version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 194
start: 3 30 119 10 46 22
data:
$ID,574
$MISSION,3
$DIVE,194
$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,30
$R_STBD_OVSHOOT,45
$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
$GPS1,300319,103019,-3003.8374,3103.8196,8,0.8,38,-25.1,0.4,243.0,9,4.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-70.6
$GPS2,300319,104559,-3003.8230,3103.9375,8,0.8,17,-25.1,0.0,86.3,10,9.5
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-2956.704,3054.566
$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,336.3,20000,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.88,-92.5,54,1799,620,559,0.0,0.0,0,108,0.00,0.00,-84.78,0.000,16386,0.000,0.000,54,1800,2869,2842,2896,0,0,0,0,0,0,15.09,28.83,15.09
$GC,111,-0.88,-92.5,54,1800,2841,2897,3.2,-6.5,15,137,13.82,2.35,-3.83,0.000,18692,0.287,0.067,2459,3227,3079,3070,3088,0,0,0,0,0,0,14.73,14.19,14.95
$GC,270,-0.88,-92.5,2459,3228,3072,3087,42.8,-19.8,45,277,0.05,2.35,0.00,0.000,3078,0.323,0.045,2469,1805,3079,3072,3086,0,0,0,0,0,0,14.77,14.88,14.94
$GC,340,-0.88,-92.5,2468,1805,3073,3086,57.0,-20.7,58,347,0.00,2.35,0.00,0.000,2564,0.000,0.061,2469,405,3079,3073,3086,0,0,0,0,0,0,15.16,14.88,15.16
$GC,375,-0.88,-92.5,2469,405,3073,3085,63.6,-17.4,64,382,0.00,2.28,0.00,0.000,3078,0.000,0.034,2461,1816,3079,3074,3085,0,0,0,0,0,0,15.01,14.94,15.02
$GC,445,-0.88,-92.5,2461,1818,3074,3085,73.6,-14.6,77,452,0.00,2.33,0.00,0.000,2308,0.000,0.055,2461,3212,3079,3074,3085,0,0,0,0,0,0,15.18,14.92,15.19
$GC,580,-0.88,-92.5,2460,3213,3074,3085,92.5,-15.9,103,587,0.00,2.30,0.00,0.000,3078,0.000,0.044,2460,1811,3079,3074,3085,0,0,0,0,0,0,15.06,14.97,15.07
$GC,650,-0.88,-92.5,2460,1811,3075,3085,103.2,-15.1,116,656,0.00,2.33,0.00,0.000,2308,0.000,0.050,2461,3218,3080,3075,3085,0,0,0,0,0,0,15.20,14.93,15.21
$GC,739,-0.88,-92.5,2460,3218,3075,3089,116.3,-15.6,133,746,0.00,2.30,0.00,0.000,3078,0.000,0.042,2461,1809,3080,3075,3085,0,0,0,0,0,0,15.04,14.95,15.04
$GC,811,-0.88,-92.5,2460,1808,3074,3084,128.6,-16.5,146,818,0.03,0.00,0.00,0.000,2054,0.508,0.000,2469,1808,3080,3075,3085,0,0,0,0,0,0,14.88,15.07,15.05
$GC,882,-0.88,-92.5,2469,1808,3075,3085,140.4,-17.3,159,889,0.00,2.33,0.00,0.000,2564,0.000,0.056,2470,403,3079,3075,3084,0,0,0,0,0,0,15.22,15.00,15.23
$GC,978,-0.88,-92.5,2469,403,3076,3084,155.7,-16.0,177,985,0.00,2.28,0.00,0.000,3078,0.000,0.036,2461,1816,3079,3075,3084,0,0,0,0,0,0,15.11,15.04,15.13
