version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 277
start: 4 9 119 1 0 1
data:
$ID,574
$MISSION,3
$DIVE,277
$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,135
$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,35
$R_STBD_OVSHOOT,39
$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,3
$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
$GPS1,090419,005001,-3141.7104,2935.6384,6,0.8,37,-26.5,1.2,229.3,11,6.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-71.7
$GPS2,090419,005938,-3141.9175,2935.3083,6,0.8,13,-26.5,1.4,232.0,11,9.2
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3149.554,2944.296
$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,161.5,20000,-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,20,begin dive
$GC,22,-0.88,-92.5,75,1815,617,559,0.0,0.0,0,111,0.00,0.00,-86.93,0.000,16386,0.000,0.000,69,1816,2814,2783,2845,0,0,0,0,0,0,15.04,28.83,15.05
$GC,116,-0.88,-92.5,68,1816,2783,2841,3.0,-4.8,16,141,13.93,2.38,-4.93,0.000,18692,0.291,0.069,2456,3221,3080,3068,3092,0,0,0,0,0,0,14.64,13.71,14.89
$GC,319,-0.88,-92.5,2456,3222,3071,3090,53.4,-14.7,55,326,0.08,2.35,0.00,0.000,3078,0.266,0.047,2470,1810,3080,3072,3088,0,0,0,0,0,0,14.78,14.90,14.95
$GC,390,-0.88,-92.5,2471,1810,3073,3087,62.6,-11.7,68,396,0.00,2.38,0.00,0.000,2564,0.000,0.063,2471,408,3079,3072,3087,0,0,0,0,0,0,15.14,14.82,15.14
$GC,415,-0.88,-92.5,2471,407,3073,3086,66.3,-15.5,72,421,0.00,2.30,0.00,0.000,3078,0.000,0.036,2458,1819,3080,3073,3087,0,0,0,0,0,0,14.95,14.87,14.95
$GC,487,-0.88,-92.5,2462,1822,3074,3086,75.7,-12.9,85,494,0.00,2.40,0.00,0.000,2564,0.000,0.060,2463,406,3080,3074,3086,0,0,0,0,0,0,15.15,14.91,15.16
$GC,577,-0.88,-92.5,2462,406,3074,3086,88.5,-14.8,102,585,0.10,2.30,0.00,0.000,3078,0.256,0.035,2471,1821,3080,3074,3086,0,0,0,0,0,0,14.81,14.97,14.98
$GC,647,-0.88,-92.5,2471,1824,3074,3087,97.5,-12.7,115,654,0.00,2.30,0.00,0.000,2308,0.000,0.050,2463,3217,3080,3075,3086,0,0,0,0,0,0,15.16,14.98,15.17
$GC,674,-0.88,-92.5,2462,3217,3075,3086,100.6,-12.3,119,680,0.00,2.33,0.00,0.000,3078,0.000,0.043,2463,1803,3080,3075,3086,0,0,0,0,0,0,15.04,14.95,15.06
$GC,746,-0.88,-92.5,2462,1803,3079,3086,110.3,-13.4,132,752,0.00,2.38,0.00,0.000,2564,0.000,0.062,2463,409,3080,3075,3086,0,0,0,0,0,0,15.16,14.90,15.16
$GC,765,-0.88,-92.5,2462,409,3075,3086,113.0,-12.7,135,772,0.10,2.28,0.00,0.000,3078,0.253,0.034,2472,1812,3081,3076,3086,0,0,0,0,0,0,14.75,14.89,14.90
