version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 67
start: 3 20 119 0 8 28
data:
$ID,574
$MISSION,3
$DIVE,67
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,1020
$D_NO_BLEED,29
$D_BOOST,0
$T_BOOST,0
$D_FINISH,20
$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,182
$T_ABORT,197
$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,95
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53998
$MASS_COMP,0
$NAV_MODE,3
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,270
$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,515.36688
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$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,34
$R_STBD_OVSHOOT,49
$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,10
$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
$GPS1,190319,235101,-3004.2029,3104.4624,7,0.9,36,-25.1,1.2,97.6,9,7.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-68.4
$GPS2,200319,000806,-3004.1638,3104.7639,6,1.0,16,-25.1,0.0,108.4,8,9.5
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-2957.673,3054.802
$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,332.0,20000,-23.0,-9.980,-25.43,1422
$D_GRID,500
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,19,-0.88,-92.5,54,1785,626,554,0.0,0.0,0,105,0.00,0.00,-83.57,0.000,16386,0.000,0.000,54,1785,2824,2798,2851,0,0,0,0,0,0,15.09,28.83,15.10
$GC,108,-0.88,-92.5,53,1785,2798,2852,3.0,-4.9,15,134,13.77,2.38,-4.68,0.000,18692,0.289,0.066,2459,3218,3079,3071,3088,0,0,0,0,0,0,14.73,14.00,14.92
$GC,459,-0.88,-92.5,2458,3217,3073,3086,65.2,-12.5,83,467,0.05,2.33,0.00,0.000,3078,0.323,0.044,2475,1801,3080,3075,3086,0,0,0,0,0,0,14.85,14.94,14.98
$GC,528,-0.88,-92.5,2469,1802,3076,3085,75.0,-14.7,96,538,0.00,2.33,0.00,0.000,2308,0.000,0.051,2462,3212,3080,3076,3085,0,0,0,0,0,0,15.17,14.98,15.18
$GC,595,-0.88,-92.5,2462,3212,3076,3085,83.5,-11.9,108,602,0.00,2.30,0.00,0.000,3078,0.000,0.044,2463,1807,3081,3077,3085,0,0,0,0,0,0,15.06,14.98,15.07
$GC,666,-0.88,-92.5,2462,1806,3076,3084,92.3,-11.6,121,673,0.00,2.33,0.00,0.000,2308,0.000,0.050,2457,3214,3080,3077,3084,0,0,0,0,0,0,15.20,15.00,15.20
$GC,684,-0.88,-92.5,2457,3214,3076,3084,94.6,-12.4,124,693,0.08,2.33,0.00,0.000,3078,0.270,0.046,2472,1804,3080,3076,3085,0,0,0,0,0,0,14.88,14.97,15.01
$GC,755,-0.88,-92.5,2472,1804,3077,3084,103.0,-11.7,137,762,0.00,2.33,0.00,0.000,2564,0.000,0.063,2473,409,3080,3077,3083,0,0,0,0,0,0,15.20,14.97,15.20
$GC,793,-0.88,-92.5,2473,409,3076,3083,107.9,-12.9,144,799,0.00,2.28,0.00,0.000,3078,0.000,0.037,2471,1818,3080,3077,3083,0,0,0,0,0,0,15.09,15.02,15.11
