version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 257
start: 4 7 119 7 2 29
data:
$ID,574
$MISSION,3
$DIVE,257
$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,20
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,333
$T_MISSION,343
$T_ABORT,358
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,110
$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,36
$R_STBD_OVSHOOT,60
$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
$GPS1,070419,065037,-3112.3855,3013.3208,31,0.9,37,-26.2,1.3,213.2,9,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-70.6
$GPS2,070419,070206,-3112.7871,3012.8911,6,0.8,16,-26.2,1.6,200.4,10,9.7
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3116.481,3024.764
$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,136.2,20000,-23.0,-10.010,-25.49,1417
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.88,-92.5,54,1788,611,564,0.0,0.0,0,106,0.00,0.00,-82.03,0.000,16386,0.000,0.000,54,1789,2836,2805,2868,0,0,0,0,0,0,15.04,28.83,15.06
$GC,110,-0.88,-92.5,54,1789,2805,2869,3.5,-6.2,15,135,13.82,2.33,-4.10,0.000,19204,0.280,0.073,2467,402,3080,3069,3091,0,0,0,0,0,0,14.67,14.09,14.90
$GC,464,-0.88,-92.5,2467,402,3071,3089,88.4,-13.4,83,471,0.05,2.25,0.00,0.000,3078,0.349,0.032,2467,1804,3080,3073,3087,0,0,0,0,0,0,14.78,14.97,14.97
$GC,535,-0.88,-92.5,2467,1806,3074,3086,97.5,-13.2,96,541,0.00,2.30,0.00,0.000,2308,0.000,0.049,2459,3208,3080,3074,3086,0,0,0,0,0,0,15.16,14.87,15.16
$GC,564,-0.88,-92.5,2458,3208,3074,3085,101.3,-12.5,101,572,0.05,2.30,0.00,0.000,3078,0.314,0.041,2469,1807,3079,3074,3085,0,0,0,0,0,0,14.75,14.88,14.92
$GC,635,-0.88,-92.5,2469,1801,3075,3085,109.4,-10.6,114,644,0.00,2.33,0.00,0.000,2564,0.000,0.056,2469,404,3080,3075,3085,0,0,0,0,0,0,15.16,14.87,15.17
$GC,651,-0.88,-92.5,2469,403,3075,3084,111.4,-11.8,116,658,0.00,2.28,0.00,0.000,3078,0.000,0.031,2461,1823,3080,3075,3085,0,0,0,0,0,0,15.02,14.95,15.03
$GC,724,-0.88,-92.5,2460,1825,3075,3085,120.5,-13.5,129,731,0.00,2.25,0.00,0.000,2308,0.000,0.047,2450,3205,3080,3075,3086,0,0,0,0,0,0,15.18,14.96,15.19
$GC,763,-0.88,-92.5,2450,3205,3075,3082,126.5,-13.7,136,770,0.10,2.28,0.00,0.000,3078,0.220,0.038,2471,1803,3083,3082,3084,0,0,0,0,0,0,14.87,14.97,15.01
$GC,835,-0.88,-92.5,2470,1803,3076,3084,135.1,-13.0,149,842,0.00,2.33,0.00,0.000,2564,0.000,0.058,2471,410,3079,3075,3084,0,0,0,0,0,0,15.19,14.92,15.19
$GC,885,-0.88,-92.5,2471,411,3076,3084,141.4,-12.2,158,891,0.00,2.25,0.00,0.000,3078,0.000,0.032,2463,1814,3080,3076,3084,0,0,0,0,0,0,14.98,14.91,15.00
