version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 607
start: 4 24 119 19 40 52
data:
$ID,574
$MISSION,3
$DIVE,607
$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,31
$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
$GPS1,240419,191222,-3413.8499,2504.3005,6,1.0,15,-27.5,0.7,162.7,9,9.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,1.1
$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,24,-1.11,-292.0,2799,1827,2358,2267,0.0,0.0,0,102,0.00,0.00,-71.62,0.000,16390,0.000,0.000,2803,1827,3891,3913,3869,0,0,0,0,0,0,15.02,13.93,15.03
$GC,106,-1.11,-292.0,2803,1828,3913,3867,3.2,-9.5,14,113,1.77,2.38,0.00,0.000,4356,0.076,0.051,2410,3214,3891,3913,3869,0,0,0,0,0,0,14.78,14.83,14.85
$GC,224,-1.11,-292.0,2409,3214,3913,3869,22.7,-16.8,36,231,0.00,2.38,0.00,0.000,5126,0.000,0.046,2409,1802,3891,3913,3869,0,0,0,0,0,0,14.88,14.84,14.88
$GC,296,-1.11,-292.0,2409,1802,3913,3869,37.6,-21.3,49,302,0.00,0.00,0.00,0.000,4102,0.000,0.000,2409,1802,3891,3912,3870,0,0,0,0,0,0,15.09,15.09,15.09
$GC,368,-1.11,-292.0,2409,1802,3913,3868,50.7,-18.0,62,375,0.00,2.38,0.00,0.000,4356,0.000,0.050,2400,3210,3890,3912,3869,0,0,0,0,0,0,15.09,14.84,15.09
$GC,436,-1.11,-292.0,2399,3210,3912,3870,61.7,-12.9,74,443,0.00,2.38,0.00,0.000,3078,0.000,0.042,2400,1803,3891,3912,3870,0,0,0,0,0,0,14.96,14.85,14.97
$GC,509,-1.11,-292.0,2399,1803,3913,3870,72.8,-16.7,87,516,0.00,2.40,0.00,0.000,2564,0.000,0.064,2400,405,3891,3913,3870,0,0,0,0,0,0,15.10,14.72,15.11
$GC,545,-1.11,-292.0,2399,405,3912,3870,79.6,-16.5,93,556,0.00,2.33,0.00,0.000,3078,0.000,0.034,2399,1813,3891,3912,3870,0,0,0,0,0,0,14.86,14.78,14.90
$GC,623,-1.11,-292.0,2399,1815,3912,3870,92.8,-18.7,106,629,0.00,2.35,0.00,0.000,2308,0.000,0.052,2399,3213,3891,3912,3870,0,0,0,0,0,0,15.09,14.84,15.09
$STATE,634,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,634,begin apogee
$GC,645,-0.17,0.0,2399,1798,3912,3870,95.8,-18.0,108,868,1.52,0.00,213.50,1.037,10246,0.155,0.000,2697,1798,2698,2737,2659,0,0,0,0,0,0,14.59,14.39,13.88
$STATE,870,end apogee,CONTROL_FINISHED_OK
$STATE,870,begin climb
$GC,873,1.11,292.0,2696,1797,2736,2658,112.8,0.0,148,1111,1.95,2.45,224.50,1.027,10500,0.060,0.043,3128,3208,1507,1548,1466,0,0,0,0,0,0,14.48,14.26,13.87
$GC,1181,1.11,292.0,3128,3208,1546,1462,68.7,23.3,202,1188,0.08,2.45,0.00,0.000,5126,0.319,0.054,3121,1799,1504,1546,1462,0,0,0,0,0,0,14.45,14.59,14.64
$GC,1254,1.11,292.0,3121,1799,1546,1461,52.3,23.9,215,1261,0.00,2.45,0.00,0.000,4612,0.000,0.066,3128,392,1504,1546,1462,0,0,0,0,0,0,14.92,14.61,14.92
$GC,1295,1.11,292.0,3127,392,1545,1461,41.9,23.8,222,1302,0.00,2.35,0.00,0.000,5126,0.000,0.032,3127,1806,1503,1545,1461,0,0,0,0,0,0,14.79,14.71,14.81
$GC,1368,1.16,331.7,3126,1809,1545,1460,27.1,18.1,235,1407,0.00,2.35,30.55,0.890,8452,0.000,0.044,3128,3195,1346,1394,1298,0,0,0,0,0,0,14.97,14.59,14.14
$GC,1434,1.17,339.4,3128,3195,1394,1297,15.2,19.6,246,1447,0.00,2.40,5.32,0.666,9222,0.000,0.054,3131,1803,1313,1364,1263,0,0,0,0,0,0,14.70,14.61,14.07
$STATE,1494,end climb,SURFACE_DEPTH_REACHED
$STATE,1494,begin surface coast
$FINISH,0.1,1.025626
$STATE,1505,end surface coast,CONTROL_FINISHED_OK
$STATE,1505,begin surface
$SM_CCo,1532,6.40,0.649,0,0,1273,350.04
$SM_GC,1.79,14.15,0.00,6.40,0.038,0.000,0.649,123,1800,1273,-8.18,-0.34,350.04,0,0,0,0,0,0,14.78,14.98,14.16
$IRIDIUM_FIX,-3401.68,2504.16,240419,190552
$TT8_MAMPS,0.021721,0.920521
$HUMID,45.15
$INTERNAL_PRESSURE,9.35139
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.7,34.0
$SC_FREEKB,3604896
$24V_AH,13.87,171.181
$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,19.475,35.825,473.875,6.400,0.000,0.000,0.000,0.000,2.000,0.000,0.000,442.352,167.728,473.336,471.669,127.809,0.000,798.000,0.000,405.497,0.000,14.642,0.000
$DEVICE_MAMPS,319.005,65.790,1037.340,649.485,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1548.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.173,0.000,0.000,0.000
$MEM,341080
$DATA_FILE_SIZE,6798,259
$CAP_FILE_SIZE,48198,0
$CFSIZE,2097086464,1981874176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240419,200737,-3413.739,2504.048,7,1.0,23,-27.5,0.0,269.2,8,9.6