version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 627
start: 4 25 119 5 46 24
data:
$ID,574
$MISSION,3
$DIVE,627
$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,29
$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
$GPS1,250419,052001,-3413.1091,2503.2637,8,0.9,34,-27.4,0.3,159.9,9,6.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,4.5
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.11,-292.0,2793,1808,2360,2280,0.0,0.0,0,102,0.00,0.00,-74.78,0.000,16390,0.000,0.000,2793,1807,3893,3917,3869,0,0,0,0,0,0,15.05,13.41,15.06
$GC,107,-1.11,-292.0,2792,1807,3918,3869,2.4,-9.0,14,114,1.73,2.42,0.00,0.000,4356,0.073,0.052,2410,3216,3893,3918,3869,0,0,0,0,0,0,14.84,14.84,14.92
$GC,171,-1.11,-292.0,2409,3216,3916,3870,12.1,-17.6,25,178,0.00,2.38,0.00,0.000,5126,0.000,0.043,2410,1803,3893,3916,3870,0,0,0,0,0,0,14.92,14.81,14.93
$GC,244,-1.11,-292.0,2409,1802,3916,3871,26.9,-19.3,38,251,0.00,2.40,0.00,0.000,4612,0.000,0.063,2410,399,3893,3916,3871,0,0,0,0,0,0,15.09,14.72,15.09
$GC,300,-1.11,-292.0,2410,399,3916,3870,38.4,-17.1,48,307,0.00,2.35,0.00,0.000,1030,0.000,0.036,2406,1813,3893,3916,3871,0,0,0,0,0,0,14.85,14.78,14.87
$GC,373,-1.11,-292.0,2406,1814,3917,3871,50.8,-19.6,61,380,0.00,2.33,0.00,0.000,260,0.000,0.054,2406,3215,3893,3916,3871,0,0,0,0,0,0,15.09,14.85,15.09
$GC,437,-1.11,-292.0,2406,3215,3916,3872,60.9,-13.0,72,444,0.00,2.35,0.00,0.000,1030,0.000,0.041,2406,1806,3894,3916,3872,0,0,0,0,0,0,14.96,14.87,14.97
$GC,512,-1.11,-292.0,2406,1806,3917,3871,72.7,-17.0,85,519,0.00,2.38,0.00,0.000,516,0.000,0.062,2406,401,3895,3920,3871,0,0,0,0,0,0,15.09,14.83,15.09
$GC,553,-1.11,-292.0,2406,401,3916,3871,79.8,-16.8,92,560,0.00,2.33,0.00,0.000,1030,0.000,0.034,2406,1817,3893,3916,3871,0,0,0,0,0,0,14.97,14.89,14.98
$STATE,564,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,565,begin apogee
$GC,572,-0.17,0.0,2406,1819,3916,3872,82.0,-15.3,94,796,1.50,0.00,212.43,1.024,10246,0.159,0.000,2697,1819,2698,2738,2658,0,0,0,0,0,0,14.69,14.43,13.92
$STATE,798,end apogee,CONTROL_FINISHED_OK
$STATE,798,begin climb
$GC,801,1.11,292.0,2697,1819,2736,2657,97.2,0.0,134,1039,1.92,2.55,223.50,1.011,10756,0.052,0.069,3138,399,1507,1548,1466,0,0,0,0,0,0,14.52,14.25,13.88
$GC,1078,1.11,292.0,3137,399,1547,1465,59.6,28.9,182,1085,0.10,2.35,0.00,0.000,5126,0.268,0.034,3121,1799,1505,1547,1464,0,0,0,0,0,0,14.42,14.58,14.60
$GC,1151,1.11,292.0,3121,1802,1547,1462,42.4,21.6,195,1157,0.00,2.35,0.00,0.000,4356,0.000,0.045,3121,3205,1504,1546,1462,0,0,0,0,0,0,14.89,14.69,14.89
$GC,1201,1.11,293.5,3120,3205,1546,1461,31.8,19.9,204,1208,0.00,2.38,0.00,0.000,5126,0.000,0.049,3125,1805,1503,1546,1461,0,0,0,0,0,0,14.74,14.64,14.75
$GC,1275,1.15,328.4,3124,1805,1546,1460,18.6,18.4,217,1309,0.00,2.47,25.10,0.835,10756,0.000,0.071,3125,403,1358,1407,1310,0,0,0,0,0,0,14.99,14.65,14.16
$STATE,1350,end climb,SURFACE_DEPTH_REACHED
$STATE,1350,begin surface coast
$FINISH,0.2,1.025651
$STATE,1362,end surface coast,CONTROL_FINISHED_OK
$STATE,1362,begin surface
$SM_CCo,1392,14.07,0.731,0,0,1272,350.04
$SM_GC,0.85,14.18,2.38,14.07,0.046,0.031,0.731,125,1817,1272,-8.18,-1.16,350.04,0,0,0,0,0,0,14.78,14.81,14.19
$IRIDIUM_FIX,-3359.08,2504.16,250419,041436
$TT8_MAMPS,0.020972,0.934752
$HUMID,45.82
$INTERNAL_PRESSURE,9.36116
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.4,34.4
$SC_FREEKB,3594656
$24V_AH,13.41,174.524
$10V_AH,12.96,0.000
$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,19.425,35.750,461.025,14.075,0.000,0.000,0.000,0.000,1.250,0.000,0.000,389.449,137.934,468.092,430.752,125.773,0.000,769.804,0.000,359.228,0.000,10.095,0.000
$DEVICE_MAMPS,267.750,71.145,1024.335,731.340,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1405.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.154,0.000,0.000,0.000
$MEM,341148
$DATA_FILE_SIZE,6791,233
$CAP_FILE_SIZE,44556,0
$CFSIZE,2097086464,1975943168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250419,061056,-3413.174,2503.599,7,0.9,21,-27.5,0.0,238.0,9,9.6