$GC,863,-0.88,-92.5,2470,1820,3077,3083,116.2,-11.9,157,869,0.00,2.30,0.00,0.000,2308,0.000,0.055,2471,3218,3080,3078,3083,0,0,0,0,0,0,15.20,15.00,15.21
$GC,905,-0.88,-92.5,2470,3218,3077,3082,121.1,-10.8,165,912,0.00,2.30,0.00,0.000,3078,0.000,0.043,2471,1811,3080,3077,3083,0,0,0,0,0,0,15.07,15.00,15.09
$GC,974,-0.88,-92.5,2470,1811,3077,3082,129.1,-11.6,178,981,0.00,0.00,0.00,0.000,2054,0.000,0.000,2471,1811,3079,3077,3082,0,0,0,0,0,0,15.20,15.21,15.21
$GC,1044,-0.88,-92.5,2470,1811,3077,3082,137.2,-11.2,191,1050,0.00,2.33,0.00,0.000,2308,0.000,0.054,2470,3211,3079,3077,3082,0,0,0,0,0,0,15.21,14.97,15.21
$GC,1103,-0.88,-92.5,2469,3211,3077,3082,144.3,-11.6,202,1110,0.00,2.30,0.00,0.000,3078,0.000,0.044,2470,1806,3079,3077,3082,0,0,0,0,0,0,15.11,15.02,15.11
$GC,1174,-0.88,-92.5,2470,1806,3077,3082,153.1,-13.2,215,1180,0.00,0.00,0.00,0.000,2054,0.000,0.000,2470,1806,3079,3077,3081,0,0,0,0,0,0,15.21,15.21,15.21
$GC,1243,-0.88,-92.5,2470,1806,3077,3081,162.0,-12.9,228,1248,0.00,0.00,0.00,0.000,2054,0.000,0.000,2470,1806,3078,3077,3080,0,0,0,0,0,0,15.21,15.21,15.21
$GC,1310,-0.88,-92.5,2470,1806,3077,3080,171.0,-12.7,241,1317,0.00,2.33,0.00,0.000,2308,0.000,0.053,2463,3212,3078,3077,3080,0,0,0,0,0,0,15.21,15.00,15.22
$GC,1375,-0.88,-92.5,2462,3212,3076,3080,179.6,-13.3,253,1382,0.00,2.30,0.00,0.000,3078,0.000,0.045,2463,1811,3078,3077,3080,0,0,0,0,0,0,15.09,15.00,15.09
$GC,1445,-0.88,-92.5,2463,1811,3075,3080,189.3,-14.2,266,1452,0.00,0.00,0.00,0.000,2054,0.000,0.000,2463,1812,3078,3076,3080,0,0,0,0,0,0,15.21,15.22,15.22
$GC,1515,-0.88,-92.5,2462,1811,3076,3079,199.1,-14.3,279,1521,0.00,2.33,0.00,0.000,2308,0.000,0.055,2463,3211,3078,3077,3079,0,0,0,0,0,0,15.22,15.00,15.22
$GC,1569,-0.88,-92.5,2462,3211,3076,3079,206.6,-13.2,289,1576,0.00,2.30,0.00,0.000,3078,0.000,0.046,2464,1811,3077,3076,3079,0,0,0,0,0,0,15.11,15.03,15.12
$GC,1638,-0.88,-92.5,2462,1811,3076,3079,216.3,-14.5,302,1645,0.00,0.00,0.00,0.000,2054,0.000,0.000,2463,1811,3077,3076,3078,0,0,0,0,0,0,15.22,15.23,15.22
$GC,1707,-0.88,-92.5,2462,1811,3076,3078,226.0,-14.2,315,1714,0.00,2.33,0.00,0.000,2308,0.000,0.055,2453,3210,3076,3074,3078,0,0,0,0,0,0,15.23,15.03,15.23
$GC,1731,-0.88,-92.5,2456,3211,3074,3078,229.4,-13.6,319,1739,0.08,2.30,0.00,0.000,3078,0.275,0.047,2472,1813,3076,3075,3077,0,0,0,0,0,0,14.95,15.04,15.09
$GC,1802,-0.88,-92.5,2472,1812,3075,3077,239.0,-13.0,332,1807,0.00,0.00,0.00,0.000,2054,0.000,0.000,2473,1813,3075,3074,3076,0,0,0,0,0,0,15.24,15.25,15.25
$GC,1870,-0.88,-92.5,2472,1813,3074,3076,247.7,-13.1,345,1876,0.00,2.38,0.00,0.000,2564,0.000,0.067,2473,405,3075,3074,3076,0,0,0,0,0,0,15.24,15.02,15.24
$GC,1903,-0.88,-92.5,2472,404,3073,3076,252.6,-15.3,351,1910,0.00,2.30,0.00,0.000,3078,0.000,0.041,2471,1812,3074,3073,3076,0,0,0,0,0,0,15.14,15.05,15.14
