version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 617
start: 4 25 119 0 48 47
data:
$ID,574
$MISSION,3
$DIVE,617
$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,35
$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
$GPS1,250419,002355,-3413.3005,2503.0630,9,1.0,40,-27.5,0.8,290.6,9,5.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-1.4
$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,-292.0,2800,1809,2359,2263,0.0,0.0,0,111,0.00,0.00,-80.88,0.000,16390,0.000,0.000,2803,1810,3890,3916,3865,0,0,0,0,0,0,15.05,13.95,15.06
$GC,118,-1.11,-292.0,2803,1810,3916,3865,1.5,-6.9,16,126,1.77,2.42,0.00,0.000,4356,0.080,0.051,2411,3227,3891,3916,3866,0,0,0,0,0,0,14.83,14.79,14.92
$GC,216,-1.11,-292.0,2411,3227,3915,3869,18.6,-18.6,34,223,0.00,2.38,0.00,0.000,5126,0.000,0.044,2411,1810,3891,3914,3869,0,0,0,0,0,0,14.96,14.85,14.97
$GC,289,-1.11,-292.0,2411,1809,3914,3869,34.3,-21.5,47,295,0.00,2.40,0.00,0.000,4356,0.000,0.052,2406,3226,3891,3914,3869,0,0,0,0,0,0,15.09,14.73,15.09
$GC,319,-1.11,-292.0,2406,3225,3914,3869,41.1,-20.8,52,326,0.00,2.38,0.00,0.000,1030,0.000,0.044,2406,1809,3891,3914,3869,0,0,0,0,0,0,14.85,14.76,14.87
$GC,392,-1.11,-292.0,2406,1809,3914,3869,54.4,-18.8,65,399,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,1809,3891,3914,3869,0,0,0,0,0,0,15.08,15.09,15.09
$GC,467,-1.11,-292.0,2406,1809,3914,3869,68.7,-20.4,78,474,0.00,2.38,0.00,0.000,516,0.000,0.063,2403,407,3891,3914,3869,0,0,0,0,0,0,15.09,14.83,15.09
$GC,482,-1.11,-292.0,2406,407,3914,3869,71.8,-18.4,80,489,0.00,2.33,0.00,0.000,3078,0.000,0.034,2399,1821,3891,3914,3869,0,0,0,0,0,0,14.97,14.88,14.99
$STATE,519,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,519,begin apogee
$GC,527,-0.17,0.0,2399,1824,3914,3869,78.8,-17.7,87,750,1.50,0.00,212.12,1.023,10246,0.161,0.000,2698,1824,2698,2737,2659,0,0,0,0,0,0,14.71,14.40,13.88
$STATE,751,end apogee,CONTROL_FINISHED_OK
$STATE,751,begin climb
$GC,755,1.11,292.0,2698,1824,2736,2658,96.4,0.0,127,992,1.92,2.55,223.85,1.010,10756,0.047,0.065,3153,392,1507,1548,1466,0,0,0,0,0,0,14.52,14.25,13.88
$GC,1068,1.11,292.0,3152,391,1545,1465,50.3,26.7,182,1075,0.17,2.38,0.00,0.000,5126,0.248,0.034,3121,1812,1503,1545,1461,0,0,0,0,0,0,14.47,14.65,14.66
$GC,1142,1.11,292.0,3121,1814,1545,1462,33.3,22.6,195,1148,0.00,2.35,0.00,0.000,4356,0.000,0.045,3121,3211,1503,1545,1462,0,0,0,0,0,0,14.93,14.69,14.93
$GC,1214,1.21,373.3,3120,3211,1544,1461,18.9,16.2,208,1276,0.00,2.40,56.22,0.828,11270,0.000,0.050,3125,1799,1178,1232,1125,0,0,0,0,0,0,14.86,14.76,14.11
$STATE,1297,end climb,SURFACE_DEPTH_REACHED
$STATE,1298,begin surface coast
$FINISH,0.1,1.025643
$STATE,1310,end surface coast,CONTROL_FINISHED_OK
$STATE,1310,begin surface
$SM_CCo,1396,0.00,0.000,0,0,1169,375.79
$SM_GC,1.05,14.20,0.00,0.00,0.044,0.000,0.000,129,1799,1169,-8.18,-0.37,375.79,0,0,0,0,0,0,14.66,14.90,14.76
$IRIDIUM_FIX,-3359.08,2500.70,240419,231950
$TT8_MAMPS,0.020972,0.904043
$HUMID,45.15
$INTERNAL_PRESSURE,9.35139
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.2,32.9
$SC_FREEKB,3599776
$24V_AH,13.88,172.882
$10V_AH,12.96,0.000
$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,19.575,26.325,492.200,0.000,0.000,0.000,0.000,0.000,1.250,0.000,0.000,348.693,184.305,470.326,415.875,117.015,0.000,768.592,0.000,348.118,0.000,10.078,0.000
$DEVICE_MAMPS,247.860,65.025,1022.805,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1352.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.284,0.000,0.000,0.000
$MEM,341148
$DATA_FILE_SIZE,6802,225
$CAP_FILE_SIZE,40451,0
$CFSIZE,2097086464,1978892288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250419,011305,-3413.148,2503.010,7,1.0,22,-27.4,0.6,185.2,8,9.1