$GC,955,-0.88,-92.5,2462,1817,3076,3084,149.8,-11.9,171,962,0.00,0.00,0.00,0.000,2054,0.000,0.000,2464,1818,3080,3076,3084,0,0,0,0,0,0,15.19,15.19,15.19
$GC,1025,-0.88,-92.5,2462,1816,3076,3083,158.0,-11.5,184,1031,0.00,2.28,0.00,0.000,2308,0.000,0.047,2452,3206,3082,3080,3084,0,0,0,0,0,0,15.19,14.89,15.19
$GC,1074,-0.88,-92.5,2452,3210,3076,3083,163.8,-11.6,193,1081,0.10,2.28,0.00,0.000,3078,0.228,0.040,2469,1815,3079,3076,3083,0,0,0,0,0,0,14.86,14.99,15.02
$GC,1144,-0.88,-92.5,2472,1814,3076,3083,172.6,-12.4,206,1151,0.00,2.35,0.00,0.000,2564,0.000,0.057,2472,404,3079,3076,3083,0,0,0,0,0,0,15.19,14.89,15.20
$GC,1188,-0.88,-92.5,2473,404,3076,3081,178.7,-13.1,214,1195,0.00,2.25,0.00,0.000,3078,0.000,0.032,2464,1811,3079,3076,3083,0,0,0,0,0,0,15.08,15.00,15.09
$GC,1258,-0.88,-92.5,2464,1813,3076,3083,188.0,-12.6,227,1265,0.00,2.30,0.00,0.000,2308,0.000,0.047,2453,3222,3079,3076,3082,0,0,0,0,0,0,15.20,14.97,15.20
$GC,1297,-0.88,-92.5,2453,3222,3076,3082,193.2,-15.1,234,1305,0.08,2.30,0.00,0.000,3078,0.251,0.041,2469,1811,3079,3076,3083,0,0,0,0,0,0,14.87,14.99,15.02
$GC,1368,-0.88,-92.5,2469,1811,3076,3082,201.9,-13.1,247,1375,0.00,2.33,0.00,0.000,2308,0.000,0.047,2460,3222,3079,3076,3083,0,0,0,0,0,0,15.20,14.98,15.20
$GC,1387,-0.88,-92.5,2460,3222,3076,3082,204.2,-11.2,250,1395,0.00,2.33,0.00,0.000,3078,0.000,0.041,2460,1805,3079,3076,3082,0,0,0,0,0,0,15.08,15.00,15.09
$GC,1459,-0.88,-92.5,2460,1805,3074,3082,212.4,-11.7,263,1465,0.00,2.33,0.00,0.000,2564,0.000,0.058,2460,409,3079,3076,3082,0,0,0,0,0,0,15.21,14.97,15.21
$GC,1487,-0.88,-92.5,2460,409,3076,3082,216.1,-13.5,268,1494,0.10,2.28,0.00,0.000,3078,0.249,0.031,2471,1829,3079,3076,3082,0,0,0,0,0,0,14.87,15.02,15.03
$GC,1557,-0.88,-92.5,2470,1831,3076,3083,224.4,-11.9,281,1566,0.00,2.25,0.00,0.000,2308,0.000,0.049,2461,3204,3079,3077,3082,0,0,0,0,0,0,15.22,14.99,15.23
$GC,1635,-0.88,-92.5,2461,3204,3077,3081,233.2,-9.9,295,1641,0.00,2.28,0.00,0.000,3078,0.000,0.041,2461,1812,3078,3076,3081,0,0,0,0,0,0,15.00,14.92,15.02
$GC,1705,-0.88,-92.5,2461,1811,3076,3081,240.6,-10.9,308,1712,0.03,2.35,0.00,0.000,2564,0.503,0.057,2469,406,3079,3077,3081,0,0,0,0,0,0,14.90,14.90,15.04
$GC,1766,-0.88,-92.5,2468,406,3076,3081,248.0,-12.2,319,1772,0.00,2.25,0.00,0.000,3078,0.000,0.033,2460,1808,3077,3075,3080,0,0,0,0,0,0,15.07,14.99,15.07
$STATE,1802,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1802,begin apogee