$GC,1972,-0.88,-92.5,2470,1814,3073,3074,262.5,-13.9,364,1978,0.00,0.00,0.00,0.000,2054,0.000,0.000,2470,1814,3074,3073,3075,0,0,0,0,0,0,15.25,15.25,15.26
$GC,2041,-0.88,-92.5,2470,1814,3073,3074,271.7,-14.2,377,2047,0.00,0.00,0.00,0.000,2054,0.000,0.000,2471,1814,3074,3074,3074,0,0,0,0,0,0,15.25,15.25,15.25
$GC,2109,-0.88,-92.5,2471,1814,3073,3074,280.8,-13.0,390,2117,0.00,2.30,0.00,0.000,2308,0.000,0.056,2471,3215,3073,3073,3074,0,0,0,0,0,0,15.24,15.04,15.26
$GC,2143,-0.88,-92.5,2471,3215,3073,3073,284.9,-11.5,396,2151,0.00,2.33,0.00,0.000,3078,0.000,0.049,2471,1806,3073,3073,3074,0,0,0,0,0,0,15.14,15.04,15.14
$GC,2213,-0.88,-92.5,2471,1806,3072,3073,293.4,-11.5,409,2220,0.00,2.38,0.00,0.000,2564,0.000,0.068,2471,403,3073,3073,3073,0,0,0,0,0,0,15.25,15.03,15.26
$GC,2236,-0.88,-92.5,2471,404,3073,3073,296.6,-13.5,413,2243,0.00,2.30,0.00,0.000,3078,0.000,0.041,2470,1815,3073,3073,3073,0,0,0,0,0,0,15.14,15.06,15.15
$GC,2305,-0.88,-92.5,2470,1817,3072,3073,304.9,-11.9,420,2306,0.00,0.00,0.00,0.000,2054,0.000,0.000,2471,1818,3072,3072,3073,0,0,0,0,0,0,15.26,15.27,15.26
$GC,2425,-0.88,-92.5,2470,1817,3072,3072,320.6,-13.5,426,2431,0.00,2.30,0.00,0.000,2308,0.000,0.057,2470,3215,3071,3072,3071,0,0,0,0,0,0,15.28,15.07,15.28
$GC,2457,-0.88,-92.5,2470,3215,3071,3071,323.7,-13.6,427,2462,0.00,2.30,0.00,0.000,3078,0.000,0.048,2471,1809,3072,3073,3072,0,0,0,0,0,0,15.16,15.07,15.17
$STATE,2488,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2488,begin apogee
$GC,2491,-0.17,0.0,2471,1809,3072,3071,329.1,-13.3,429,2571,1.15,0.00,69.60,1.203,10246,0.164,0.000,2697,1809,2698,2713,2683,0,0,0,0,0,0,15.00,14.59,14.19
$STATE,2573,end apogee,CONTROL_FINISHED_OK
$STATE,2573,begin climb
$GC,2574,0.88,92.5,2698,1809,2713,2683,332.8,0.0,433,2656,1.58,0.00,76.43,1.205,10246,0.082,0.000,3033,1809,2321,2342,2300,0,0,0,0,0,0,14.70,14.49,14.01
$GC,2769,0.90,107.8,3033,1809,2337,2295,323.8,8.9,443,2789,0.00,2.45,13.45,1.070,10756,0.000,0.070,3033,394,2258,2281,2236,0,0,0,0,0,0,14.96,14.61,14.22
$GC,2901,0.90,107.8,3033,394,2276,2233,310.3,11.3,449,2906,0.00,2.33,0.00,0.000,3078,0.000,0.040,3033,1806,2254,2276,2233,0,0,0,0,0,0,14.92,14.85,14.93
$GC,3028,0.90,107.8,3033,1808,2275,2230,295.0,11.1,461,3035,0.00,2.42,0.00,0.000,2564,0.000,0.072,3033,392,2252,2275,2230,0,0,0,0,0,0,15.11,14.87,15.11
$GC,3067,0.90,107.8,3033,392,2274,2230,290.6,11.9,468,3074,0.00,2.30,0.00,0.000,3078,0.000,0.039,3033,1800,2251,2273,2230,0,0,0,0,0,0,14.96,14.93,14.97
$GC,3136,0.90,107.8,3033,1802,2274,2229,282.9,10.7,481,3142,0.00,0.00,0.00,0.000,2054,0.000,0.000,3033,1802,2251,2273,2229,0,0,0,0,0,0,15.14,15.15,15.15
