version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 630
start: 4 25 119 7 25 14
data:
$ID,574
$MISSION,3
$DIVE,630
$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,27
$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
$GPS1,250419,071301,-3413.2434,2503.9875,8,0.9,29,-27.5,0.3,115.3,9,5.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-70.5
$GPS2,250419,072449,-3413.2786,2504.0039,5,0.9,16,-27.5,0.0,97.5,9,9.4
$SPEED_LIMITS,0.346,0.443
$TGT_NAME,HEADING
$TGT_LATLONG,-3409.585,2516.268
$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,-292.0,58,1810,1282,1204,0.0,0.0,0,103,0.00,0.00,-75.18,0.000,16386,0.000,0.000,55,1810,3096,3063,3130,0,0,0,0,0,0,15.02,28.83,15.03
$GC,107,-1.11,-292.0,55,1811,3064,3131,3.9,-9.1,14,143,13.82,2.40,-13.20,0.000,18948,0.295,0.083,2395,400,3895,3908,3882,0,0,0,0,0,0,14.52,13.30,14.81
$GC,254,-1.11,-292.0,2394,400,3909,3881,42.1,-18.6,41,260,0.00,2.33,0.00,0.000,3078,0.000,0.037,2392,1805,3895,3909,3882,0,0,0,0,0,0,14.95,14.85,14.95
$GC,329,-1.11,-292.0,2391,1808,3909,3881,55.9,-18.7,54,336,0.00,2.38,0.00,0.000,2308,0.000,0.055,2392,3215,3895,3909,3881,0,0,0,0,0,0,15.09,14.82,15.09
$GC,360,-1.11,-292.0,2391,3214,3909,3881,62.1,-18.7,59,367,0.00,2.38,0.00,0.000,3078,0.000,0.041,2392,1795,3895,3909,3881,0,0,0,0,0,0,14.82,14.72,14.83
$GC,433,-1.11,-292.0,2392,1795,3909,3881,74.9,-17.5,72,440,0.00,2.38,0.00,0.000,2564,0.000,0.063,2391,408,3895,3909,3881,0,0,0,0,0,0,15.08,14.82,15.09
$GC,464,-1.11,-292.0,2391,408,3909,3882,80.7,-18.7,77,472,0.05,2.33,0.00,0.000,3078,0.338,0.034,2396,1818,3895,3909,3881,0,0,0,0,0,0,14.66,14.87,14.86
$STATE,492,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,492,begin apogee
$GC,500,-0.17,0.0,2396,1821,3908,3881,86.0,-17.2,82,724,1.50,0.00,213.95,1.024,10246,0.161,0.000,2698,1825,2698,2737,2659,0,0,0,0,0,0,14.69,14.39,13.88
$STATE,725,end apogee,CONTROL_FINISHED_OK
$STATE,725,begin climb
$GC,729,1.11,292.0,2698,1822,2734,2659,103.8,0.0,122,966,1.98,2.58,224.82,1.012,10756,0.079,0.067,3121,402,1508,1549,1468,0,0,0,0,0,0,14.46,14.40,13.88
$GC,975,1.11,292.0,3120,402,1549,1466,79.9,22.6,164,982,0.00,2.38,0.00,0.000,5126,0.000,0.034,3121,1809,1507,1548,1466,0,0,0,0,0,0,14.54,14.47,14.55
$GC,1048,1.11,292.0,3121,1811,1548,1463,62.6,23.7,177,1053,0.00,0.00,0.00,0.000,4102,0.000,0.000,3120,1812,1505,1548,1463,0,0,0,0,0,0,14.83,14.83,14.83
$GC,1117,1.11,292.0,3120,1812,1548,1463,45.0,24.4,190,1124,0.00,2.47,0.00,0.000,4612,0.000,0.068,3121,399,1505,1548,1462,0,0,0,0,0,0,14.92,14.69,14.92
$GC,1137,1.11,292.0,3121,399,1547,1463,40.3,22.8,193,1144,0.00,2.33,0.00,0.000,5126,0.000,0.034,3121,1802,1504,1547,1462,0,0,0,0,0,0,14.85,14.76,14.86
$GC,1210,1.16,333.9,3121,1805,1547,1461,26.1,18.0,206,1250,0.00,2.47,32.40,0.868,11012,0.000,0.070,3124,396,1335,1384,1287,0,0,0,0,0,0,15.00,14.52,14.12
$GC,1286,1.16,333.9,3124,393,1384,1285,10.8,21.4,219,1293,0.00,2.33,0.00,0.000,3078,0.000,0.032,3125,1801,1334,1384,1284,0,0,0,0,0,0,14.82,14.73,14.83
$STATE,1313,end climb,FINISH_DEPTH_REACHED
$STATE,1313,begin subsurface finish
$FINISH1,4.2,1.025650,95
$GC,1322,0.12,94.8,3125,1803,1384,1283,4.2,20.2,224,1379,1.67,2.35,-46.10,0.000,20740,0.190,0.070,2802,3205,2316,2362,2270,0,0,0,0,0,0,14.59,13.43,14.78
$FINISH2,0.5
$STATE,1380,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1382,begin surface
$IRIDIUM_FIX,-3359.08,2504.16,250419,061843
$TT8_MAMPS,0.021721,0.777462
$HUMID,45.62
$INTERNAL_PRESSURE,9.46858
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.8,34.7
$SC_FREEKB,3593120
$24V_AH,13.30,175.034
$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,19.025,31.075,471.175,0.000,0.000,24.845,38.126,122.883,1.500,0.000,18.139,365.401,120.156,497.789,624.638,486.424,0.000,817.677,0.000,365.075,0.000,14.095,0.000
$DEVICE_MAMPS,338.130,82.620,1023.570,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1425.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.669,0.000,0.000,0.000
$MEM,340884
$DATA_FILE_SIZE,6806,234
$CAP_FILE_SIZE,48159,0
$CFSIZE,2097086464,1974927360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,250419,072449,-3413.279,2504.004,5,0.9,16,-27.5,0.0,97.5,9,9.4