version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 615
start: 4 24 119 23 49 18
data:
$ID,574
$MISSION,3
$DIVE,615
$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
$GPS1,240419,232326,-3413.4243,2503.2402,7,1.0,14,-27.5,0.0,317.3,9,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.07
$_SM_ANGLEo,1.1
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.11,-292.0,2799,1823,2364,2273,0.0,0.0,0,102,0.00,0.00,-73.50,0.000,16390,0.000,0.000,2799,1825,3892,3915,3870,0,0,0,0,0,0,15.02,13.44,15.03
$GC,107,-1.11,-292.0,2803,1825,3916,3870,2.5,-8.1,14,114,1.75,2.47,0.00,0.000,4612,0.072,0.062,2411,404,3892,3915,3870,0,0,0,0,0,0,14.78,14.81,14.86
$GC,158,-1.11,-292.0,2410,403,3915,3870,10.9,-18.2,23,165,0.00,2.33,0.00,0.000,1030,0.000,0.038,2406,1808,3892,3915,3870,0,0,0,0,0,0,14.93,14.84,14.95
$GC,231,-1.11,-292.0,2406,1810,3914,3870,26.7,-24.0,36,237,0.00,2.35,0.00,0.000,260,0.000,0.057,2406,3214,3892,3915,3870,0,0,0,0,0,0,15.07,14.78,15.08
$GC,314,-1.11,-292.0,2406,3214,3915,3872,41.5,-15.7,51,321,0.00,2.35,0.00,0.000,1030,0.000,0.042,2407,1802,3893,3915,3871,0,0,0,0,0,0,14.95,14.85,14.97
$GC,387,-1.11,-292.0,2406,1802,3914,3871,54.7,-17.8,64,394,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,1802,3893,3915,3871,0,0,0,0,0,0,15.09,15.10,15.09
$GC,462,-1.11,-292.0,2406,1802,3915,3871,67.7,-19.7,77,468,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,1802,3893,3914,3872,0,0,0,0,0,0,15.09,15.09,15.09
$GC,532,-1.11,-292.0,2406,1802,3915,3871,80.4,-18.4,90,539,0.00,2.38,0.00,0.000,260,0.000,0.053,2406,3212,3893,3915,3871,0,0,0,0,0,0,15.09,14.84,15.10
$STATE,544,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,544,begin apogee
$GC,554,-0.17,0.0,2406,1799,3915,3871,82.8,-17.5,92,776,1.48,0.00,212.32,1.027,10246,0.148,0.000,2705,1799,2698,2737,2659,0,0,0,0,0,0,14.72,14.42,13.90
$STATE,778,end apogee,CONTROL_FINISHED_OK
$STATE,778,begin climb
$GC,781,1.11,292.0,2705,1799,2736,2658,99.9,0.0,132,1019,1.90,2.42,223.12,1.013,10500,0.057,0.044,3124,3205,1507,1549,1466,0,0,0,0,0,0,14.48,14.25,13.86
$GC,1160,1.11,292.0,3124,3206,1546,1462,40.1,20.6,200,1166,0.00,2.42,0.00,0.000,5126,0.000,0.057,3126,1803,1503,1546,1460,0,0,0,0,0,0,14.81,14.69,14.82
$GC,1232,1.11,292.0,3125,1802,1546,1461,25.1,20.8,213,1238,0.00,2.38,0.00,0.000,4356,0.000,0.047,3125,3208,1503,1546,1461,0,0,0,0,0,0,14.97,14.66,14.97
$GC,1272,1.20,369.8,3125,3209,1546,1460,18.2,16.4,220,1334,0.00,2.42,54.10,0.828,11270,0.000,0.052,3125,1790,1189,1243,1135,0,0,0,0,0,0,14.80,14.69,14.09
$STATE,1351,end climb,SURFACE_DEPTH_REACHED
$STATE,1351,begin surface coast
$FINISH,0.5,1.025652
$STATE,1362,end surface coast,CONTROL_FINISHED_OK
$STATE,1362,begin surface
$SM_CCo,1449,0.00,0.000,0,0,1186,371.62
$SM_GC,0.90,14.20,0.00,0.00,0.044,0.000,0.000,125,1790,1186,-8.18,-0.62,371.62,0,0,0,0,0,0,14.71,14.90,14.78
$IRIDIUM_FIX,-3359.08,2501.80,240419,221934
$TT8_MAMPS,0.021721,0.942991
$HUMID,45.55
$INTERNAL_PRESSURE,9.35139
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.3,35.3
$SC_FREEKB,3600800
$24V_AH,13.44,172.554
$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,19.325,26.325,489.550,0.000,0.000,0.000,0.000,0.000,1.250,0.000,0.000,376.581,201.353,464.164,433.271,112.628,0.000,767.131,0.000,359.628,0.000,10.089,0.000
$DEVICE_MAMPS,148.410,61.965,1026.630,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1404.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.376,0.000,0.000,0.000
$MEM,341096
$DATA_FILE_SIZE,6822,236
$CAP_FILE_SIZE,41492,0
$CFSIZE,2097086464,1979482112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250419,001431,-3413.270,2503.126,7,1.3,24,-27.4,0.0,294.8,8,9.6