version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 637
start: 4 25 119 11 6 34
data:
$ID,574
$MISSION,3
$DIVE,637
$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,27
$R_STBD_OVSHOOT,48
$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
$GPS1,250419,104041,-3413.1765,2505.5183,6,1.2,46,-27.5,0.9,43.2,7,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.02
$_SM_ANGLEo,3.1
$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,-292.0,2803,1805,2351,2271,0.0,0.0,0,107,0.00,0.00,-80.03,0.000,16390,0.000,0.000,2803,1805,3890,3915,3866,0,0,0,0,0,0,15.04,13.40,15.05
$GC,114,-1.11,-292.0,2802,1805,3916,3869,1.4,-6.6,15,122,1.80,2.45,0.00,0.000,4612,0.094,0.057,2415,394,3892,3915,3869,0,0,0,0,0,0,14.74,14.83,14.81
$GC,141,-1.11,-292.0,2414,394,3915,3869,5.7,-12.5,19,148,0.00,2.35,0.00,0.000,5126,0.000,0.034,2413,1814,3892,3915,3869,0,0,0,0,0,0,14.93,14.82,14.95
$GC,214,-1.11,-292.0,2413,1823,3914,3869,20.1,-21.9,32,221,0.00,2.35,0.00,0.000,4356,0.000,0.051,2408,3215,3892,3915,3870,0,0,0,0,0,0,15.07,14.74,15.07
$GC,275,-1.11,-292.0,2408,3214,3915,3870,33.2,-17.9,43,281,0.00,2.38,0.00,0.000,5126,0.000,0.044,2408,1801,3892,3915,3870,0,0,0,0,0,0,14.85,14.76,14.87
$GC,348,-1.11,-292.0,2407,1802,3914,3870,46.8,-19.8,56,355,0.00,2.40,0.00,0.000,4356,0.000,0.050,2399,3216,3892,3914,3870,0,0,0,0,0,0,15.08,14.84,15.09
$GC,384,-1.11,-292.0,2398,3216,3914,3871,53.9,-18.1,62,391,0.00,2.38,0.00,0.000,3078,0.000,0.043,2399,1803,3892,3914,3871,0,0,0,0,0,0,14.84,14.75,14.85
$GC,458,-1.11,-292.0,2399,1803,3914,3871,66.2,-18.6,75,465,0.00,2.40,0.00,0.000,2564,0.000,0.063,2399,405,3892,3914,3871,0,0,0,0,0,0,15.09,14.83,15.09
$GC,496,-1.11,-292.0,2399,405,3914,3871,73.4,-16.4,81,502,0.00,2.33,0.00,0.000,3078,0.000,0.033,2399,1813,3892,3914,3870,0,0,0,0,0,0,14.91,14.83,14.92
$STATE,553,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,553,begin apogee
$GC,560,-0.17,0.0,2399,1816,3914,3871,83.6,-17.1,92,784,1.50,0.00,213.75,1.017,10246,0.161,0.000,2698,1816,2698,2738,2658,0,0,0,0,0,0,14.62,14.41,13.90
$STATE,786,end apogee,CONTROL_FINISHED_OK
$STATE,786,begin climb
$GC,789,1.11,292.0,2698,1816,2736,2657,101.2,0.0,132,1028,1.92,2.58,225.65,1.004,10756,0.052,0.067,3138,399,1507,1549,1466,0,0,0,0,0,0,14.51,14.34,13.90
$GC,1046,1.11,292.0,3138,399,1548,1466,68.7,26.2,176,1054,0.10,2.38,0.00,0.000,5126,0.269,0.031,3122,1812,1506,1548,1465,0,0,0,0,0,0,14.36,14.54,14.54
$GC,1120,1.11,292.0,3121,1816,1548,1462,50.9,24.4,189,1127,0.00,2.35,0.00,0.000,4356,0.000,0.046,3121,3204,1504,1547,1462,0,0,0,0,0,0,14.87,14.62,14.87
$GC,1151,1.11,292.0,3121,3205,1546,1461,42.9,22.6,194,1157,0.00,2.40,0.00,0.000,5126,0.000,0.051,3125,1806,1503,1546,1461,0,0,0,0,0,0,14.75,14.64,14.76
$GC,1224,1.16,337.8,3124,1805,1547,1461,28.5,17.9,207,1263,0.00,0.00,35.88,0.880,11014,0.000,0.000,3125,1806,1319,1369,1270,0,0,0,0,0,0,14.97,14.62,14.10
$GC,1329,1.18,349.0,3124,1805,1369,1268,7.1,19.5,226,1342,0.00,2.38,6.60,0.645,10500,0.000,0.044,3125,3206,1276,1330,1223,0,0,0,0,0,0,14.92,14.52,14.12
$STATE,1347,end climb,SURFACE_DEPTH_REACHED
$STATE,1348,begin surface coast
$FINISH,0.6,1.025542
$STATE,1359,end surface coast,CONTROL_FINISHED_OK
$STATE,1359,begin surface
$SM_CCo,1449,0.00,0.000,0,0,1272,350.53
$SM_GC,1.05,14.20,2.40,0.00,0.045,0.038,0.000,125,1807,1272,-8.17,0.82,350.53,0,0,0,0,0,0,14.77,14.75,14.83
$IRIDIUM_FIX,-3359.08,2501.80,250419,093157
$TT8_MAMPS,0.020972,0.932505
$HUMID,45.27
$INTERNAL_PRESSURE,9.37092
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.8,32.1
$SC_FREEKB,3589536
$24V_AH,13.40,176.215
$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,19.525,35.900,481.875,0.000,0.000,0.000,0.000,0.000,1.500,0.000,0.000,377.337,191.332,469.017,429.757,126.059,0.000,774.600,0.000,360.611,0.000,11.612,0.000
$DEVICE_MAMPS,268.515,67.320,1016.685,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1404.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.189,0.000,0.000,0.000
$MEM,341092
$DATA_FILE_SIZE,6824,231
$CAP_FILE_SIZE,44503,0
$CFSIZE,2097086464,1972994048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250419,113201,-3413.077,2505.982,6,0.8,37,-27.5,0.6,342.4,9,4.8