$GC,3203,0.90,107.8,3033,1802,2273,2228,275.5,10.0,494,3210,0.00,2.38,0.00,0.000,2564,0.000,0.070,3040,399,2250,2273,2228,0,0,0,0,0,0,15.16,14.94,15.16
$GC,3257,0.90,107.8,3039,399,2271,2228,269.3,11.9,504,3264,0.00,2.28,0.00,0.000,3078,0.000,0.039,3040,1803,2249,2271,2228,0,0,0,0,0,0,15.00,14.95,15.02
$GC,3326,0.91,120.0,3039,1805,2270,2227,262.5,9.1,517,3345,0.00,2.40,10.38,1.016,10756,0.000,0.073,3040,396,2208,2231,2185,0,0,0,0,0,0,15.19,14.89,14.42
$GC,3388,0.91,120.0,3039,396,2228,2185,255.7,11.8,528,3394,0.00,2.30,0.00,0.000,3078,0.000,0.040,3040,1806,2206,2228,2184,0,0,0,0,0,0,14.99,14.92,15.00
$GC,3456,0.91,120.0,3039,1807,2228,2183,248.1,10.5,541,3462,0.00,0.00,0.00,0.000,2054,0.000,0.000,3040,1808,2205,2228,2183,0,0,0,0,0,0,15.16,15.16,15.16
$GC,3523,0.91,120.0,3039,1808,2227,2183,240.0,11.7,554,3530,0.00,2.40,0.00,0.000,2564,0.000,0.073,3040,399,2204,2227,2182,0,0,0,0,0,0,15.16,14.95,15.16
$GC,3557,0.91,120.0,3040,399,2226,2182,235.9,12.8,560,3564,0.00,2.28,0.00,0.000,3078,0.000,0.041,3040,1799,2204,2226,2182,0,0,0,0,0,0,15.01,14.95,15.02
$GC,3626,0.91,120.0,3040,1801,2226,2181,227.7,12.6,573,3632,0.00,0.00,0.00,0.000,2054,0.000,0.000,3039,1801,2203,2226,2181,0,0,0,0,0,0,15.19,15.19,15.19
$GC,3693,0.91,120.0,3040,1801,2226,2181,218.8,12.4,586,3699,0.00,0.00,0.00,0.000,2054,0.000,0.000,3039,1801,2203,2226,2181,0,0,0,0,0,0,15.19,15.19,15.19
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$STATE,5595,end climb,SURFACE_DEPTH_REACHED
$STATE,5595,begin surface coast
$FINISH,-0.1,1.023609
$STATE,5662,end surface coast,CONTROL_FINISHED_OK
$STATE,5662,begin surface
$SM_CCo,5685,203.85,0.828,0,0,599,515.37
$SM_GC,0.74,13.73,2.38,203.85,0.055,0.052,0.828,121,1810,599,-8.18,0.90,515.37,0,0,0,0,0,0,14.95,14.95,14.15
$IRIDIUM_FIX,-2952.53,3105.94,200319,000241
$TT8_MAMPS,0.021721,0.910035
$HUMID,42.08
$INTERNAL_PRESSURE,9.44905
$TCM_TEMP,20.90
$XPDR_PINGS,18
$ALTIM_BOTTOM_PING,307.4,31.2
$SC_FREEKB,3888096
$24V_AH,14.00,47.257
$10V_AH,13.95,0.000
$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,30.425,130.650,232.225,203.850,0.000,118.923,119.005,292.527,17.750,0.000,17.338,2334.718,1427.999,766.972,2245.153,143.846,0.000,1613.252,0.000,1480.830,0.000,84.239,0.000
$DEVICE_MAMPS,322.830,74.970,1204.875,828.495,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5725.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,28.811,0.000,0.000,0.000
$MEM,340904
$DATA_FILE_SIZE,26664,959
$CAP_FILE_SIZE,188697,0
$CFSIZE,2097086464,2082275328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.473,44.24,1
$GPS,200319,014755,-3002.692,3105.496,6,0.8,40,-25.1,0.7,111.2,11,6.5