version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 612
start: 4 24 119 22 23 10
data:
$ID,574
$MISSION,3
$DIVE,612
$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,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
$GPS1,240419,221219,-3413.4932,2503.5825,7,0.8,43,-27.5,0.8,253.5,11,8.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-71.3
$GPS2,240419,222244,-3413.5105,2503.4966,7,0.8,17,-27.5,0.6,124.7,11,8.9
$SPEED_LIMITS,0.346,0.443
$TGT_NAME,HEADING
$TGT_LATLONG,-3403.363,2459.039
$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,-292.0,53,1798,1185,1106,0.0,0.0,0,104,0.00,0.00,-75.80,0.000,16386,0.000,0.000,53,1799,2979,2944,3014,0,0,0,0,0,0,15.02,28.83,15.02
$GC,108,-1.11,-292.0,53,1798,2944,3014,3.2,-6.8,14,144,13.90,2.45,-16.15,0.000,18948,0.298,0.083,2396,402,3892,3907,3877,0,0,0,0,0,0,14.51,13.31,14.81
$GC,200,-1.11,-292.0,2395,402,3908,3877,30.4,-25.6,30,206,0.00,2.33,0.00,0.000,3078,0.000,0.034,2388,1811,3892,3908,3877,0,0,0,0,0,0,14.91,14.83,14.92
$GC,272,-1.11,-292.0,2388,1814,3908,3877,45.8,-20.9,43,279,0.00,2.38,0.00,0.000,2308,0.000,0.051,2378,3223,3892,3908,3877,0,0,0,0,0,0,15.07,14.81,15.07
$GC,325,-1.11,-292.0,2378,3220,3908,3877,55.8,-17.6,52,332,0.10,2.38,0.00,0.000,3078,0.226,0.044,2398,1806,3893,3909,3877,0,0,0,0,0,0,14.57,14.73,14.73
$GC,398,-1.11,-292.0,2398,1806,3908,3877,69.5,-18.2,65,408,0.00,2.38,0.00,0.000,516,0.000,0.063,2400,406,3892,3908,3877,0,0,0,0,0,0,15.07,14.81,15.07
$GC,436,-1.11,-292.0,2398,406,3908,3877,76.9,-19.3,71,442,0.00,2.33,0.00,0.000,3078,0.000,0.034,2398,1811,3892,3908,3877,0,0,0,0,0,0,14.84,14.75,14.85
$STATE,473,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,473,begin apogee
$GC,480,-0.17,0.0,2399,1813,3908,3877,84.4,-19.3,78,703,1.50,0.00,212.80,1.022,10246,0.165,0.000,2697,1815,2699,2737,2661,0,0,0,0,0,0,14.67,14.42,13.90
$STATE,705,end apogee,CONTROL_FINISHED_OK
$STATE,705,begin climb
$GC,708,1.11,292.0,2697,1815,2735,2660,102.5,0.0,118,945,1.88,2.38,223.18,1.015,11012,0.058,0.042,3114,3204,1507,1548,1467,0,0,0,0,0,0,14.49,14.25,13.85
$GC,963,1.11,292.0,3114,3204,1548,1465,72.8,20.6,162,970,0.00,2.45,0.00,0.000,5126,0.000,0.050,3123,1797,1506,1548,1465,0,0,0,0,0,0,14.52,14.44,14.54
$GC,1036,1.11,292.0,3122,1796,1547,1463,57.4,22.9,175,1043,0.00,2.47,0.00,0.000,4612,0.000,0.072,3130,391,1505,1547,1463,0,0,0,0,0,0,14.85,14.62,14.85
$GC,1071,1.11,292.0,3129,391,1546,1463,47.5,26.6,181,1078,0.00,2.35,0.00,0.000,5126,0.000,0.033,3130,1807,1504,1546,1463,0,0,0,0,0,0,14.79,14.71,14.81
$GC,1143,1.11,292.0,3129,1809,1546,1462,30.7,22.5,194,1151,0.05,2.33,0.00,0.000,4356,0.361,0.043,3120,3201,1503,1546,1461,0,0,0,0,0,0,14.58,14.66,14.73
$GC,1212,1.22,380.0,3120,3201,1545,1460,19.3,15.9,206,1284,0.00,2.38,63.08,0.824,11270,0.000,0.050,3125,1799,1145,1200,1091,0,0,0,0,0,0,14.88,14.77,14.11
$STATE,1291,end climb,FINISH_DEPTH_REACHED
$STATE,1292,begin subsurface finish
$FINISH1,3.2,1.025644,95
$GC,1300,0.12,95.1,3125,1799,1200,1089,3.2,22.9,220,1367,1.65,0.00,-58.30,0.000,20998,0.175,0.000,2801,1797,2313,2360,2267,0,0,0,0,0,0,14.52,13.88,14.66
$FINISH2,0.0
$STATE,1368,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1370,begin surface
$IRIDIUM_FIX,-3401.68,2505.27,240419,221726
$TT8_MAMPS,0.021721,0.932505
$HUMID,44.25
$INTERNAL_PRESSURE,9.48811
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,71.1,32.6
$SC_FREEKB,3602336
$24V_AH,13.31,172.051
$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,19.075,28.575,499.050,0.000,0.000,47.372,58.221,116.338,1.500,0.000,19.144,339.478,168.446,525.375,665.789,301.865,0.000,851.724,0.000,354.325,0.000,11.598,0.000
$DEVICE_MAMPS,361.080,83.385,1022.040,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1411.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.774,0.000,0.000,0.000
$MEM,340932
$DATA_FILE_SIZE,6779,232
$CAP_FILE_SIZE,47774,0
$CFSIZE,2097086464,1980235776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,240419,222244,-3413.510,2503.497,7,0.8,17,-27.5,0.6,124.7,11,8.9