version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 628
start: 4 25 119 6 22 45
data:
$ID,574
$MISSION,3
$DIVE,628
$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,42
$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
$GPS1,250419,061056,-3413.1743,2503.5991,7,0.9,21,-27.5,0.0,238.0,9,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-73.6
$GPS2,250419,062220,-3413.2061,2503.5872,7,1.1,21,-27.5,0.0,113.7,8,9.8
$SPEED_LIMITS,0.346,0.443
$TGT_NAME,HEADING
$TGT_LATLONG,-3409.512,2515.851
$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,97.5,20000,-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,-292.0,54,1830,1296,1231,0.0,0.0,0,97,0.00,0.00,-70.05,0.000,16386,0.000,0.000,53,1830,2949,2912,2987,0,0,0,0,0,0,15.02,28.83,15.03
$GC,102,-1.11,-292.0,53,1830,2912,2987,3.1,-5.7,13,143,13.85,2.47,-16.83,0.000,18948,0.294,0.085,2394,407,3892,3907,3878,0,0,0,0,0,0,14.52,13.28,14.82
$GC,239,-1.11,-292.0,2394,408,3907,3878,37.5,-19.7,38,246,0.00,2.35,0.00,0.000,3078,0.000,0.038,2392,1811,3892,3907,3878,0,0,0,0,0,0,14.94,14.84,14.95
$GC,311,-1.11,-292.0,2392,1814,3907,3878,51.8,-21.8,51,318,0.00,2.38,0.00,0.000,2308,0.000,0.053,2384,3225,3892,3907,3878,0,0,0,0,0,0,15.08,14.81,15.08
$GC,369,-1.11,-292.0,2383,3219,3908,3878,61.9,-15.1,61,377,0.08,2.35,0.00,0.000,3078,0.252,0.040,2399,1802,3892,3907,3878,0,0,0,0,0,0,14.59,14.78,14.76
$GC,445,-1.11,-292.0,2399,1802,3907,3878,75.2,-18.8,74,452,0.00,2.40,0.00,0.000,2564,0.000,0.063,2399,403,3892,3907,3878,0,0,0,0,0,0,15.10,14.74,15.10
$STATE,473,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,473,begin apogee
$GC,483,-0.17,0.0,2398,1814,3907,3878,80.8,-18.9,79,706,1.50,0.00,213.38,1.015,10246,0.152,0.000,2701,1816,2698,2737,2659,0,0,0,0,0,0,14.70,14.43,13.91
$STATE,708,end apogee,CONTROL_FINISHED_OK
$STATE,708,begin climb
$GC,711,1.11,292.0,2701,1816,2735,2659,97.5,0.0,119,949,1.92,2.53,223.90,1.003,10756,0.056,0.068,3138,403,1507,1547,1468,0,0,0,0,0,0,14.51,14.26,13.87
$GC,973,1.11,292.0,3138,403,1546,1466,63.5,29.2,164,980,0.10,2.35,0.00,0.000,5126,0.273,0.033,3120,1806,1504,1544,1465,0,0,0,0,0,0,14.35,14.52,14.54
$GC,1048,1.11,292.0,3121,1809,1545,1462,44.8,22.4,177,1054,0.00,2.35,0.00,0.000,4356,0.000,0.047,3120,3198,1503,1545,1462,0,0,0,0,0,0,14.88,14.63,14.88
$GC,1103,1.11,292.0,3121,3198,1544,1461,32.2,20.6,187,1109,0.00,2.38,0.00,0.000,5126,0.000,0.050,3125,1808,1502,1544,1461,0,0,0,0,0,0,14.78,14.67,14.80
$GC,1177,1.18,353.3,3124,1808,1543,1460,19.6,17.2,200,1228,0.00,2.47,42.62,0.836,10756,0.000,0.073,3125,388,1256,1308,1204,0,0,0,0,0,0,15.00,14.62,14.11
$STATE,1251,end climb,FINISH_DEPTH_REACHED
$STATE,1251,begin subsurface finish
$FINISH1,4.1,1.025650,95
$GC,1262,0.12,94.8,3125,1808,1308,1202,4.1,22.3,213,1325,1.65,2.45,-53.20,0.000,20996,0.164,0.080,2797,392,2308,2355,2261,0,0,0,0,0,0,14.54,13.90,14.68
$FINISH2,0.0
$STATE,1328,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1328,begin surface
$IRIDIUM_FIX,-3401.68,2501.80,250419,051609
$TT8_MAMPS,0.021721,0.946736
$HUMID,44.88
$INTERNAL_PRESSURE,9.47834
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.0,35.7
$SC_FREEKB,3594144
$24V_AH,13.28,174.698
$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,19.100,31.250,479.900,0.000,0.000,23.492,39.770,115.519,1.250,0.000,22.263,338.052,110.762,502.652,605.608,459.156,0.000,812.449,0.000,347.963,0.000,10.099,0.000
$DEVICE_MAMPS,293.760,84.915,1015.155,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1369.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.144,0.000,0.000,0.000
$MEM,340852
$DATA_FILE_SIZE,6820,224
$CAP_FILE_SIZE,45139,0
$CFSIZE,2097086464,1975517184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,250419,062220,-3413.206,2503.587,7,1.1,21,-27.5,0.0,113.7,8,9.8