version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 635
start: 4 25 119 10 1 51
data:
$ID,574
$MISSION,3
$DIVE,635
$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,41
$R_STBD_OVSHOOT,52
$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
$GPS1,250419,093531,-3413.2971,2505.0061,6,1.0,37,-27.5,0.6,104.1,8,5.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,2.5
$GPS2,250419,093531,-3413.2971,2505.0061,6,1.0,37,-27.5,0.6,104.1,8,5.6
$SPEED_LIMITS,0.346,0.443
$TGT_NAME,HEADING
$TGT_LATLONG,-3409.604,2517.270
$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,-292.0,2801,1798,2356,2274,0.0,0.0,0,49,0.00,0.00,-21.42,0.000,16386,0.000,0.000,2802,1798,2944,2974,2915,0,0,0,0,0,0,15.04,28.83,15.05
$GC,52,-1.11,-292.0,2801,1798,2975,2915,3.0,-2.2,4,88,1.80,2.42,-26.50,0.000,20996,0.096,0.081,2414,407,3894,3912,3877,0,0,0,0,0,0,14.79,13.36,14.91
$GC,124,-1.11,-292.0,2414,408,3912,3877,14.7,-20.8,16,131,0.00,2.30,0.00,0.000,5126,0.000,0.035,2413,1802,3894,3912,3877,0,0,0,0,0,0,14.95,14.86,14.95
$GC,197,-1.11,-292.0,2413,1805,3916,3877,31.2,-24.8,29,203,0.00,2.38,0.00,0.000,4356,0.000,0.048,2413,3222,3894,3912,3877,0,0,0,0,0,0,15.09,14.84,15.09
$GC,231,-1.11,-292.0,2413,3221,3912,3877,39.4,-20.4,35,238,0.00,2.35,0.00,0.000,5126,0.000,0.044,2413,1820,3895,3913,3877,0,0,0,0,0,0,14.95,14.85,14.97
$GC,305,-1.11,-292.0,2413,1820,3912,3877,52.2,-17.6,48,311,0.00,2.38,0.00,0.000,4356,0.000,0.051,2406,3217,3894,3912,3877,0,0,0,0,0,0,15.09,14.72,15.10
$GC,341,-1.11,-292.0,2404,3217,3914,3877,58.7,-15.3,54,348,0.00,2.38,0.00,0.000,1030,0.000,0.042,2405,1804,3895,3913,3877,0,0,0,0,0,0,14.89,14.81,14.91
$GC,414,-1.11,-292.0,2405,1804,3912,3877,69.7,-17.2,67,426,0.00,2.38,0.00,0.000,516,0.000,0.063,2406,402,3894,3912,3877,0,0,0,0,0,0,15.10,14.71,15.10
$GC,455,-1.11,-292.0,2405,402,3912,3877,77.3,-16.7,73,461,0.00,2.33,0.00,0.000,1030,0.000,0.034,2405,1812,3894,3912,3877,0,0,0,0,0,0,14.85,14.77,14.87
$STATE,517,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,517,begin apogee
$GC,527,-0.17,0.0,2405,1815,3912,3879,87.9,-17.3,85,750,1.48,0.00,213.68,1.034,10246,0.159,0.000,2699,1816,2698,2738,2658,0,0,0,0,0,0,14.65,14.42,13.88
$STATE,752,end apogee,CONTROL_FINISHED_OK
$STATE,752,begin climb
$GC,756,1.11,292.0,2699,1815,2736,2658,105.5,0.0,125,993,1.92,2.42,225.45,1.022,11012,0.054,0.044,3137,3201,1507,1548,1467,0,0,0,0,0,0,14.50,14.36,13.87
$GC,1011,1.11,292.0,3136,3204,1547,1465,75.4,24.8,169,1019,0.10,2.45,0.00,0.000,5126,0.288,0.054,3121,1803,1506,1548,1464,0,0,0,0,0,0,14.30,14.42,14.48
$GC,1085,1.11,292.0,3120,1803,1548,1462,58.6,23.5,182,1092,0.00,2.50,0.00,0.000,4612,0.000,0.069,3128,388,1504,1547,1462,0,0,0,0,0,0,14.85,14.62,14.85
$GC,1136,1.11,292.0,3128,388,1546,1462,46.1,23.7,191,1143,0.00,2.35,0.00,0.000,5126,0.000,0.033,3128,1805,1503,1544,1462,0,0,0,0,0,0,14.71,14.64,14.73
$GC,1209,1.11,296.1,3127,1808,1546,1461,30.9,19.8,204,1222,0.00,2.35,4.03,0.680,12548,0.000,0.043,3127,3201,1488,1534,1442,0,0,0,0,0,0,14.97,14.66,13.99
$GC,1251,1.20,366.8,3128,3201,1534,1448,22.8,16.7,211,1312,0.00,2.40,51.42,0.862,11270,0.000,0.054,3128,1799,1202,1254,1151,0,0,0,0,0,0,14.77,14.67,14.12
$STATE,1345,end climb,SURFACE_DEPTH_REACHED
$STATE,1345,begin surface coast
$FINISH,0.6,1.025546
$STATE,1356,end surface coast,CONTROL_FINISHED_OK
$STATE,1356,begin surface
$SM_CCo,1443,0.00,0.000,0,0,1198,368.68
$SM_GC,0.89,14.15,0.00,0.00,0.037,0.000,0.000,125,1799,1198,-8.18,-0.37,368.68,0,0,0,0,0,0,14.72,14.92,14.79
$IRIDIUM_FIX,-3359.08,2504.16,250419,092949
$TT8_MAMPS,0.020972,0.907039
$HUMID,46.25
$INTERNAL_PRESSURE,9.34163
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,71.4,35.9
$SC_FREEKB,3590560
$24V_AH,13.36,175.878
$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,19.450,35.725,494.575,0.000,0.000,0.000,0.000,0.000,1.500,0.000,0.000,377.867,192.746,461.619,425.385,127.824,0.000,766.751,0.000,360.754,0.000,11.605,0.000
$DEVICE_MAMPS,288.405,81.090,1033.515,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1398.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.289,0.000,0.000,0.000
$MEM,341148
$DATA_FILE_SIZE,6810,230
$CAP_FILE_SIZE,44391,0
$CFSIZE,2097086464,1973583872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250419,102721,-3413.231,2505.473,5,1.5,46,-27.5,0.4,106.8,6,4.9