version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 632
start: 4 25 119 8 29 15
data:
$ID,574
$MISSION,3
$DIVE,632
$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,41
$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
$GPS1,250419,081623,-3413.2986,2504.4500,7,0.9,16,-27.5,0.4,173.1,8,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-73.5
$GPS2,250419,082849,-3413.3186,2504.4824,5,0.8,36,-27.5,0.3,89.8,9,4.4
$SPEED_LIMITS,0.346,0.443
$TGT_NAME,HEADING
$TGT_LATLONG,-3409.625,2516.746
$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,24,-1.11,-292.0,54,1816,1296,1232,0.0,0.0,0,97,0.00,0.00,-70.12,0.000,16386,0.000,0.000,54,1816,2950,2908,2992,0,0,0,0,0,0,15.03,28.83,15.04
$GC,101,-1.11,-292.0,54,1816,2910,2991,3.1,-6.5,13,143,13.82,2.47,-16.75,0.000,18948,0.294,0.084,2394,404,3895,3910,3880,0,0,0,0,0,0,14.50,13.27,14.81
$GC,249,-1.11,-292.0,2393,403,3911,3880,40.6,-19.2,40,256,0.00,2.35,0.00,0.000,3078,0.000,0.037,2392,1816,3895,3911,3880,0,0,0,0,0,0,14.81,14.71,14.82
$GC,322,-1.11,-292.0,2392,1819,3911,3880,54.2,-19.6,53,330,0.00,2.38,0.00,0.000,2308,0.000,0.054,2392,3220,3896,3912,3880,0,0,0,0,0,0,15.07,14.81,15.07
$GC,344,-1.11,-292.0,2391,3220,3910,3880,58.9,-19.7,56,351,0.00,2.38,0.00,0.000,3078,0.000,0.043,2391,1802,3894,3911,3878,0,0,0,0,0,0,14.81,14.71,14.83
$GC,418,-1.11,-292.0,2391,1801,3911,3879,72.5,-20.6,69,425,0.00,2.40,0.00,0.000,2564,0.000,0.063,2392,405,3895,3911,3880,0,0,0,0,0,0,15.08,14.81,15.07
$GC,450,-1.11,-292.0,2392,405,3911,3880,78.2,-19.3,74,457,0.00,2.35,0.00,0.000,3078,0.000,0.035,2389,1819,3895,3911,3880,0,0,0,0,0,0,14.89,14.80,14.90
$STATE,507,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,508,begin apogee
$GC,515,-0.17,0.0,2388,1822,3911,3879,88.9,-18.6,85,739,1.58,0.00,214.27,1.031,10246,0.165,0.000,2700,1823,2698,2738,2659,0,0,0,0,0,0,14.56,14.42,13.90
$STATE,740,end apogee,CONTROL_FINISHED_OK
$STATE,740,begin climb
$GC,744,1.11,292.0,2700,1822,2735,2659,106.8,0.0,125,982,1.90,2.60,225.57,1.021,10756,0.044,0.067,3145,394,1508,1548,1468,0,0,0,0,0,0,14.51,14.33,13.88
$GC,991,1.11,292.0,3145,393,1548,1466,83.8,24.5,167,998,0.15,2.38,0.00,0.000,5126,0.252,0.033,3120,1806,1507,1548,1467,0,0,0,0,0,0,14.33,14.47,14.50
$GC,1064,1.11,292.0,3119,1809,1548,1464,66.0,23.8,180,1070,0.00,0.00,0.00,0.000,4102,0.000,0.000,3119,1809,1505,1547,1463,0,0,0,0,0,0,14.85,14.85,14.85
$GC,1133,1.11,292.0,3119,1809,1547,1463,49.5,24.5,193,1140,0.00,2.47,0.00,0.000,4612,0.000,0.070,3119,395,1504,1546,1463,0,0,0,0,0,0,14.92,14.68,14.93
$GC,1164,1.11,292.0,3119,395,1546,1463,42.6,21.0,198,1171,0.00,2.33,0.00,0.000,5126,0.000,0.035,3119,1798,1504,1546,1463,0,0,0,0,0,0,14.85,14.76,14.85
$GC,1237,1.14,317.1,3119,1803,1546,1460,28.7,18.8,211,1260,0.00,0.00,20.27,0.877,10502,0.000,0.000,3119,1801,1405,1451,1360,0,0,0,0,0,0,15.00,14.65,14.11
$GC,1325,1.14,317.1,3119,1800,1451,1357,11.2,20.6,227,1331,0.00,2.45,0.00,0.000,2564,0.000,0.068,3124,397,1404,1451,1357,0,0,0,0,0,0,14.98,14.69,14.98
$STATE,1352,end climb,FINISH_DEPTH_REACHED
$STATE,1352,begin subsurface finish
$FINISH1,4.9,1.025651,95
$GC,1363,0.12,94.7,3124,1812,1450,1357,4.9,20.7,232,1415,1.70,2.38,-42.83,0.000,20740,0.183,0.070,2803,3204,2315,2362,2269,0,0,0,0,0,0,14.61,13.41,14.72
$FINISH2,0.8
$STATE,1416,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1416,begin surface
$IRIDIUM_FIX,-3401.68,2504.16,250419,072111
$TT8_MAMPS,0.020972,0.8988
$HUMID,45.03
$INTERNAL_PRESSURE,9.45881
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,75.2,32.8
$SC_FREEKB,3592096
$24V_AH,13.27,175.370
$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,19.150,31.300,460.125,0.000,0.000,24.003,45.421,114.089,2.000,0.000,38.005,388.714,132.301,485.396,655.775,507.179,0.000,807.696,0.000,373.593,0.000,18.492,0.000
$DEVICE_MAMPS,293.760,84.150,1031.220,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1462.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.639,0.000,0.000,0.000
$MEM,340852
$DATA_FILE_SIZE,6805,241
$CAP_FILE_SIZE,49230,0
$CFSIZE,2097086464,1974337536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,250419,082849,-3413.319,2504.482,5,0.8,36,-27.5,0.3,89.8,9,4.4