$GC,1807,-0.17,0.0,2459,1811,3076,3080,253.5,-13.8,326,1880,1.20,0.00,67.78,1.046,10246,0.160,0.000,2697,1810,2699,2717,2682,0,0,0,0,0,0,14.84,14.69,14.23
$STATE,1883,end apogee,CONTROL_FINISHED_OK
$STATE,1883,begin climb
$GC,1885,0.88,92.5,2697,1811,2717,2681,255.8,0.0,339,1970,1.52,2.33,74.00,1.038,10500,0.072,0.045,3031,3206,2320,2343,2297,0,0,0,0,0,0,14.71,14.54,14.12
$GC,1998,0.89,97.4,3031,3206,2341,2295,248.4,9.7,358,2011,0.00,2.35,4.95,0.712,9222,0.000,0.043,3040,1803,2304,2331,2278,0,0,0,0,0,0,14.74,14.66,14.24
$GC,2074,0.89,97.4,3040,1804,2324,2276,238.2,13.4,372,2080,0.00,2.38,0.00,0.000,516,0.000,0.063,3040,398,2299,2323,2275,0,0,0,0,0,0,14.96,14.73,14.97
$GC,2127,0.89,97.4,3040,398,2320,2275,231.2,12.6,382,2134,0.00,2.28,0.00,0.000,3078,0.000,0.031,3040,1809,2297,2321,2274,0,0,0,0,0,0,14.93,14.85,14.92
$GC,2198,0.91,117.9,3040,1809,2320,2274,223.9,8.5,395,2222,0.00,2.40,17.15,0.949,10756,0.000,0.060,3040,397,2216,2243,2190,0,0,0,0,0,0,15.07,14.69,14.26
$GC,2239,0.91,117.9,3039,398,2242,2195,219.4,10.8,402,2246,0.00,2.28,0.00,0.000,3078,0.000,0.032,3040,1805,2216,2242,2190,0,0,0,0,0,0,14.92,14.85,14.92
$GC,2309,0.91,117.9,3039,1807,2242,2189,211.2,11.7,415,2316,0.00,2.28,0.00,0.000,2308,0.000,0.046,3040,3192,2214,2240,2189,0,0,0,0,0,0,15.08,14.87,15.08
$GC,2338,0.91,117.9,3040,3191,2240,2189,207.2,12.2,420,2345,0.00,2.30,0.00,0.000,3078,0.000,0.045,3044,1801,2214,2241,2188,0,0,0,0,0,0,14.97,14.88,14.98
$GC,2408,0.91,117.9,3043,1801,2241,2188,197.5,12.6,433,2415,0.00,2.40,0.00,0.000,2564,0.000,0.066,3044,395,2214,2240,2188,0,0,0,0,0,0,15.11,14.88,15.11
$GC,2428,0.91,117.9,3043,395,2239,2188,195.0,12.6,436,2434,0.00,2.28,0.00,0.000,3078,0.000,0.032,3044,1809,2213,2240,2187,0,0,0,0,0,0,15.01,14.94,15.02
$GC,2498,0.91,117.9,3043,1810,2239,2187,186.3,11.6,449,2505,0.00,2.40,0.00,0.000,2564,0.000,0.060,3051,392,2213,2239,2187,0,0,0,0,0,0,15.13,14.91,15.14
$GC,2557,0.91,117.9,3051,393,2237,2187,178.9,12.7,460,2564,0.00,2.28,0.00,0.000,1030,0.000,0.033,3051,1804,2214,2241,2188,0,0,0,0,0,0,15.03,14.97,15.04
$GC,2627,0.91,117.9,3051,1806,2237,2186,170.5,12.2,473,2634,0.00,2.38,0.00,0.000,516,0.000,0.063,3053,395,2211,2237,2186,0,0,0,0,0,0,15.15,14.92,15.16
$GC,2702,0.91,117.9,3053,396,2236,2185,161.2,12.5,487,2709,0.00,2.25,0.00,0.000,1030,0.000,0.034,3053,1805,2210,2236,2185,0,0,0,0,0,0,15.04,14.97,15.06
$GC,2772,0.91,117.9,3053,1806,2236,2184,152.7,12.3,500,2778,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,1806,2210,2236,2185,0,0,0,0,0,0,15.16,15.18,15.17
