version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 626
start: 4 25 119 5 20 27
data:
$ID,574
$MISSION,3
$DIVE,626
$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,53
$R_STBD_OVSHOOT,62
$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
$GPS1,250419,050843,-3413.0696,2503.2715,8,1.1,22,-27.4,0.6,253.4,8,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-71.5
$GPS2,250419,052001,-3413.1091,2503.2637,8,0.9,34,-27.4,0.3,159.9,9,6.1
$SPEED_LIMITS,0.346,0.443
$TGT_NAME,HEADING
$TGT_LATLONG,-3409.416,2515.527
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.11,-292.0,54,1784,1255,1173,0.0,0.0,0,104,0.00,0.00,-75.75,0.000,16386,0.000,0.000,54,1784,3084,3049,3119,0,0,0,0,0,0,15.04,28.83,15.04
$GC,108,-1.11,-292.0,54,1783,3048,3119,3.8,-9.3,14,144,13.85,2.33,-13.55,0.000,18948,0.295,0.086,2396,424,3894,3907,3881,0,0,0,0,0,0,14.45,13.31,14.72
$GC,250,-1.11,-292.0,2395,423,3907,3881,40.0,-18.5,40,257,0.00,2.28,0.00,0.000,3078,0.000,0.037,2392,1799,3894,3907,3881,0,0,0,0,0,0,14.83,14.74,14.84
$GC,322,-1.11,-292.0,2392,1802,3907,3880,53.6,-21.1,53,330,0.00,2.40,0.00,0.000,2308,0.000,0.054,2392,3216,3894,3907,3881,0,0,0,0,0,0,15.09,14.82,15.09
$GC,397,-1.11,-292.0,2391,3216,3907,3881,65.5,-15.1,65,403,0.00,2.33,0.00,0.000,3078,0.000,0.041,2392,1829,3894,3907,3881,0,0,0,0,0,0,14.90,14.80,14.91
$GC,470,-1.11,-292.0,2391,1828,3907,3881,78.2,-18.4,78,476,0.00,2.45,0.00,0.000,2564,0.000,0.063,2392,398,3893,3907,3880,0,0,0,0,0,0,15.09,14.71,15.09
$STATE,482,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,482,begin apogee
$GC,491,-0.17,0.0,2389,1801,3907,3880,81.9,-19.4,80,715,1.55,0.00,212.62,1.017,10246,0.158,0.000,2698,1808,2697,2736,2659,0,0,0,0,0,0,14.60,14.40,13.89
$STATE,716,end apogee,CONTROL_FINISHED_OK
$STATE,716,begin climb
$GC,720,1.11,292.0,2698,1808,2734,2658,98.5,0.0,120,957,1.95,2.45,224.18,1.000,11012,0.071,0.045,3115,3211,1507,1548,1466,0,0,0,0,0,0,14.47,14.41,13.90
$GC,971,1.11,292.0,3115,3211,1548,1464,73.3,24.8,163,978,0.00,2.47,0.00,0.000,5126,0.000,0.054,3118,1798,1505,1548,1463,0,0,0,0,0,0,14.56,14.46,14.57
$GC,1044,1.11,292.0,3117,1798,1547,1463,56.1,25.4,176,1051,0.00,2.47,0.00,0.000,4612,0.000,0.073,3118,392,1504,1547,1462,0,0,0,0,0,0,14.84,14.62,14.84
$GC,1127,1.11,292.0,3118,392,1545,1462,37.4,21.0,191,1134,0.00,2.35,0.00,0.000,5126,0.000,0.032,3118,1809,1502,1545,1459,0,0,0,0,0,0,14.84,14.76,14.85
$GC,1199,1.14,321.0,3118,1811,1546,1460,22.9,18.6,204,1229,0.00,2.50,21.62,0.834,10756,0.000,0.067,3119,388,1391,1438,1344,0,0,0,0,0,0,14.99,14.55,14.14
$GC,1284,1.16,331.2,3118,388,1437,1343,6.4,19.5,219,1297,0.00,2.33,7.03,0.659,11270,0.000,0.034,3118,1802,1346,1393,1299,0,0,0,0,0,0,14.85,14.78,14.16
$STATE,1302,end climb,FINISH_DEPTH_REACHED
$STATE,1302,begin subsurface finish
$FINISH1,2.8,1.025652,95
$GC,1311,0.12,94.7,3119,1802,1393,1297,2.8,17.8,222,1373,1.55,2.35,-49.97,0.000,20740,0.125,0.066,2793,3187,2318,2361,2276,0,0,0,0,0,0,14.64,13.42,14.73
$FINISH2,0.1
$STATE,1376,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1376,begin surface
$IRIDIUM_FIX,-3359.08,2504.16,250419,041436
$TT8_MAMPS,0.021721,0.933254
$HUMID,44.64
$INTERNAL_PRESSURE,9.46858
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.5,32.8
$SC_FREEKB,3595168
$24V_AH,13.31,174.366
$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,18.900,31.100,465.450,0.000,0.000,23.275,38.875,114.973,1.250,0.000,35.466,362.944,123.646,493.015,636.440,443.767,0.000,808.494,0.000,361.613,0.000,12.533,0.000
$DEVICE_MAMPS,294.525,190.485,1017.450,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1418.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.897,0.000,0.000,0.000
$MEM,340884
$DATA_FILE_SIZE,6813,233
$CAP_FILE_SIZE,46687,0
$CFSIZE,2097086464,1976107008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,250419,052001,-3413.109,2503.264,8,0.9,34,-27.4,0.3,159.9,9,6.1