-3413.8298,2504.3962,7,1.0,16,-27.5,0.0,193.3,9,8.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-73.3
$GPS2,240419,191222,-3413.8499,2504.3005,6,1.0,15,-27.5,0.7,162.7,9,9.9
$SPEED_LIMITS,0.346,0.443
$TGT_NAME,HEADING
$TGT_LATLONG,-3403.702,2459.842
$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,-292.0,54,1799,1259,1181,0.0,0.0,0,103,0.00,0.00,-75.47,0.000,16386,0.000,0.000,54,1799,3066,3031,3102,0,0,0,0,0,0,14.99,28.83,15.00
$GC,107,-1.11,-292.0,54,1800,3033,3103,3.7,-8.4,14,143,14.00,2.40,-13.73,0.000,18692,0.303,0.068,2386,3220,3892,3904,3881,0,0,0,0,0,0,14.49,13.89,14.80
$GC,345,-1.11,-292.0,2384,3220,3905,3881,58.2,-17.9,59,352,0.05,2.38,0.00,0.000,3078,0.306,0.046,2396,1810,3893,3905,3881,0,0,0,0,0,0,14.54,14.69,14.73
$GC,417,-1.11,-292.0,2396,1810,3905,3881,71.2,-17.3,72,423,0.00,2.42,0.00,0.000,2564,0.000,0.064,2397,406,3893,3905,3881,0,0,0,0,0,0,15.07,14.80,15.07
$GC,443,-1.11,-292.0,2397,405,3906,3882,76.1,-18.1,76,450,0.00,2.33,0.00,0.000,3078,0.000,0.035,2394,1816,3892,3904,3881,0,0,0,0,0,0,14.95,14.85,14.96
$GC,520,-1.11,-292.0,2394,1818,3905,3881,89.9,-19.1,89,526,0.00,2.35,0.00,0.000,2308,0.000,0.049,2385,3216,3892,3905,3880,0,0,0,0,0,0,15.09,14.70,15.09
$GC,550,-1.11,-292.0,2385,3217,3905,3881,96.3,-19.1,94,557,0.08,2.38,0.00,0.000,3078,0.249,0.045,2401,1811,3893,3906,3881,0,0,0,0,0,0,14.59,14.73,14.76
$STATE,562,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,563,begin apogee
$GC,570,-0.17,0.0,2401,1812,3905,3881,98.9,-15.9,96,797,1.50,0.00,213.80,1.042,10246,0.164,0.000,2701,1811,2697,2735,2660,0,0,0,0,0,0,14.67,14.25,13.85
$STATE,798,end apogee,CONTROL_FINISHED_OK
$STATE,798,begin climb
$GC,802,1.11,292.0,2700,1811,2734,2659,115.7,0.0,136,1040,1.92,2.45,224.45,1.029,10500,0.054,0.043,3137,3204,1507,1547,1467,0,0,0,0,0,0,14.50,14.38,13.85
$GC,1109,1.11,292.0,3137,3204,1544,1464,70.8,22.4,190,1116,0.10,2.45,0.00,0.000,5126,0.294,0.054,3121,1797,1503,1544,1463,0,0,0,0,0,0,14.45,14.60,14.64
$GC,1183,1.11,292.0,3121,1796,1544,1462,54.2,24.5,203,1189,0.00,2.45,0.00,0.000,4612,0.000,0.067,3128,393,1503,1544,1463,0,0,0,0,0,0,14.92,14.60,14.92
$GC,1218,1.11,292.0,3128,392,1544,1462,45.4,23.3,209,1224,0.00,2.35,0.00,0.000,5126,0.000,0.032,3128,1802,1503,1544,1462,0,0,0,0,0,0,14.75,14.68,14.76
$GC,1290,1.11,292.0,3128,1804,1544,1460,30.6,20.3,222,1297,0.00,2.33,0.00,0.000,4356,0.000,0.044,3128,3202,1502,1544,1461,0,0,0,0,0,0,14.97,14.77,14.97
$GC,1336,1.22,381.5,3128,3202,1543,1460,22.6,15.9,230,1408,0.00,2.40,64.97,0.849,11270,0.000,0.050,3128,1790,1142,1195,1089,0,0,0,0,0,0,14.89,14.78,14.07
$STATE,1426,end climb,FINISH_DEPTH_REACHED
$STATE,1426,begin subsurface finish
$FINISH1,4.1,1.025627,96
$GC,1435,0.12,96.0,3128,1791,1194,1085,4.1,23.8,246,1502,1.70,2.45,-58.60,0.000,20996,0.194,0.081,2802,391,2310,2357,2263,0,0,0,0,0,0,14.50,13.42,14.69
$FINISH2,0.5
$STATE,1506,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1506,begin surface
$IRIDIUM_FIX,-3401.68,2504.16,240419,190552
$TT8_MAMPS,0.020972,0.903294
$HUMID,45.39
$INTERNAL_PRESSURE,9.46858
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.6,36.7
$SC_FREEKB,3605408
$24V_AH,13.42,171.016
$10V_AH,12.97,0.000
$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,19.350,31.125,503.225,0.000,0.000,51.599,69.028,167.089,2.000,0.000,17.141,397.944,197.121,527.100,771.728,211.568,0.000,869.433,0.000,396.044,0.000,14.667,0.000
$DEVICE_MAMPS,306.000,81.090,1041.930,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1548.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.010,0.000,0.000,0.000
$MEM,340960
$DATA_FILE_SIZE,6790,258
$CAP_FILE_SIZE,51044,0
$CFSIZE,2097086464,1982038016
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$INTR,0,565.87,0x2131ca,2,24
$GPS,240419,191222,-3413.850,2504.301,6,1.0,15,-27.5,0.7,162.7,9,9.9