version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 623
start: 4 25 119 3 44 48
data:
$ID,574
$MISSION,3
$DIVE,623
$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,31
$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
$GPS1,250419,032110,-3412.9705,2502.7412,8,0.8,15,-27.4,0.0,299.9,10,9.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.02
$_SM_ANGLEo,2.3
$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,24,-1.11,-292.0,2803,1802,2362,2283,0.0,0.0,0,107,0.00,0.00,-75.68,0.000,16390,0.000,0.000,2803,1802,3891,3914,3868,0,0,0,0,0,0,15.05,14.00,15.06
$GC,114,-1.11,-292.0,2803,1802,3916,3868,2.5,-9.3,15,121,1.75,2.42,0.00,0.000,4356,0.067,0.052,2406,3209,3892,3915,3869,0,0,0,0,0,0,14.86,14.84,14.93
$GC,150,-1.11,-292.0,2405,3209,3914,3869,7.9,-13.9,21,157,0.00,2.35,0.00,0.000,1030,0.000,0.043,2405,1807,3891,3914,3869,0,0,0,0,0,0,14.90,14.81,14.91
$GC,223,-1.11,-292.0,2405,1807,3913,3869,23.4,-24.6,34,229,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,1807,3891,3914,3869,0,0,0,0,0,0,15.07,15.07,15.07
$GC,292,-1.11,-292.0,2405,1806,3914,3869,38.2,-21.3,47,299,0.00,2.38,0.00,0.000,516,0.000,0.063,2405,406,3891,3913,3869,0,0,0,0,0,0,15.09,14.83,15.09
$GC,348,-1.11,-292.0,2406,406,3913,3869,49.4,-17.9,57,356,0.00,2.33,0.00,0.000,3078,0.000,0.034,2399,1813,3891,3913,3869,0,0,0,0,0,0,14.97,14.88,14.99
$GC,424,-1.11,-292.0,2399,1816,3913,3869,63.4,-17.3,70,431,0.00,2.35,0.00,0.000,2308,0.000,0.051,2395,3213,3891,3913,3869,0,0,0,0,0,0,15.11,14.73,15.11
$GC,445,-1.11,-292.0,2399,3213,3913,3870,66.4,-15.4,73,452,0.00,2.35,0.00,0.000,3078,0.000,0.043,2399,1813,3892,3914,3870,0,0,0,0,0,0,14.92,14.81,14.93
$STATE,482,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,482,begin apogee
$GC,490,-0.17,0.0,2399,1813,3913,3870,72.3,-15.9,80,709,1.50,0.00,211.12,1.012,10246,0.162,0.000,2699,1813,2699,2739,2659,0,0,0,0,0,0,14.62,14.43,13.93
$STATE,713,end apogee,CONTROL_FINISHED_OK
$STATE,713,begin climb
$GC,716,1.11,292.0,2699,1813,2737,2658,89.4,0.0,119,954,1.92,2.45,224.57,0.999,11012,0.044,0.044,3147,3208,1507,1548,1467,0,0,0,0,0,0,14.53,14.41,13.88
$GC,1030,1.11,292.0,3147,3208,1544,1462,44.4,21.3,174,1037,0.15,2.42,0.00,0.000,5126,0.269,0.053,3122,1804,1503,1544,1463,0,0,0,0,0,0,14.47,14.63,14.66
$GC,1104,1.11,292.0,3121,1804,1544,1461,29.0,20.9,187,1110,0.00,0.00,0.00,0.000,4102,0.000,0.000,3122,1804,1503,1545,1461,0,0,0,0,0,0,14.93,14.94,14.94
$GC,1173,1.17,339.2,3122,1804,1545,1461,15.5,17.8,200,1213,0.00,2.45,32.15,0.810,10756,0.000,0.069,3125,388,1313,1362,1264,0,0,0,0,0,0,14.99,14.65,14.17
$STATE,1241,end climb,SURFACE_DEPTH_REACHED
$STATE,1241,begin surface coast
$FINISH,0.2,1.025712
$STATE,1252,end surface coast,CONTROL_FINISHED_OK
$STATE,1252,begin surface
$SM_CCo,1281,6.12,0.627,0,0,1272,350.04
$SM_GC,1.61,14.18,2.40,6.12,0.040,0.031,0.627,123,1805,1272,-8.18,-1.39,350.04,0,0,0,0,0,0,14.76,14.76,14.16
$IRIDIUM_FIX,-3359.08,2501.80,250419,031423
$TT8_MAMPS,0.021721,0.916776
$HUMID,45.19
$INTERNAL_PRESSURE,9.37092
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,55.7,36.3
$SC_FREEKB,3596704
$24V_AH,13.88,173.861
$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,19.500,26.275,467.850,6.125,0.000,0.000,0.000,0.000,0.750,0.000,0.000,339.873,120.449,457.400,396.096,116.629,0.000,742.908,0.000,334.512,0.000,7.046,0.000
$DEVICE_MAMPS,268.515,68.850,1012.095,626.535,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1292.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.370,0.000,0.000,0.000
$MEM,341148
$DATA_FILE_SIZE,3487,214
$CAP_FILE_SIZE,39886,0
$CFSIZE,2097086464,1977122816
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,486.04,0x2131ca,2,24
$GPS,250419,040731,-3412.976,2502.973,8,1.0,30,-27.4,0.5,141.8,8,6.0