$GC,2840,0.91,117.9,3053,1806,2236,2183,144.7,11.7,513,2847,0.00,2.38,0.00,0.000,516,0.000,0.062,3057,392,2209,2235,2184,0,0,0,0,0,0,15.17,14.88,15.18
$GC,2904,0.91,117.9,3057,392,2235,2184,136.8,12.6,525,2911,0.00,2.25,0.00,0.000,5126,0.000,0.033,3057,1804,2209,2235,2184,0,0,0,0,0,0,15.07,14.99,15.08
$GC,2974,0.91,117.9,3057,1805,2235,2184,129.3,10.7,538,2981,0.00,2.25,0.00,0.000,4356,0.000,0.047,3057,3193,2209,2235,2184,0,0,0,0,0,0,15.18,14.97,15.18
$GC,3009,0.92,120.7,3057,3193,2234,2184,125.5,9.8,544,3016,0.00,2.30,0.00,0.000,5126,0.000,0.047,3059,1797,2209,2234,2184,0,0,0,0,0,0,15.07,14.97,15.08
$GC,3079,0.92,120.7,3057,1797,2234,2178,117.9,10.2,557,3086,0.00,2.35,0.00,0.000,4612,0.000,0.065,3060,398,2208,2234,2183,0,0,0,0,0,0,15.19,14.95,15.18
$GC,3255,0.92,123.0,3060,397,2233,2183,100.2,9.8,591,3267,0.00,2.22,3.70,0.526,13318,0.000,0.031,3060,1799,2199,2225,2173,0,0,0,0,0,0,15.09,15.01,14.42
$GC,3330,0.94,140.4,3060,1799,2225,2172,93.2,8.7,605,3353,0.00,2.35,15.77,0.848,8708,0.000,0.063,3067,398,2126,2155,2097,0,0,0,0,0,0,15.18,14.88,14.48
$GC,3405,0.94,140.4,3067,398,2152,2096,84.7,12.4,619,3412,0.00,2.25,0.00,0.000,5126,0.000,0.032,3067,1802,2123,2152,2095,0,0,0,0,0,0,14.95,14.88,14.95
$GC,3476,0.95,146.7,3067,1802,2152,2094,77.2,9.6,632,3489,0.00,2.38,5.93,0.684,12804,0.000,0.060,3070,396,2100,2131,2070,0,0,0,0,0,0,15.15,14.77,14.33
$STATE,3941,end climb,NO_VERTICAL_VELOCITY
$STATE,3941,begin surface
$SM_CCo,3944,283.35,0.831,0,0,598,515.37
$SM_GC,0.90,14.05,2.30,0.00,0.071,0.031,0.000,127,1802,590,-8.17,-2.04,517.82,0,0,0,0,0,0,14.90,14.95,14.98
$IRIDIUM_FIX,-3100.07,3017.20,070419,050611
$TT8_MAMPS,0.020223,0.925764
$HUMID,43.58
$INTERNAL_PRESSURE,9.51741
$TCM_TEMP,20.80
$XPDR_PINGS,20
$ALTIM_BOTTOM_PING,225.4,37.4
$SC_FREEKB,3786752
$24V_AH,14.09,95.218
$10V_AH,13.80,0.000
$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,31.100,110.575,189.275,283.350,0.000,23.441,44.190,357.438,14.250,0.000,17.154,1627.551,999.404,691.228,1690.533,227.430,0.000,1336.516,0.000,1101.435,0.000,60.008,0.000
$DEVICE_MAMPS,502.605,73.440,1045.755,830.790,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4028.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,32.464,0.000,0.000,0.000
$MEM,340952
$DATA_FILE_SIZE,20054,724
$CAP_FILE_SIZE,142257,0
$CFSIZE,2097086464,2043543552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,070419,081907,-3114.079,3012.217,6,1.0,13,-26.2,1.2,217.9,8,9.9