version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 622
start: 4 25 119 3 21 35
data:
$ID,574
$MISSION,3
$DIVE,622
$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,70
$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,49
$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
$GPS1,250419,030733,-3412.9294,2502.7917,7,0.8,15,-27.4,0.0,150.0,10,9.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-72.3
$GPS2,250419,032110,-3412.9705,2502.7412,8,0.8,15,-27.4,0.0,299.9,10,9.6
$SPEED_LIMITS,0.346,0.443
$TGT_NAME,HEADING
$TGT_LATLONG,-3409.277,2515.004
$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,97.4,20000,-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,-292.0,54,1802,1297,1229,0.0,0.0,0,97,0.00,0.00,-69.80,0.000,16386,0.000,0.000,54,1801,2956,2915,2998,0,0,0,0,0,0,15.02,28.83,15.03
$GC,102,-1.11,-292.0,59,1802,2917,2997,3.0,-4.7,13,143,13.77,2.42,-16.88,0.000,18948,0.290,0.083,2393,406,3893,3909,3877,0,0,0,0,0,0,14.52,13.29,14.82
$GC,281,-1.11,-292.0,2393,406,3910,3877,45.9,-19.4,46,288,0.00,2.33,0.00,0.000,3078,0.000,0.036,2391,1804,3893,3909,3877,0,0,0,0,0,0,14.89,14.80,14.88
$GC,356,-1.11,-292.0,2391,1807,3910,3878,62.1,-18.0,59,363,0.00,2.38,0.00,0.000,2308,0.000,0.050,2384,3218,3893,3910,3877,0,0,0,0,0,0,15.09,14.78,15.09
$GC,391,-1.11,-292.0,2383,3217,3910,3878,68.4,-17.0,65,398,0.08,2.38,0.00,0.000,3078,0.249,0.044,2399,1806,3893,3910,3876,0,0,0,0,0,0,14.64,14.78,14.82
$STATE,409,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,409,begin apogee
$GC,417,-0.17,0.0,2399,1807,3910,3877,71.6,-15.5,68,639,1.50,0.00,213.27,1.002,10246,0.165,0.000,2697,1806,2698,2737,2660,0,0,0,0,0,0,14.63,14.43,13.91
$STATE,641,end apogee,CONTROL_FINISHED_OK
$STATE,641,begin climb
$GC,644,1.11,292.0,2698,1806,2735,2659,88.6,0.0,108,882,1.95,2.42,223.32,0.992,10500,0.056,0.044,3135,3206,1507,1547,1467,0,0,0,0,0,0,14.50,14.25,13.85
$GC,953,1.11,292.0,3135,3207,1543,1463,45.6,20.3,162,960,0.10,2.42,0.00,0.000,5126,0.287,0.054,3121,1806,1502,1543,1462,0,0,0,0,0,0,14.51,14.62,14.68
$GC,1027,1.14,318.3,3121,1806,1548,1461,31.1,18.8,175,1055,0.00,2.47,21.77,0.877,8708,0.000,0.070,3128,391,1400,1446,1354,0,0,0,0,0,0,14.92,14.49,14.09
$GC,1141,1.14,318.6,3128,390,1445,1352,7.8,19.9,196,1148,0.00,2.35,0.00,0.000,5126,0.000,0.032,3128,1810,1398,1445,1352,0,0,0,0,0,0,14.81,14.73,14.82
$STATE,1153,end climb,FINISH_DEPTH_REACHED
$STATE,1153,begin subsurface finish
$FINISH1,4.9,1.025667,94
$GC,1161,0.12,93.9,3128,1813,1445,1351,4.9,19.4,198,1212,1.70,2.33,-41.78,0.000,20740,0.194,0.068,2803,3196,2319,2365,2274,0,0,0,0,0,0,14.57,13.93,14.76
$FINISH2,0.5
$STATE,1213,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1214,begin surface
$IRIDIUM_FIX,-3359.08,2501.80,250419,031423
$TT8_MAMPS,0.021721,0.956473
$HUMID,45.39
$INTERNAL_PRESSURE,9.48811
$TCM_TEMP,20.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,55.2,35.6
$SC_FREEKB,3597216
$24V_AH,13.29,173.707
$10V_AH,12.97,0.000
$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,19.100,21.500,458.375,0.000,0.000,50.911,87.165,168.419,1.000,0.000,16.170,306.664,159.981,467.928,699.690,403.103,0.000,752.693,0.000,327.655,0.000,7.057,0.000
$DEVICE_MAMPS,289.935,82.620,1002.150,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1256.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.008,0.000,0.000,0.000
$MEM,340860
$DATA_FILE_SIZE,3498,207
$CAP_FILE_SIZE,43523,0
$CFSIZE,2097086464,1977286656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,250419,032110,-3412.970,2502.741,8,0.8,15,-27.4,0.0,299.9,10,9.6