version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 631
start: 4 25 119 7 51 19
data:
$ID,574
$MISSION,3
$DIVE,631
$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,33
$R_STBD_OVSHOOT,46
$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
$GPS1,250419,072449,-3413.2786,2504.0039,5,0.9,16,-27.5,0.0,97.5,9,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.00
$_SM_ANGLEo,3.6
$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,-292.0,2802,1812,2359,2277,0.0,0.0,0,102,0.00,0.00,-70.18,0.000,16390,0.000,0.000,2802,1812,3892,3916,3868,0,0,0,0,0,0,15.05,13.98,15.06
$GC,106,-1.11,-292.0,2802,1812,3916,3869,3.6,-9.8,14,114,1.80,2.40,0.00,0.000,4356,0.086,0.054,2410,3210,3892,3915,3869,0,0,0,0,0,0,14.78,14.84,14.89
$GC,180,-1.11,-292.0,2410,3210,3914,3870,15.1,-18.2,27,187,0.00,2.35,0.00,0.000,5126,0.000,0.044,2410,1811,3892,3914,3870,0,0,0,0,0,0,14.91,14.81,14.92
$GC,251,-1.11,-292.0,2410,1811,3914,3870,29.9,-20.8,40,258,0.00,2.42,0.00,0.000,4612,0.000,0.064,2410,401,3892,3914,3870,0,0,0,0,0,0,15.09,14.83,15.10
$GC,306,-1.11,-292.0,2410,401,3913,3870,40.4,-15.7,50,313,0.00,2.33,0.00,0.000,1030,0.000,0.034,2406,1809,3891,3913,3870,0,0,0,0,0,0,14.96,14.88,14.97
$GC,381,-1.11,-292.0,2406,1812,3913,3870,52.4,-16.6,63,387,0.00,2.38,0.00,0.000,260,0.000,0.053,2406,3218,3891,3913,3870,0,0,0,0,0,0,15.09,14.80,15.10
$GC,407,-1.11,-292.0,2406,3219,3914,3871,57.1,-16.2,67,413,0.00,2.35,0.00,0.000,1030,0.000,0.043,2406,1811,3892,3914,3870,0,0,0,0,0,0,14.95,14.86,14.97
$GC,480,-1.11,-292.0,2406,1810,3914,3870,68.7,-17.5,80,490,0.00,2.40,0.00,0.000,516,0.000,0.063,2406,406,3892,3913,3871,0,0,0,0,0,0,15.09,14.78,15.10
$GC,508,-1.11,-292.0,2406,407,3913,3870,74.1,-18.0,84,515,0.00,2.33,0.00,0.000,1030,0.000,0.034,2406,1819,3891,3913,3870,0,0,0,0,0,0,14.96,14.88,14.98
$STATE,565,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,565,begin apogee
$GC,573,-0.17,0.0,2406,1822,3913,3870,84.6,-17.6,95,797,1.48,0.00,212.50,1.038,10246,0.161,0.000,2701,1822,2699,2739,2659,0,0,0,0,0,0,14.70,14.42,13.90
$STATE,798,end apogee,CONTROL_FINISHED_OK
$STATE,799,begin climb
$GC,802,1.11,292.0,2701,1822,2736,2658,102.1,0.0,135,1044,1.90,2.38,225.23,1.019,11012,0.047,0.045,3145,3197,1507,1549,1466,0,0,0,0,0,0,14.52,14.39,13.90
$GC,1052,1.11,292.0,3144,3197,1547,1465,73.1,25.2,178,1060,0.15,2.42,0.00,0.000,5126,0.265,0.053,3118,1806,1505,1547,1464,0,0,0,0,0,0,14.29,14.41,14.47
$GC,1126,1.11,292.0,3120,1806,1547,1462,55.7,24.1,191,1133,0.00,2.47,0.00,0.000,4612,0.000,0.070,3124,392,1504,1547,1461,0,0,0,0,0,0,14.84,14.62,14.84
$GC,1176,1.11,292.0,3123,391,1546,1462,42.7,23.8,200,1183,0.00,2.35,0.00,0.000,5126,0.000,0.032,3124,1813,1503,1546,1461,0,0,0,0,0,0,14.81,14.73,14.82
$GC,1250,1.12,303.8,3123,1816,1546,1461,28.3,19.4,213,1268,0.00,2.30,10.02,0.793,12548,0.000,0.042,3125,3208,1458,1503,1414,0,0,0,0,0,0,14.97,14.68,14.09
$GC,1276,1.14,319.5,3123,3208,1503,1414,22.7,19.2,217,1295,0.00,2.40,11.48,0.832,9222,0.000,0.051,3125,1798,1395,1442,1348,0,0,0,0,0,0,14.83,14.73,14.11
$GC,1359,1.14,319.5,3124,1798,1441,1346,6.8,22.4,232,1366,0.00,2.42,0.00,0.000,516,0.000,0.070,3125,394,1393,1441,1346,0,0,0,0,0,0,14.97,14.72,14.97
$STATE,1376,end climb,SURFACE_DEPTH_REACHED
$STATE,1377,begin surface coast
$FINISH,0.1,1.025635
$STATE,1392,end surface coast,CONTROL_FINISHED_OK
$STATE,1393,begin surface
$SM_CCo,1422,20.50,0.764,0,0,1272,350.04
$SM_GC,1.16,14.12,2.38,20.50,0.045,0.031,0.764,124,1805,1272,-8.18,-1.47,350.04,0,0,0,0,0,0,14.80,14.83,14.20
$IRIDIUM_FIX,-3359.08,2504.16,250419,061843
$TT8_MAMPS,0.021721,0.948234
$HUMID,45.51
$INTERNAL_PRESSURE,9.35139
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.5,33.8
$SC_FREEKB,3592608
$24V_AH,13.90,175.196
$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,19.450,40.450,459.225,20.500,0.000,0.000,0.000,0.000,1.500,0.000,0.000,403.341,137.712,480.806,441.657,127.441,0.000,791.296,0.000,370.084,0.000,11.601,0.000
$DEVICE_MAMPS,264.690,70.380,1038.105,764.235,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1437.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.207,0.000,0.000,0.000
$MEM,341148
$DATA_FILE_SIZE,6787,238
$CAP_FILE_SIZE,47055,0
$CFSIZE,2097086464,1974763520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250419,081623,-3413.299,2504.450,7,0.9,16,-27.5,0.4,173.1,8,9.9