version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 614
start: 4 24 119 23 23 52
data:
$ID,574
$MISSION,3
$DIVE,614
$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,28
$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
$GPS1,240419,231425,-3413.3972,2503.3149,7,1.0,16,-27.5,0.5,209.5,9,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-73.0
$GPS2,240419,232326,-3413.4243,2503.2402,7,1.0,14,-27.5,0.0,317.3,9,9.9
$SPEED_LIMITS,0.346,0.443
$TGT_NAME,HEADING
$TGT_LATLONG,-3403.276,2458.782
$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,-292.0,66,1795,1218,1138,0.0,0.0,0,103,0.00,0.00,-75.35,0.000,16386,0.000,0.000,60,1795,3003,2970,3037,0,0,0,0,0,0,15.02,28.83,15.02
$GC,107,-1.11,-292.0,60,1795,2969,3038,3.3,-6.4,14,143,13.85,2.45,-15.48,0.000,18948,0.298,0.082,2395,401,3893,3907,3879,0,0,0,0,0,0,14.52,13.28,14.81
$GC,178,-1.11,-292.0,2394,401,3909,3879,26.0,-25.8,26,184,0.00,2.33,0.00,0.000,3078,0.000,0.036,2389,1802,3893,3908,3879,0,0,0,0,0,0,14.92,14.83,14.93
$GC,250,-1.11,-292.0,2388,1806,3908,3878,40.8,-21.3,39,257,0.00,2.40,0.00,0.000,2308,0.000,0.051,2379,3225,3893,3908,3879,0,0,0,0,0,0,15.06,14.74,15.08
$GC,306,-1.11,-292.0,2379,3225,3908,3879,51.8,-17.2,49,313,0.10,2.40,0.00,0.000,3078,0.225,0.044,2399,1803,3894,3909,3879,0,0,0,0,0,0,14.65,14.78,14.81
$GC,381,-1.11,-292.0,2399,1802,3909,3879,65.3,-20.5,62,387,0.00,2.40,0.00,0.000,2564,0.000,0.065,2400,408,3894,3909,3879,0,0,0,0,0,0,15.09,14.76,15.09
$GC,412,-1.11,-292.0,2399,408,3908,3879,71.5,-18.9,67,419,0.00,2.33,0.00,0.000,3078,0.000,0.034,2399,1817,3894,3909,3879,0,0,0,0,0,0,14.95,14.85,14.97
$STATE,475,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,475,begin apogee
$GC,485,-0.17,0.0,2399,1822,3908,3878,83.3,-19.2,79,707,1.50,0.00,213.15,1.023,10246,0.164,0.000,2698,1820,2698,2737,2660,0,0,0,0,0,0,14.68,14.38,13.88
$STATE,709,end apogee,CONTROL_FINISHED_OK
$STATE,709,begin climb
$GC,712,1.11,292.0,2697,1820,2735,2659,100.8,0.0,119,950,1.92,2.55,222.98,1.009,10756,0.050,0.067,3138,391,1507,1548,1466,0,0,0,0,0,0,14.50,14.25,13.87
$GC,968,1.11,292.0,3138,391,1546,1465,67.9,24.5,163,976,0.10,2.38,0.00,0.000,5126,0.266,0.032,3122,1806,1505,1546,1464,0,0,0,0,0,0,14.33,14.47,14.51
$GC,1041,1.11,292.0,3121,1809,1546,1462,50.8,24.8,176,1048,0.00,0.00,0.00,0.000,4102,0.000,0.000,3121,1809,1503,1546,1461,0,0,0,0,0,0,14.85,14.85,14.85
$GC,1111,1.11,292.0,3121,1809,1546,1461,34.1,22.9,189,1118,0.00,2.33,0.00,0.000,4356,0.000,0.046,3121,3200,1503,1546,1461,0,0,0,0,0,0,14.93,14.72,14.93
$GC,1190,1.21,375.9,3121,3200,1544,1459,20.8,16.1,203,1256,0.00,2.40,58.33,0.840,11270,0.000,0.050,3125,1794,1164,1218,1111,0,0,0,0,0,0,14.87,14.76,14.11
$STATE,1269,end climb,FINISH_DEPTH_REACHED
$STATE,1269,begin subsurface finish
$FINISH1,4.6,1.025646,95
$GC,1278,0.12,95.0,3125,1794,1218,1109,4.6,19.3,217,1345,1.67,2.45,-55.95,0.000,20996,0.178,0.084,2800,391,2317,2363,2271,0,0,0,0,0,0,14.47,13.43,14.63
$FINISH2,0.3
$STATE,1349,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1349,begin surface
$IRIDIUM_FIX,-3359.08,2501.80,240419,221934
$TT8_MAMPS,0.020972,0.902545
$HUMID,44.29
$INTERNAL_PRESSURE,9.47834
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.4,32.3
$SC_FREEKB,3601312
$24V_AH,13.28,172.392
$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,19.150,26.400,494.450,0.000,0.000,23.026,39.662,122.070,1.500,0.000,17.003,334.256,108.831,516.818,616.746,318.209,0.000,835.449,0.000,352.380,0.000,11.615,0.000
$DEVICE_MAMPS,297.585,84.150,1022.805,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1391.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.721,0.000,0.000,0.000
$MEM,340880
$DATA_FILE_SIZE,6808,229
$CAP_FILE_SIZE,45648,0
$CFSIZE,2097086464,1979645952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,240419,232326,-3413.424,2503.240,7,1.0,14,-27.5,0.0,317.3,9,9.9