$GC,836,-0.88,-92.5,2471,1813,3076,3086,122.4,-12.8,148,842,0.00,2.33,0.00,0.000,2308,0.000,0.050,2463,3221,3081,3076,3086,0,0,0,0,0,0,15.17,14.91,15.17
$GC,895,-0.88,-92.5,2463,3221,3076,3086,130.0,-12.5,159,905,0.00,2.33,0.00,0.000,3078,0.000,0.042,2463,1811,3081,3076,3086,0,0,0,0,0,0,14.97,14.89,14.99
$GC,968,-0.88,-92.5,2462,1811,3076,3085,139.8,-14.1,172,976,0.00,2.38,0.00,0.000,2564,0.000,0.062,2463,401,3080,3076,3085,0,0,0,0,0,0,15.19,14.94,15.19
$GC,988,-0.88,-92.5,2462,401,3076,3085,143.2,-15.8,175,995,0.08,2.30,0.00,0.000,3078,0.287,0.034,2468,1818,3080,3076,3085,0,0,0,0,0,0,14.82,14.98,14.99
$GC,1059,-0.88,-92.5,2468,1821,3076,3086,153.4,-15.4,188,1065,0.00,2.30,0.00,0.000,2308,0.000,0.050,2459,3218,3080,3076,3085,0,0,0,0,0,0,15.18,14.95,15.18
$GC,1108,-0.88,-92.5,2459,3217,3075,3085,160.1,-14.4,197,1115,0.05,2.33,0.00,0.000,3078,0.322,0.044,2469,1809,3080,3076,3085,0,0,0,0,0,0,14.81,14.96,14.98
$GC,1179,-0.88,-92.5,2469,1808,3076,3085,170.7,-14.4,210,1184,0.00,0.00,0.00,0.000,2054,0.000,0.000,2469,1808,3080,3076,3085,0,0,0,0,0,0,15.18,15.19,15.18
$GC,1250,-0.88,-92.5,2468,1806,3076,3085,180.2,-14.0,223,1256,0.00,2.35,0.00,0.000,2308,0.000,0.051,2461,3218,3080,3076,3085,0,0,0,0,0,0,15.19,14.87,15.19
$GC,1322,-0.88,-92.5,2460,3218,3076,3085,190.1,-13.2,236,1329,0.00,2.35,0.00,0.000,3078,0.000,0.044,2461,1806,3080,3076,3085,0,0,0,0,0,0,15.06,14.97,15.07
$GC,1392,-0.88,-92.5,2460,1806,3076,3085,199.8,-14.1,249,1404,0.00,2.35,0.00,0.000,2308,0.000,0.048,2451,3220,3080,3076,3084,0,0,0,0,0,0,15.18,14.97,15.19
$GC,1447,-0.88,-92.5,2450,3219,3076,3084,207.7,-14.8,258,1454,0.10,2.33,0.00,0.000,3078,0.236,0.043,2470,1811,3080,3077,3084,0,0,0,0,0,0,14.84,14.97,15.02
$GC,1517,-0.88,-92.5,2470,1811,3076,3084,216.9,-13.4,271,1524,0.00,2.33,0.00,0.000,2308,0.000,0.047,2462,3218,3080,3076,3084,0,0,0,0,0,0,15.20,14.97,15.20
$GC,1571,-0.88,-92.5,2461,3218,3076,3084,224.1,-12.6,281,1578,0.00,2.33,0.00,0.000,3078,0.000,0.044,2461,1809,3079,3076,3083,0,0,0,0,0,0,15.07,14.98,15.09
$STATE,1604,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1604,begin apogee
$GC,1609,-0.17,0.0,2462,1808,3076,3084,228.7,-14.1,287,1686,1.20,0.00,68.65,1.050,10246,0.166,0.000,2696,1808,2701,2717,2686,0,0,0,0,0,0,14.82,14.60,14.25
$STATE,1689,end apogee,CONTROL_FINISHED_OK
$STATE,1689,begin climb
$GC,1691,0.88,92.5,2697,1808,2717,2685,231.8,0.0,301,1776,1.55,0.00,74.47,1.047,10758,0.083,0.000,3029,1808,2321,2344,2298,0,0,0,0,0,0,14.69,14.47,14.03
$GC,1839,0.90,106.6,3029,1808,2341,2295,224.9,9.0,327,1857,0.00,2.40,12.62,0.929,10500,0.000,0.046,3029,3206,2263,2289,2238,0,0,0,0,0,0,14.90,14.68,14.21
