version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 618
start: 4 25 119 1 22 51
data:
$ID,574
$MISSION,3
$DIVE,618
$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,45
$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
$GPS1,250419,011305,-3413.1482,2503.0103,7,1.0,22,-27.4,0.6,185.2,8,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-72.0
$GPS2,250419,012225,-3413.1829,2502.9509,7,1.0,23,-27.4,0.6,276.3,9,8.2
$SPEED_LIMITS,0.346,0.443
$TGT_NAME,HEADING
$TGT_LATLONG,-3403.035,2458.493
$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,7.4,20000,-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,-292.0,71,1794,1206,1124,0.0,0.0,0,102,0.00,0.00,-75.10,0.000,16386,0.000,0.000,64,1794,2994,2958,3030,0,0,0,0,0,0,15.03,28.83,15.04
$GC,106,-1.11,-292.0,64,1794,2960,3029,3.4,-7.0,14,142,13.75,2.45,-15.65,0.000,18948,0.294,0.083,2394,401,3892,3906,3878,0,0,0,0,0,0,14.52,13.29,14.82
$GC,187,-1.11,-292.0,2394,400,3906,3878,28.0,-23.6,28,194,0.00,2.35,0.00,0.000,3078,0.000,0.037,2388,1815,3892,3907,3878,0,0,0,0,0,0,14.93,14.83,14.95
$GC,260,-1.11,-292.0,2388,1818,3906,3878,41.6,-20.5,41,267,0.03,2.35,0.00,0.000,2308,0.517,0.047,2387,3222,3892,3907,3878,0,0,0,0,0,0,14.67,14.77,14.85
$GC,285,-1.11,-292.0,2387,3222,3907,3879,47.3,-20.5,45,293,0.05,2.40,0.00,0.000,3078,0.311,0.044,2397,1802,3892,3907,3878,0,0,0,0,0,0,14.62,14.78,14.83
$GC,363,-1.11,-292.0,2397,1802,3907,3878,60.7,-19.6,58,370,0.00,2.40,0.00,0.000,2564,0.000,0.066,2398,405,3892,3907,3878,0,0,0,0,0,0,15.09,14.81,15.09
$GC,384,-1.11,-292.0,2397,405,3907,3878,65.4,-18.3,61,390,0.00,2.33,0.00,0.000,3078,0.000,0.034,2394,1818,3891,3907,3876,0,0,0,0,0,0,14.84,14.76,14.85
$STATE,453,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,453,begin apogee
$GC,460,-0.17,0.0,2394,1821,3907,3878,77.6,-17.9,74,683,1.52,0.00,212.40,1.014,10246,0.162,0.000,2697,1822,2698,2737,2660,0,0,0,0,0,0,14.59,14.39,13.88
$STATE,685,end apogee,CONTROL_FINISHED_OK
$STATE,685,begin climb
$GC,688,1.11,292.0,2697,1822,2735,2659,94.1,0.0,114,926,1.92,2.60,223.85,1.003,10756,0.055,0.067,3133,392,1506,1547,1466,0,0,0,0,0,0,14.50,14.38,13.89
$GC,997,1.11,292.0,3131,391,1545,1465,52.0,22.8,168,1004,0.08,2.35,0.00,0.000,5126,0.289,0.033,3119,1805,1504,1544,1464,0,0,0,0,0,0,14.47,14.65,14.66
$GC,1070,1.11,292.0,3117,1808,1545,1462,34.9,21.9,181,1076,0.00,0.00,0.00,0.000,4102,0.000,0.000,3119,1808,1502,1545,1460,0,0,0,0,0,0,14.92,14.94,14.93
$GC,1140,1.22,379.2,3122,1808,1545,1462,20.8,16.0,194,1207,0.00,2.40,60.83,0.842,10500,0.000,0.044,3119,3201,1150,1204,1097,0,0,0,0,0,0,14.98,14.56,14.08
$STATE,1224,end climb,FINISH_DEPTH_REACHED
$STATE,1224,begin subsurface finish
$FINISH1,4.0,1.025645,95
$GC,1236,0.12,95.0,3119,1807,1204,1094,4.0,20.7,209,1304,1.62,2.38,-57.85,0.000,21252,0.174,0.070,2802,3200,2314,2359,2269,0,0,0,0,0,0,14.50,13.85,14.66
$FINISH2,0.2
$STATE,1307,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1307,begin surface
$IRIDIUM_FIX,-3401.68,2505.27,250419,002016
$TT8_MAMPS,0.020972,0.920521
$HUMID,45.35
$INTERNAL_PRESSURE,9.48811
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,60.7,36.4
$SC_FREEKB,3599264
$24V_AH,13.29,173.057
$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,18.975,26.450,497.075,0.000,0.000,23.023,20.755,117.788,1.000,0.000,24.756,316.682,102.038,516.469,582.389,355.585,0.000,828.059,0.000,345.546,0.000,8.577,0.000
$DEVICE_MAMPS,517.140,83.385,1014.390,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1350.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.496,0.000,0.000,0.000
$MEM,340876
$DATA_FILE_SIZE,6797,221
$CAP_FILE_SIZE,44361,0
$CFSIZE,2097086464,1978466304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,250419,012225,-3413.183,2502.951,7,1.0,23,-27.4,0.6,276.3,9,8.2