version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 636
start: 4 25 119 10 41 7
data:
$ID,574
$MISSION,3
$DIVE,636
$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,28
$R_STBD_OVSHOOT,47
$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
$GPS1,250419,102721,-3413.2310,2505.4729,5,1.5,46,-27.5,0.4,106.8,6,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-68.4
$GPS2,250419,104041,-3413.1765,2505.5183,6,1.2,46,-27.5,0.9,43.2,7,4.5
$SPEED_LIMITS,0.346,0.443
$TGT_NAME,HEADING
$TGT_LATLONG,-3409.483,2517.782
$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,-292.0,69,1794,1237,1152,0.0,0.0,0,103,0.00,0.00,-75.43,0.000,16386,0.000,0.000,65,1795,3035,3003,3067,0,0,0,0,0,0,15.04,28.83,15.04
$GC,107,-1.11,-292.0,64,1794,3003,3068,3.5,-8.0,14,143,13.77,2.40,-14.73,0.000,19204,0.294,0.083,2393,402,3892,3907,3878,0,0,0,0,0,0,14.42,13.88,14.72
$GC,291,-1.11,-292.0,2393,402,3908,3878,47.9,-16.6,48,299,0.05,2.35,0.00,0.000,3078,0.335,0.034,2397,1818,3892,3907,3878,0,0,0,0,0,0,14.64,14.85,14.85
$GC,366,-1.11,-292.0,2396,1820,3907,3878,61.3,-17.6,61,372,0.00,2.38,0.00,0.000,2308,0.000,0.050,2389,3220,3892,3907,3878,0,0,0,0,0,0,15.09,14.81,15.09
$GC,397,-1.11,-292.0,2389,3220,3907,3878,66.9,-17.9,66,403,0.00,2.38,0.00,0.000,3078,0.000,0.043,2389,1806,3893,3908,3878,0,0,0,0,0,0,14.95,14.83,14.96
$GC,472,-1.11,-292.0,2389,1806,3907,3878,80.2,-18.0,79,478,0.00,2.42,0.00,0.000,2564,0.000,0.063,2389,401,3893,3908,3878,0,0,0,0,0,0,15.08,14.81,15.08
$STATE,489,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,489,begin apogee
$GC,499,-0.17,0.0,2385,1798,3907,3878,84.5,-18.3,82,723,1.58,0.00,213.82,1.017,10246,0.154,0.000,2701,1802,2698,2737,2659,0,0,0,0,0,0,14.69,14.40,13.88
$STATE,725,end apogee,CONTROL_FINISHED_OK
$STATE,725,begin climb
$GC,728,1.11,292.0,2701,1802,2735,2659,99.4,0.0,122,966,1.92,2.45,225.45,1.003,11012,0.061,0.043,3126,3210,1507,1548,1467,0,0,0,0,0,0,14.49,14.37,13.90
$GC,980,1.11,292.0,3125,3209,1547,1465,68.6,25.1,165,987,0.00,2.45,0.00,0.000,5126,0.000,0.053,3128,1807,1506,1547,1465,0,0,0,0,0,0,14.58,14.47,14.59
$GC,1053,1.11,292.0,3127,1807,1547,1463,52.0,23.9,178,1060,0.00,2.50,0.00,0.000,4612,0.000,0.069,3128,390,1505,1547,1463,0,0,0,0,0,0,14.85,14.52,14.85
$GC,1089,1.11,292.0,3127,390,1546,1462,42.3,25.8,184,1095,0.00,2.35,0.00,0.000,5126,0.000,0.032,3128,1809,1504,1546,1462,0,0,0,0,0,0,14.71,14.62,14.72
$GC,1161,1.18,350.8,3127,1812,1546,1461,28.3,17.3,197,1211,0.00,0.00,44.90,0.870,10502,0.000,0.000,3127,1812,1265,1318,1212,0,0,0,0,0,0,14.95,14.58,14.07
$STATE,1268,end climb,FINISH_DEPTH_REACHED
$STATE,1268,begin subsurface finish
$FINISH1,3.9,1.025637,95
$GC,1277,0.12,95.5,3128,1812,1317,1210,3.9,21.8,217,1339,1.67,2.35,-52.08,0.000,20740,0.183,0.071,2806,3204,2309,2356,2263,0,0,0,0,0,0,14.55,13.88,14.74
$FINISH2,0.4
$STATE,1343,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1343,begin surface
$IRIDIUM_FIX,-3359.08,2501.80,250419,093157
$TT8_MAMPS,0.021721,0.954226
$HUMID,45.27
$INTERNAL_PRESSURE,9.47834
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.3,34.0
$SC_FREEKB,3590048
$24V_AH,13.88,176.055
$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,19.000,26.375,484.175,0.000,0.000,23.358,40.826,119.069,1.500,0.000,47.310,345.170,113.667,500.552,641.993,546.494,0.000,814.136,0.000,357.046,0.000,11.617,0.000
$DEVICE_MAMPS,335.070,83.385,1017.450,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1388.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.029,0.000,0.000,0.000
$MEM,340852
$DATA_FILE_SIZE,6812,228
$CAP_FILE_SIZE,45141,0
$CFSIZE,2097086464,1973157888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,250419,104041,-3413.177,2505.518,6,1.2,46,-27.5,0.9,43.2,7,4.5