version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 609
start: 4 24 119 20 43 36
data:
$ID,574
$MISSION,3
$DIVE,609
$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,2
$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,30
$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
$GPS1,240419,201549,-3413.7632,2503.9724,8,0.8,39,-27.5,0.4,269.5,9,4.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,0.7
$GPS2,240419,201549,-3413.7632,2503.9724,8,0.8,39,-27.5,0.4,269.5,9,4.4
$SPEED_LIMITS,0.346,0.443
$TGT_NAME,HEADING
$TGT_LATLONG,-3403.615,2459.514
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.11,-292.0,2801,1829,2356,2268,0.0,0.0,0,102,0.00,0.00,-74.60,0.000,16390,0.000,0.000,2801,1829,3891,3914,3869,0,0,0,0,0,0,15.02,13.43,15.03
$GC,107,-1.11,-292.0,2801,1829,3915,3869,2.3,-7.8,14,114,1.77,2.38,0.00,0.000,4356,0.082,0.053,2414,3214,3892,3915,3869,0,0,0,0,0,0,14.76,14.82,14.85
$GC,245,-1.11,-292.0,2414,3215,3914,3870,25.4,-17.6,40,251,0.00,2.38,0.00,0.000,5126,0.000,0.046,2414,1807,3891,3913,3870,0,0,0,0,0,0,14.85,14.73,14.86
$GC,315,-1.11,-292.0,2414,1806,3915,3870,40.9,-21.6,53,321,0.00,0.00,0.00,0.000,4102,0.000,0.000,2414,1806,3892,3914,3870,0,0,0,0,0,0,15.09,15.10,15.09
$GC,386,-1.11,-292.0,2414,1806,3915,3870,53.7,-16.8,66,394,0.00,2.40,0.00,0.000,4356,0.000,0.051,2406,3220,3892,3914,3870,0,0,0,0,0,0,15.09,14.83,15.09
$GC,438,-1.11,-292.0,2406,3216,3914,3871,61.8,-13.9,75,445,0.00,2.38,0.00,0.000,1030,0.000,0.044,2406,1798,3892,3914,3871,0,0,0,0,0,0,14.95,14.86,14.97
$GC,510,-1.11,-292.0,2406,1798,3913,3871,73.1,-16.9,88,517,0.00,2.38,0.00,0.000,516,0.000,0.063,2406,401,3892,3914,3871,0,0,0,0,0,0,15.09,14.77,15.10
$GC,553,-1.11,-292.0,2406,400,3914,3871,80.8,-15.8,95,560,0.00,2.33,0.00,0.000,1030,0.000,0.034,2405,1810,3892,3914,3871,0,0,0,0,0,0,14.96,14.88,14.97
$STATE,615,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,617,begin apogee
$GC,624,-0.17,0.0,2406,1812,3914,3871,91.6,-17.5,107,847,1.48,0.00,213.07,1.033,10246,0.161,0.000,2701,1813,2698,2737,2659,0,0,0,0,0,0,14.70,14.42,13.89
$STATE,849,end apogee,CONTROL_FINISHED_OK
$STATE,849,begin climb
$GC,852,1.11,292.0,2701,1813,2737,2659,108.8,0.0,147,1090,1.92,2.35,224.30,1.025,10500,0.050,0.044,3146,3196,1507,1548,1466,0,0,0,0,0,0,14.50,14.38,13.89
$GC,1129,1.11,292.0,3145,3196,1547,1464,70.5,23.4,195,1136,0.17,2.42,0.00,0.000,5126,0.259,0.054,3119,1807,1505,1547,1463,0,0,0,0,0,0,14.36,14.51,14.55
$GC,1202,1.11,292.0,3118,1808,1547,1462,55.0,22.0,208,1209,0.00,2.47,0.00,0.000,4612,0.000,0.068,3122,390,1504,1547,1462,0,0,0,0,0,0,14.88,14.57,14.88
$GC,1247,1.11,292.0,3126,390,1545,1462,44.9,20.6,216,1254,0.00,2.35,0.00,0.000,5126,0.000,0.033,3127,1806,1504,1546,1462,0,0,0,0,0,0,14.79,14.74,14.79
$GC,1320,1.21,374.2,3126,1814,1546,1461,31.1,16.2,229,1393,0.00,2.38,64.40,0.910,10500,0.000,0.044,3127,3209,1169,1222,1116,0,0,0,0,0,0,14.98,14.53,14.03
$GC,1414,1.21,374.2,3127,3210,1225,1114,13.1,22.7,245,1420,0.00,2.45,0.00,0.000,3078,0.000,0.057,3128,1802,1169,1225,1114,0,0,0,0,0,0,14.68,14.57,14.69
$STATE,1461,end climb,SURFACE_DEPTH_REACHED
$STATE,1461,begin surface coast
$FINISH,0.4,1.025637
$STATE,1474,end surface coast,CONTROL_FINISHED_OK
$STATE,1475,begin surface
$SM_CCo,1561,0.00,0.000,0,0,1166,376.53
$SM_GC,0.94,14.25,0.00,0.00,0.044,0.000,0.000,124,1799,1166,-8.17,-0.37,376.53,0,0,0,0,0,0,14.75,14.94,14.81
$IRIDIUM_FIX,-3359.08,2504.16,240419,191141
$TT8_MAMPS,0.021721,0.918274
$HUMID,45.23
$INTERNAL_PRESSURE,9.35139
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,76.3,34.8
$SC_FREEKB,3603872
$24V_AH,13.43,171.532
$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,19.600,31.025,501.775,0.000,0.000,0.000,0.000,0.000,1.750,0.000,0.000,420.096,219.664,479.028,466.428,116.204,0.000,800.570,0.000,395.528,0.000,13.127,0.000
$DEVICE_MAMPS,259.335,68.085,1032.750,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1517.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.194,0.000,0.000,0.000
$MEM,341148
$DATA_FILE_SIZE,6795,256
$CAP_FILE_SIZE,45645,0
$CFSIZE,2097086464,1981251584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240419,211041,-3413.602,2503.806,7,1.0,24,-27.5,1.1,202.8,8,9.9