$GC,1049,-0.88,-92.5,2461,1819,3075,3084,165.7,-15.1,190,1055,0.00,0.00,0.00,0.000,2054,0.000,0.000,2461,1819,3079,3075,3084,0,0,0,0,0,0,15.21,15.22,15.21
$GC,1121,-0.88,-92.5,2461,1819,3075,3083,175.1,-12.9,203,1127,0.00,0.00,0.00,0.000,2054,0.000,0.000,2461,1819,3079,3075,3084,0,0,0,0,0,0,15.23,15.23,15.23
$GC,1190,-0.88,-92.5,2461,1819,3075,3084,184.3,-14.2,216,1199,0.00,2.38,0.00,0.000,2564,0.000,0.060,2461,406,3079,3076,3083,0,0,0,0,0,0,15.22,14.95,15.23
$GC,1268,-0.88,-92.5,2461,407,3075,3088,196.6,-16.1,230,1276,0.08,2.28,0.00,0.000,3078,0.288,0.036,2470,1806,3079,3075,3083,0,0,0,0,0,0,14.90,15.04,15.07
$GC,1340,-0.88,-92.5,2469,1810,3075,3082,206.9,-13.2,243,1346,0.00,0.00,0.00,0.000,2054,0.000,0.000,2469,1809,3078,3075,3082,0,0,0,0,0,0,15.25,15.25,15.25
$GC,1409,-0.88,-92.5,2469,1811,3075,3082,217.1,-14.5,256,1415,0.00,0.00,0.00,0.000,2054,0.000,0.000,2470,1810,3078,3075,3082,0,0,0,0,0,0,15.25,15.24,15.25
$GC,1482,-0.88,-92.5,2469,1811,3075,3082,227.3,-14.4,269,1488,0.00,0.00,0.00,0.000,2054,0.000,0.000,2468,1811,3078,3075,3082,0,0,0,0,0,0,15.25,15.26,15.25
$GC,1553,-0.88,-92.5,2468,1811,3075,3081,238.3,-15.9,282,1560,0.00,2.33,0.00,0.000,2308,0.000,0.054,2461,3223,3078,3076,3081,0,0,0,0,0,0,15.25,15.03,15.26
$GC,1607,-0.88,-92.5,2461,3222,3075,3081,246.8,-13.9,292,1614,0.00,2.30,0.00,0.000,3078,0.000,0.044,2462,1813,3078,3075,3081,0,0,0,0,0,0,15.14,15.04,15.14
$GC,1677,-0.88,-92.5,2461,1810,3075,3080,254.7,-12.4,305,1686,0.00,2.35,0.00,0.000,2564,0.000,0.061,2462,404,3077,3075,3080,0,0,0,0,0,0,15.25,15.02,15.26
$GC,1714,-0.88,-92.5,2461,404,3075,3080,259.6,-12.9,311,1722,0.08,2.28,0.00,0.000,3078,0.291,0.036,2469,1814,3077,3075,3080,0,0,0,0,0,0,14.91,15.05,15.08
$GC,1784,-0.88,-92.5,2468,1817,3075,3080,268.1,-12.1,324,1791,0.00,2.30,0.00,0.000,2308,0.000,0.054,2461,3212,3077,3075,3080,0,0,0,0,0,0,15.25,15.03,15.26
$GC,1833,-0.88,-92.5,2460,3210,3075,3078,274.0,-12.0,333,1840,0.05,2.30,0.00,0.000,3078,0.324,0.044,2471,1807,3077,3075,3080,0,0,0,0,0,0,14.90,15.04,15.08
$STATE,1876,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1877,begin apogee
$GC,1881,-0.17,0.0,2471,1807,3075,3080,279.8,-12.2,341,1956,1.12,0.00,68.18,1.086,10246,0.166,0.000,2695,1813,2700,2717,2684,0,0,0,0,0,0,14.87,14.75,14.29
$STATE,1959,end apogee,CONTROL_FINISHED_OK
$STATE,1959,begin climb
$GC,1960,0.88,92.5,2695,1807,2717,2683,282.5,0.0,354,2045,1.55,2.42,74.95,1.089,11012,0.075,0.048,3033,3205,2320,2342,2299,0,0,0,0,0,0,14.73,14.56,14.11
$GC,2107,0.88,92.5,3033,3205,2338,2297,274.0,11.0,379,2114,0.00,2.38,0.00,0.000,1030,0.000,0.047,3040,1798,2316,2337,2296,0,0,0,0,0,0,14.79,14.71,14.81
