version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 638
start: 4 25 119 11 47 42
data:
$ID,574
$MISSION,3
$DIVE,638
$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,0
$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,30
$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
$GPS1,250419,113201,-3413.0774,2505.9822,6,0.8,37,-27.5,0.6,342.4,9,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-72.0
$GPS2,250419,114716,-3412.9536,2506.0193,6,0.9,13,-27.5,0.6,14.7,8,9.8
$SPEED_LIMITS,0.346,0.443
$TGT_NAME,HEADING
$TGT_LATLONG,-3409.260,2518.282
$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,-292.0,64,1799,1310,1229,0.0,0.0,0,97,0.00,0.00,-69.43,0.000,16386,0.000,0.000,60,1799,2963,2928,2999,0,0,0,0,0,0,15.02,28.83,15.03
$GC,102,-1.11,-292.0,60,1799,2928,2999,3.2,-6.4,13,138,13.80,2.42,-16.52,0.000,19204,0.292,0.067,2385,3213,3895,3912,3878,0,0,0,0,0,0,14.50,13.24,14.81
$GC,295,-1.11,-292.0,2384,3213,3911,3880,45.9,-17.9,49,302,0.05,2.38,0.00,0.000,3078,0.309,0.044,2396,1801,3895,3912,3879,0,0,0,0,0,0,14.54,14.69,14.73
$GC,369,-1.11,-292.0,2396,1800,3912,3879,59.2,-20.2,62,375,0.00,0.00,0.00,0.000,2054,0.000,0.000,2396,1800,3896,3912,3880,0,0,0,0,0,0,15.08,15.09,15.08
$GC,443,-1.11,-292.0,2395,1800,3912,3879,73.0,-18.6,75,450,0.00,2.40,0.00,0.000,2564,0.000,0.063,2397,399,3895,3912,3879,0,0,0,0,0,0,15.08,14.81,15.09
$GC,474,-1.11,-292.0,2396,399,3912,3879,79.2,-18.8,80,481,0.00,2.33,0.00,0.000,3078,0.000,0.034,2392,1812,3895,3912,3879,0,0,0,0,0,0,14.96,14.86,14.97
$STATE,491,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,491,begin apogee
$GC,499,-0.17,0.0,2392,1815,3912,3879,83.0,-18.6,83,722,1.55,0.00,213.45,1.012,10246,0.162,0.000,2700,1816,2697,2737,2657,0,0,0,0,0,0,14.67,14.43,13.90
$STATE,724,end apogee,CONTROL_FINISHED_OK
$STATE,724,begin climb
$GC,728,1.11,292.0,2700,1816,2736,2658,100.4,0.0,123,966,1.90,2.42,225.27,0.999,11012,0.049,0.044,3141,3211,1507,1548,1466,0,0,0,0,0,0,14.52,14.42,13.90
$GC,974,1.11,292.0,3141,3211,1547,1466,71.7,24.3,165,982,0.15,2.45,0.00,0.000,5126,0.264,0.052,3120,1806,1506,1548,1465,0,0,0,0,0,0,14.31,14.44,14.49
$GC,1048,1.11,292.0,3119,1806,1547,1463,54.5,24.6,178,1054,0.00,2.47,0.00,0.000,4612,0.000,0.069,3125,391,1505,1547,1464,0,0,0,0,0,0,14.85,14.53,14.85
$GC,1088,1.11,292.0,3124,390,1546,1463,43.6,25.9,185,1095,0.00,2.35,0.00,0.000,5126,0.000,0.031,3125,1808,1504,1546,1462,0,0,0,0,0,0,14.70,14.63,14.71
$GC,1162,1.15,327.0,3125,1810,1546,1461,28.1,18.4,198,1196,0.00,2.35,27.25,0.858,8452,0.000,0.044,3126,3205,1364,1412,1317,0,0,0,0,0,0,14.95,14.52,14.11
$GC,1227,1.15,327.0,3125,3206,1412,1315,14.6,20.8,209,1234,0.00,2.42,0.00,0.000,1030,0.000,0.053,3125,1794,1363,1412,1315,0,0,0,0,0,0,14.79,14.69,14.81
$STATE,1284,end climb,SURFACE_DEPTH_REACHED
$STATE,1284,begin surface coast
$FINISH,0.1,1.025507
$STATE,1302,end surface coast,CONTROL_FINISHED_OK
$STATE,1303,begin surface
$SM_CCo,1330,14.88,0.724,0,0,1273,350.04
$SM_GC,0.73,14.10,0.00,14.88,0.044,0.000,0.724,120,1793,1273,-8.18,-0.54,350.04,0,0,0,0,0,0,14.81,15.01,14.20
$IRIDIUM_FIX,-3401.68,2507.63,250419,114141
$TT8_MAMPS,0.021721,0.95123
$HUMID,44.95
$INTERNAL_PRESSURE,9.37092
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.9,37.0
$SC_FREEKB,3589024
$24V_AH,13.24,176.392
$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,31.550,24.000,465.975,14.875,0.000,47.867,83.477,113.420,1.250,0.000,14.150,370.900,183.464,474.898,665.498,577.597,0.000,772.863,0.000,347.601,0.000,10.090,0.000
$DEVICE_MAMPS,309.060,68.850,1012.095,724.455,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1345.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.242,0.000,0.000,0.000
$MEM,340884
$DATA_FILE_SIZE,6803,223
$CAP_FILE_SIZE,46081,0
$CFSIZE,2097086464,1972568064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,250419,121138,-3412.917,2506.229,6,1.0,46,-27.5,1.0,17.2,7,3.9