version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 616
start: 4 25 119 0 24 21
data:
$ID,574
$MISSION,3
$DIVE,616
$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,29
$R_STBD_OVSHOOT,40
$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
$GPS1,250419,001431,-3413.2698,2503.1257,7,1.3,24,-27.4,0.0,294.8,8,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-72.4
$GPS2,250419,002355,-3413.3005,2503.0630,9,1.0,40,-27.5,0.8,290.6,9,5.2
$SPEED_LIMITS,0.346,0.443
$TGT_NAME,HEADING
$TGT_LATLONG,-3403.153,2458.605
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.11,-292.0,63,1785,1219,1141,0.0,0.0,0,102,0.00,0.00,-75.12,0.000,16386,0.000,0.000,57,1785,2997,2960,3034,0,0,0,0,0,0,15.03,28.83,15.06
$GC,106,-1.11,-292.0,57,1785,2961,3036,3.4,-6.7,14,142,13.85,2.42,-15.50,0.000,18948,0.297,0.083,2395,402,3893,3907,3880,0,0,0,0,0,0,14.52,13.29,14.83
$GC,188,-1.11,-292.0,2395,402,3908,3880,29.1,-25.8,28,194,0.00,2.35,0.00,0.000,3078,0.000,0.036,2391,1822,3894,3908,3880,0,0,0,0,0,0,14.93,14.84,14.95
$GC,258,-1.11,-292.0,2391,1825,3908,3880,43.6,-21.8,41,263,0.00,0.00,0.00,0.000,2054,0.000,0.000,2392,1825,3894,3908,3880,0,0,0,0,0,0,15.06,15.07,15.07
$GC,330,-1.11,-292.0,2392,1825,3908,3880,58.0,-19.7,54,336,0.00,0.00,0.00,0.000,2054,0.000,0.000,2392,1825,3894,3908,3880,0,0,0,0,0,0,15.08,15.08,15.08
$GC,406,-1.11,-292.0,2392,1825,3912,3880,74.5,-20.2,67,413,0.00,2.38,0.00,0.000,2308,0.000,0.054,2392,3220,3894,3908,3880,0,0,0,0,0,0,15.09,14.83,15.09
$STATE,433,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,433,begin apogee
$GC,444,-0.17,0.0,2392,1791,3908,3881,80.3,-16.8,72,666,1.58,0.00,213.07,1.021,10246,0.155,0.000,2699,1791,2698,2736,2660,0,0,0,0,0,0,14.69,14.43,13.91
$STATE,668,end apogee,CONTROL_FINISHED_OK
$STATE,668,begin climb
$GC,671,1.11,292.0,2699,1791,2734,2659,98.5,0.0,112,909,1.92,2.45,222.52,1.008,10756,0.054,0.067,3134,399,1507,1548,1467,0,0,0,0,0,0,14.50,14.38,13.88
$GC,952,1.11,292.0,3134,399,1545,1465,60.4,23.2,161,960,0.08,2.35,0.00,0.000,5126,0.287,0.031,3121,1812,1504,1545,1464,0,0,0,0,0,0,14.40,14.56,14.57
$GC,1026,1.11,292.0,3120,1815,1545,1462,43.3,23.5,174,1032,0.00,0.00,0.00,0.000,4102,0.000,0.000,3121,1814,1503,1545,1462,0,0,0,0,0,0,14.89,14.89,14.90
$GC,1095,1.11,292.0,3120,1814,1545,1461,26.8,23.1,187,1101,0.00,0.00,0.00,0.000,4102,0.000,0.000,3121,1814,1503,1545,1462,0,0,0,0,0,0,14.95,14.95,14.95
$GC,1164,1.15,323.3,3120,1815,1545,1461,14.4,18.5,200,1193,0.00,2.30,20.60,0.803,10500,0.000,0.046,3121,3201,1380,1428,1333,0,0,0,0,0,0,15.00,14.71,14.19
$STATE,1213,end climb,FINISH_DEPTH_REACHED
$STATE,1213,begin subsurface finish
$FINISH1,4.8,1.025644,95
$GC,1227,0.12,95.1,3121,1804,1427,1331,4.8,17.3,209,1284,1.65,2.45,-47.38,0.000,20996,0.192,0.093,2804,395,2313,2358,2268,0,0,0,0,0,0,14.55,13.91,14.70
$FINISH2,0.0
$STATE,1285,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1288,begin surface
$IRIDIUM_FIX,-3359.08,2500.70,240419,231950
$TT8_MAMPS,0.020972,0.919023
$HUMID,45.39
$INTERNAL_PRESSURE,9.47834
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.3,35.0
$SC_FREEKB,3600288
$24V_AH,13.29,172.720
$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,19.075,21.575,456.200,0.000,0.000,26.000,15.625,119.481,1.250,0.000,41.695,327.975,112.477,482.511,604.485,329.941,0.000,784.712,0.000,335.931,0.000,10.086,0.000
$DEVICE_MAMPS,296.820,92.565,1021.275,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1329.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.886,0.000,0.000,0.000
$MEM,340908
$DATA_FILE_SIZE,3480,219
$CAP_FILE_SIZE,43325,0
$CFSIZE,2097086464,1979056128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,250419,002355,-3413.301,2503.063,9,1.0,40,-27.5,0.8,290.6,9,5.2