$GC,2178,0.88,92.5,3039,1798,2337,2294,266.2,11.3,392,2183,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,1798,2313,2336,2291,0,0,0,0,0,0,15.02,15.03,15.03
$GC,2245,0.88,92.5,3040,1798,2336,2293,258.2,11.8,405,2252,0.00,2.35,0.00,0.000,260,0.000,0.049,3040,3214,2314,2335,2293,0,0,0,0,0,0,15.08,14.81,15.08
$GC,2269,0.88,92.5,3040,3214,2334,2293,255.2,12.1,409,2276,0.00,2.38,0.00,0.000,5126,0.000,0.048,3044,1792,2313,2334,2293,0,0,0,0,0,0,14.98,14.88,15.00
$GC,2339,0.88,92.5,3043,1791,2333,2292,247.5,10.1,422,2345,0.00,2.35,0.00,0.000,516,0.000,0.066,3043,394,2312,2333,2292,0,0,0,0,0,0,15.11,14.90,15.12
$GC,2422,0.88,92.5,3043,394,2331,2292,238.9,10.7,438,2429,0.00,2.30,0.00,0.000,1030,0.000,0.035,3044,1815,2312,2333,2292,0,0,0,0,0,0,15.04,14.97,15.05
$GC,2492,0.88,92.5,3043,1816,2331,2291,231.5,11.1,451,2499,0.00,2.25,0.00,0.000,260,0.000,0.048,3044,3199,2310,2330,2291,0,0,0,0,0,0,15.16,14.97,15.18
$GC,2573,0.88,92.5,3043,3199,2330,2291,222.0,10.7,466,2579,0.00,2.33,0.00,0.000,5126,0.000,0.049,3047,1798,2310,2330,2290,0,0,0,0,0,0,15.08,14.98,15.09
$GC,2642,0.88,92.5,3047,1798,2330,2290,214.9,10.2,479,2649,0.00,0.00,0.00,0.000,4102,0.000,0.000,3047,1798,2310,2330,2290,0,0,0,0,0,0,15.20,15.20,15.21
$GC,2712,0.88,92.5,3047,1798,2330,2290,207.7,10.1,492,2717,0.00,0.00,0.00,0.000,4102,0.000,0.000,3046,1798,2310,2330,2290,0,0,0,0,0,0,15.21,15.21,15.21
$GC,2780,0.88,92.5,3047,1797,2330,2288,200.8,10.4,505,2786,0.00,2.38,0.00,0.000,4612,0.000,0.067,3047,385,2308,2329,2288,0,0,0,0,0,0,15.22,14.99,15.22
$GC,2964,0.88,92.5,3046,385,2326,2288,182.2,10.6,541,2971,0.00,2.30,0.00,0.000,5126,0.000,0.037,3047,1806,2306,2326,2287,0,0,0,0,0,0,15.11,15.03,15.11
$GC,3034,0.93,131.8,3047,1807,2326,2287,176.2,7.1,554,3071,0.00,2.45,30.70,0.996,10756,0.000,0.067,3047,395,2160,2185,2135,0,0,0,0,0,0,15.21,14.83,14.45
$GC,3128,0.93,131.8,3046,395,2180,2132,166.2,12.2,571,3136,0.00,2.30,0.00,0.000,3078,0.000,0.037,3046,1806,2154,2179,2130,0,0,0,0,0,0,15.00,14.92,15.01
$GC,3200,0.93,131.8,3050,1808,2180,2130,157.5,12.2,584,3206,0.00,2.40,0.00,0.000,2564,0.000,0.067,3051,391,2154,2179,2130,0,0,0,0,0,0,15.12,14.90,15.12
$GC,3294,0.93,131.8,3050,391,2178,2130,145.5,13.4,602,3300,0.00,2.30,0.00,0.000,3078,0.000,0.035,3050,1815,2153,2178,2129,0,0,0,0,0,0,15.05,14.97,15.06
$GC,3363,0.93,131.8,3050,1815,2178,2129,136.9,12.4,615,3369,0.00,0.00,0.00,0.000,2054,0.000,0.000,3051,1815,2153,2178,2129,0,0,0,0,0,0,15.16,15.17,15.17
