version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 633
start: 4 25 119 8 55 57
data:
$ID,574
$MISSION,3
$DIVE,633
$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,34
$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
$GPS1,250419,082849,-3413.3186,2504.4824,5,0.8,36,-27.5,0.3,89.8,9,4.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,4.1
$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,25,-1.11,-292.0,2803,1799,2360,2276,0.0,0.0,0,33,0.00,0.00,-5.82,0.000,16386,0.000,0.000,2803,1800,2501,2544,2459,0,0,0,0,0,0,15.06,28.83,15.07
$GC,36,-1.11,-292.0,2803,1799,2546,2459,3.9,0.0,1,82,1.80,2.38,-36.55,0.000,20996,0.088,0.082,2413,406,3892,3908,3877,0,0,0,0,0,0,14.78,13.94,14.88
$GC,148,-1.11,-292.0,2413,407,3909,3877,23.8,-21.3,21,154,0.00,2.33,0.00,0.000,1030,0.000,0.037,2406,1811,3893,3909,3877,0,0,0,0,0,0,14.95,14.88,14.97
$GC,218,-1.11,-292.0,2406,1814,3909,3877,40.2,-22.9,34,224,0.00,2.33,0.00,0.000,260,0.000,0.054,2406,3214,3894,3909,3879,0,0,0,0,0,0,15.08,14.84,15.09
$GC,274,-1.11,-292.0,2406,3217,3910,3877,50.0,-16.1,44,281,0.00,2.35,0.00,0.000,1030,0.000,0.042,2406,1809,3893,3909,3877,0,0,0,0,0,0,14.95,14.86,14.97
$GC,347,-1.11,-292.0,2406,1809,3911,3877,62.2,-16.9,57,354,0.00,2.38,0.00,0.000,516,0.000,0.063,2406,411,3893,3909,3877,0,0,0,0,0,0,15.09,14.83,15.09
$GC,387,-1.11,-292.0,2406,409,3910,3877,69.5,-17.1,64,397,0.00,2.33,0.00,0.000,1030,0.000,0.035,2406,1817,3893,3909,3877,0,0,0,0,0,0,14.96,14.88,14.97
$GC,465,-1.11,-292.0,2405,1820,3910,3877,83.1,-16.8,77,472,0.00,2.35,0.00,0.000,260,0.000,0.054,2406,3217,3893,3910,3877,0,0,0,0,0,0,15.10,14.79,15.11
$STATE,498,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,498,begin apogee
$GC,508,-0.17,0.0,2406,1797,3910,3877,88.8,-14.6,83,731,1.50,0.00,214.00,1.048,10246,0.149,0.000,2700,1797,2698,2738,2659,0,0,0,0,0,0,14.69,14.42,13.88
$STATE,733,end apogee,CONTROL_FINISHED_OK
$STATE,733,begin climb
$GC,736,1.11,292.0,2700,1796,2735,2658,105.3,0.0,123,974,1.92,2.47,225.40,1.029,10500,0.053,0.044,3134,3205,1507,1548,1466,0,0,0,0,0,0,14.50,14.35,13.88
$GC,1008,1.11,292.0,3134,3205,1546,1464,72.4,23.7,170,1015,0.08,2.45,0.00,0.000,5126,0.309,0.054,3122,1802,1504,1546,1463,0,0,0,0,0,0,14.38,14.50,14.57
$GC,1082,1.11,292.0,3121,1808,1547,1462,56.5,22.4,183,1088,0.00,2.47,0.00,0.000,4612,0.000,0.070,3127,391,1504,1547,1462,0,0,0,0,0,0,14.88,14.57,14.89
$GC,1132,1.11,292.0,3128,391,1543,1462,44.2,22.9,192,1139,0.00,2.35,0.00,0.000,5126,0.000,0.033,3128,1805,1503,1545,1462,0,0,0,0,0,0,14.75,14.66,14.76
$GC,1205,1.12,298.9,3127,1807,1545,1461,30.1,19.6,205,1218,0.00,2.33,6.22,0.667,12548,0.000,0.040,3127,3213,1480,1523,1437,0,0,0,0,0,0,14.97,14.52,14.03
$GC,1237,1.18,351.5,3128,3212,1523,1437,23.9,17.6,210,1283,0.00,2.42,39.45,0.892,11270,0.000,0.054,3128,1796,1265,1317,1213,0,0,0,0,0,0,14.79,14.66,14.11
$STATE,1340,end climb,SURFACE_DEPTH_REACHED
$STATE,1340,begin surface coast
$FINISH,0.4,1.025617
$STATE,1351,end surface coast,CONTROL_FINISHED_OK
$STATE,1352,begin surface
$SM_CCo,1439,0.00,0.000,0,0,1259,353.72
$SM_GC,0.98,14.18,0.00,0.00,0.044,0.000,0.000,124,1795,1259,-8.18,-0.48,353.72,0,0,0,0,0,0,14.76,14.95,14.83
$IRIDIUM_FIX,-3401.68,2504.16,250419,072111
$TT8_MAMPS,0.020972,0.93625
$HUMID,45.62
$INTERNAL_PRESSURE,9.34163
$TCM_TEMP,19.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,75.1,33.5
$SC_FREEKB,3591584
$24V_AH,13.88,175.534
$10V_AH,12.95,0.000
$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,19.475,35.725,485.075,0.000,0.000,0.000,0.000,0.000,1.750,0.000,0.000,389.202,199.483,444.748,429.751,119.830,0.000,741.947,0.000,358.413,0.000,13.122,0.000
$DEVICE_MAMPS,309.060,81.855,1048.050,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1396.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.137,0.000,0.000,0.000
$MEM,341092
$DATA_FILE_SIZE,6786,231
$CAP_FILE_SIZE,43800,0
$CFSIZE,2097086464,1974173696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250419,092055,-3413.299,2504.965,5,1.1,18,-27.5,0.0,239.0,8,9.6