version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 620
start: 4 25 119 2 20 56
data:
$ID,574
$MISSION,3
$DIVE,620
$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,48
$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
$GPS1,250419,021031,-3413.0381,2502.8694,9,0.8,44,-27.4,0.7,173.0,10,5.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-70.7
$GPS2,250419,022031,-3413.0706,2502.8154,6,0.8,13,-27.4,0.4,29.4,10,9.6
$SPEED_LIMITS,0.346,0.443
$TGT_NAME,HEADING
$TGT_LATLONG,-3402.923,2458.358
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,25,-1.11,-292.0,71,1811,1301,1231,0.0,0.0,0,97,0.00,0.00,-69.47,0.000,16386,0.000,0.000,66,1811,2935,2896,2975,0,0,0,0,0,0,15.02,28.83,15.02
$GC,101,-1.11,-292.0,66,1811,2897,2975,3.1,-5.5,13,142,13.70,2.47,-17.30,0.000,18948,0.293,0.086,2393,404,3895,3911,3879,0,0,0,0,0,0,14.52,13.29,14.81
$GC,193,-1.11,-292.0,2392,404,3912,3879,29.8,-23.4,29,200,0.00,2.35,0.00,0.000,3078,0.000,0.035,2392,1814,3895,3911,3879,0,0,0,0,0,0,14.93,14.83,14.94
$GC,266,-1.11,-292.0,2391,1816,3912,3879,44.2,-21.3,42,271,0.00,0.00,0.00,0.000,2054,0.000,0.000,2391,1817,3895,3912,3879,0,0,0,0,0,0,15.11,15.08,15.08
$GC,335,-1.11,-292.0,2391,1820,3912,3879,58.5,-20.0,55,340,0.00,0.00,0.00,0.000,2054,0.000,0.000,2392,1816,3895,3912,3879,0,0,0,0,0,0,15.09,15.09,15.09
$GC,408,-1.11,-292.0,2391,1816,3912,3879,72.6,-18.8,68,415,0.00,2.38,0.00,0.000,2308,0.000,0.054,2391,3223,3895,3912,3879,0,0,0,0,0,0,15.07,14.83,15.07
$STATE,420,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,420,begin apogee
$GC,430,-0.17,0.0,2392,1788,3912,3880,75.8,-18.2,70,653,1.58,0.00,213.62,1.013,10246,0.157,0.000,2698,1787,2700,2738,2662,0,0,0,0,0,0,14.57,14.41,13.90
$STATE,655,end apogee,CONTROL_FINISHED_OK
$STATE,655,begin climb
$GC,658,1.11,292.0,2697,1787,2734,2659,92.7,0.0,110,897,2.03,2.53,225.15,0.997,10756,0.103,0.069,3120,391,1507,1548,1467,0,0,0,0,0,0,14.43,14.35,13.91
$GC,945,1.11,292.0,3120,390,1546,1464,57.6,23.4,160,952,0.00,2.38,0.00,0.000,5126,0.000,0.031,3120,1810,1505,1546,1464,0,0,0,0,0,0,14.69,14.62,14.70
$GC,1018,1.11,292.0,3120,1813,1546,1462,41.4,22.3,173,1025,0.00,2.50,0.00,0.000,4612,0.000,0.069,3121,393,1504,1546,1462,0,0,0,0,0,0,14.90,14.58,14.90
$GC,1063,1.11,292.0,3121,393,1545,1462,30.4,24.8,181,1070,0.00,2.33,0.00,0.000,5126,0.000,0.033,3121,1798,1503,1545,1461,0,0,0,0,0,0,14.74,14.66,14.75
$GC,1137,1.15,329.2,3121,1800,1545,1461,16.9,18.3,194,1171,0.00,2.38,25.20,0.820,10500,0.000,0.044,3121,3202,1354,1402,1307,0,0,0,0,0,0,14.99,14.67,14.16
$STATE,1199,end climb,FINISH_DEPTH_REACHED
$STATE,1199,begin subsurface finish
$FINISH1,4.4,1.025652,95
$GC,1211,0.12,94.7,3124,1795,1402,1305,4.4,19.6,205,1267,1.73,0.00,-48.15,0.000,21254,0.197,0.000,2803,1793,2318,2364,2272,0,0,0,0,0,0,14.57,13.48,14.69
$FINISH2,0.1
$STATE,1268,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1268,begin surface
$IRIDIUM_FIX,-3359.08,2501.80,250419,011907
$TT8_MAMPS,0.021721,0.937748
$HUMID,44.52
$INTERNAL_PRESSURE,9.48811
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,61.2,31.4
$SC_FREEKB,3598240
$24V_AH,13.29,173.381
$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,19.025,24.200,463.975,0.000,0.000,25.448,42.259,118.565,1.000,0.000,15.144,317.303,105.300,486.366,593.695,372.478,0.000,787.420,0.000,329.884,0.000,8.565,0.000
$DEVICE_MAMPS,292.995,85.680,1012.860,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1308.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.787,0.000,0.000,0.000
$MEM,340884
$DATA_FILE_SIZE,3494,215
$CAP_FILE_SIZE,43166,0
$CFSIZE,2097086464,1977876480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,250419,022031,-3413.071,2502.815,6,0.8,13,-27.4,0.4,29.4,10,9.6