$GC,3432,0.93,131.8,3050,1814,2178,2127,128.3,11.6,628,3439,0.00,2.42,0.00,0.000,2564,0.000,0.067,3053,388,2153,2178,2128,0,0,0,0,0,0,15.18,14.92,15.19
$GC,3456,0.93,131.8,3053,387,2177,2128,125.6,10.9,632,3463,0.00,2.28,0.00,0.000,1030,0.000,0.036,3053,1796,2152,2177,2128,0,0,0,0,0,0,15.00,14.94,15.01
$GC,3526,0.93,131.8,3053,1798,2177,2127,116.7,13.5,645,3532,0.00,2.30,0.00,0.000,260,0.000,0.048,3053,3210,2151,2176,2126,0,0,0,0,0,0,15.18,14.92,15.19
$GC,3689,0.93,131.8,3053,3210,2175,2127,95.8,11.4,677,3696,0.00,2.35,0.00,0.000,1030,0.000,0.050,3057,1797,2151,2175,2127,0,0,0,0,0,0,15.08,14.99,15.09
$GC,3759,0.93,131.8,3057,1796,2174,2127,87.1,11.7,690,3765,0.00,2.33,0.00,0.000,260,0.000,0.050,3057,3209,2150,2174,2127,0,0,0,0,0,0,15.19,15.00,15.20
$GC,4270,0.97,165.1,3056,3209,2173,2126,43.4,7.6,791,4302,0.00,2.35,25.33,0.851,11270,0.000,0.049,3057,1799,2025,2055,1996,0,0,0,0,0,0,15.04,14.96,14.42
$GC,4365,0.97,165.1,3057,1797,2053,1995,34.8,12.5,808,4372,0.00,2.33,0.00,0.000,2308,0.000,0.050,3057,3198,2023,2052,1995,0,0,0,0,0,0,15.13,14.93,15.14
$GC,4464,1.06,237.4,3057,3198,2049,1995,25.4,4.8,827,4519,0.08,2.33,46.80,1.011,11270,0.204,0.049,3088,1798,1730,1764,1697,0,0,0,0,0,0,14.92,14.95,14.31
$GC,4582,1.06,237.4,3089,1798,1763,1693,17.4,10.0,848,4589,0.00,2.35,0.00,0.000,2308,0.000,0.047,3089,3202,1728,1763,1693,0,0,0,0,0,0,15.02,14.81,15.02
$STATE,4698,end climb,SURFACE_DEPTH_REACHED
$STATE,4698,begin surface coast
$FINISH,2.3,1.023505
$STATE,4705,end surface coast,CONTROL_FINISHED_OK
$STATE,4705,begin surface
$SM_CCo,4730,164.95,0.786,0,0,598,515.37
$SM_GC,0.89,14.30,2.38,164.95,0.090,0.050,0.786,126,1811,598,-8.17,0.93,515.37,0,0,0,0,0,0,14.91,14.90,14.24
$IRIDIUM_FIX,-2952.53,3103.81,300319,103744
$TT8_MAMPS,0.020972,0.961716
$HUMID,43.03
$INTERNAL_PRESSURE,9.50764
$TCM_TEMP,22.00
$XPDR_PINGS,25
$ALTIM_BOTTOM_PING,255.5,33.8
$SC_FREEKB,3822336
$24V_AH,14.11,77.273
$10V_AH,13.94,0.000
$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,31.150,97.950,245.950,164.950,0.000,73.623,108.638,370.040,17.000,0.000,18.783,2026.238,913.541,633.860,2064.437,200.686,0.000,1371.770,0.000,1322.694,0.000,67.966,0.000
$DEVICE_MAMPS,507.960,67.320,1089.360,785.655,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4783.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,31.569,0.000,0.000,0.000
$MEM,340928
$DATA_FILE_SIZE,23363,872
$CAP_FILE_SIZE,156709,0
$CFSIZE,2097086464,2057895936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.224,39.75,1
$GPS,300319,120919,-3003.094,3104.012,8,1.1,41,-25.1,0.0,293.6,8,5.2