version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 610
start: 4 24 119 21 19 8
data:
$ID,574
$MISSION,3
$DIVE,610
$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,26
$R_STBD_OVSHOOT,43
$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
$GPS1,240419,211041,-3413.6016,2503.8064,7,1.0,24,-27.5,1.1,202.8,8,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-74.6
$GPS2,240419,211841,-3413.6191,2503.7368,8,1.0,23,-27.5,0.0,295.8,8,9.3
$SPEED_LIMITS,0.346,0.443
$TGT_NAME,HEADING
$TGT_LATLONG,-3403.471,2459.279
$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,-292.0,54,1797,1205,1120,0.0,0.0,0,102,0.00,0.00,-74.95,0.000,16386,0.000,0.000,53,1797,2971,2932,3011,0,0,0,0,0,0,15.02,28.83,15.03
$GC,106,-1.11,-292.0,54,1797,2934,3010,3.3,-6.4,14,142,13.93,2.45,-16.15,0.000,18692,0.300,0.069,2385,3219,3893,3908,3879,0,0,0,0,0,0,14.52,13.29,14.82
$GC,340,-1.11,-292.0,2385,3220,3908,3886,54.4,-17.5,58,348,0.05,2.38,0.00,0.000,3078,0.308,0.044,2396,1805,3893,3908,3879,0,0,0,0,0,0,14.57,14.73,14.77
$GC,416,-1.11,-292.0,2396,1805,3908,3881,68.2,-19.2,71,422,0.00,2.42,0.00,0.000,2564,0.000,0.065,2397,401,3894,3908,3880,0,0,0,0,0,0,15.09,14.77,15.09
$GC,463,-1.11,-292.0,2396,401,3908,3880,77.4,-18.1,79,470,0.00,2.35,0.00,0.000,3078,0.000,0.035,2391,1817,3893,3908,3879,0,0,0,0,0,0,14.96,14.86,14.97
$STATE,533,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,533,begin apogee
$GC,540,-0.17,0.0,2392,1819,3908,3880,90.7,-19.6,92,763,1.55,0.00,212.88,1.033,10246,0.164,0.000,2698,1820,2698,2736,2660,0,0,0,0,0,0,14.59,14.40,13.88
$STATE,765,end apogee,CONTROL_FINISHED_OK
$STATE,765,begin climb
$GC,768,1.11,292.0,2698,1820,2734,2659,107.5,0.0,132,1004,1.95,0.00,224.20,1.017,10758,0.054,0.000,3139,1820,1507,1548,1467,0,0,0,0,0,0,14.49,14.37,13.88
$GC,1068,1.11,292.0,3138,1820,1546,1463,66.4,23.0,185,1075,0.08,2.53,0.00,0.000,4612,0.324,0.069,3127,393,1504,1546,1463,0,0,0,0,0,0,14.43,14.50,14.54
$GC,1105,1.11,292.0,3128,392,1545,1463,57.4,25.4,191,1112,0.00,2.38,0.00,0.000,5126,0.000,0.034,3127,1812,1504,1545,1463,0,0,0,0,0,0,14.76,14.67,14.77
$GC,1178,1.11,292.0,3127,1815,1545,1462,40.7,22.0,204,1184,0.00,2.33,0.00,0.000,4356,0.000,0.047,3128,3201,1503,1545,1462,0,0,0,0,0,0,14.93,14.72,14.93
$GC,1269,1.16,337.3,3128,3201,1544,1461,22.5,17.9,221,1310,0.00,2.40,34.08,0.857,11270,0.000,0.050,3128,1795,1322,1371,1273,0,0,0,0,0,0,14.83,14.73,14.14
$STATE,1361,end climb,FINISH_DEPTH_REACHED
$STATE,1362,begin subsurface finish
$FINISH1,4.1,1.025639,95
$GC,1370,0.12,95.4,3128,1795,1370,1269,4.1,21.3,238,1432,1.73,2.45,-50.03,0.000,20996,0.185,0.085,2804,388,2314,2362,2267,0,0,0,0,0,0,14.54,13.43,14.66
$FINISH2,0.2
$STATE,1435,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1435,begin surface
$IRIDIUM_FIX,-3401.68,2504.16,240419,201445
$TT8_MAMPS,0.021721,0.911533
$HUMID,45.43
$INTERNAL_PRESSURE,9.46858
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,75.3,35.0
$SC_FREEKB,3603360
$24V_AH,13.29,171.705
$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,19.275,21.675,471.150,0.000,0.000,25.431,17.873,116.370,1.750,0.000,24.174,388.106,145.805,486.643,627.928,273.367,0.000,807.460,0.000,386.716,0.000,13.129,0.000
$DEVICE_MAMPS,323.595,84.915,1032.750,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1477.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.255,0.000,0.000,0.000
$MEM,340924
$DATA_FILE_SIZE,6804,249
$CAP_FILE_SIZE,46308,0
$CFSIZE,2097086464,1980825600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,240419,211841,-3413.619,2503.737,8,1.0,23,-27.5,0.0,295.8,8,9.3