$GC,1909,0.90,106.6,3029,3206,2284,2237,217.3,12.0,340,1916,0.00,2.38,0.00,0.000,3078,0.000,0.046,3033,1802,2260,2284,2237,0,0,0,0,0,0,14.84,14.75,14.85
$GC,1980,0.90,111.1,3033,1802,2283,2237,210.0,9.7,353,1992,0.00,2.38,4.28,0.637,10500,0.000,0.048,3033,3204,2245,2270,2221,0,0,0,0,0,0,15.02,14.79,14.23
$GC,2065,0.90,111.1,3033,3204,2270,2221,200.1,11.9,369,2072,0.00,2.35,0.00,0.000,3078,0.000,0.047,3037,1801,2245,2270,2221,0,0,0,0,0,0,14.95,14.85,14.96
$GC,2136,0.90,111.1,3036,1801,2269,2221,192.1,11.2,382,2142,0.00,2.35,0.00,0.000,2308,0.000,0.047,3037,3203,2245,2269,2221,0,0,0,0,0,0,15.08,14.88,15.12
$GC,2199,0.90,111.1,3036,3203,2269,2221,184.7,11.3,394,2206,0.00,2.35,0.00,0.000,3078,0.000,0.047,3040,1798,2244,2269,2220,0,0,0,0,0,0,15.00,14.90,15.00
$GC,2270,0.90,111.1,3039,1798,2268,2219,177.0,10.9,407,2277,0.00,2.35,0.00,0.000,2308,0.000,0.047,3040,3203,2244,2268,2220,0,0,0,0,0,0,15.11,14.91,15.12
$GC,2319,0.90,111.1,3040,3203,2267,2220,171.3,11.1,416,2326,0.00,2.35,0.00,0.000,3078,0.000,0.048,3042,1799,2243,2267,2220,0,0,0,0,0,0,15.02,14.91,15.02
$GC,2390,0.90,111.1,3043,1799,2268,2219,164.1,10.4,429,2395,0.00,0.00,0.00,0.000,2054,0.000,0.000,3044,1799,2243,2267,2219,0,0,0,0,0,0,15.13,15.14,15.13
$GC,2458,0.90,111.1,3043,1799,2267,2218,156.7,10.9,442,2464,0.00,0.00,0.00,0.000,2054,0.000,0.000,3044,1799,2242,2266,2218,0,0,0,0,0,0,15.15,15.15,15.15
$GC,2526,0.90,111.1,3043,1799,2267,2218,149.6,10.5,455,2532,0.00,0.00,0.00,0.000,2054,0.000,0.000,3044,1799,2242,2266,2218,0,0,0,0,0,0,15.16,15.16,15.16
$GC,2594,0.90,111.1,3044,1800,2266,2218,142.3,10.6,468,2600,0.00,0.00,0.00,0.000,2054,0.000,0.000,3044,1799,2242,2266,2218,0,0,0,0,0,0,15.16,15.16,15.16
$GC,2662,0.90,111.1,3043,1797,2266,2218,135.3,10.2,481,2668,0.00,0.00,0.00,0.000,2054,0.000,0.000,3043,1799,2242,2266,2218,0,0,0,0,0,0,15.16,15.16,15.16
$GC,2731,0.90,111.1,3044,1799,2266,2217,128.1,11.4,494,2736,0.00,0.00,0.00,0.000,2054,0.000,0.000,3044,1799,2241,2266,2217,0,0,0,0,0,0,15.17,15.17,15.17
$GC,2799,0.90,111.1,3043,1799,2265,2217,120.7,10.3,507,2806,0.00,2.35,0.00,0.000,2308,0.000,0.048,3044,3204,2241,2265,2217,0,0,0,0,0,0,15.17,14.95,15.18
$GC,2838,0.90,111.1,3043,3204,2264,2217,116.6,10.3,514,2845,0.00,2.35,0.00,0.000,1030,0.000,0.050,3048,1799,2240,2264,2217,0,0,0,0,0,0,15.00,14.91,15.02
$GC,2908,0.90,111.1,3048,1799,2264,2217,109.8,10.2,527,2913,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1799,2240,2264,2217,0,0,0,0,0,0,15.16,15.18,15.18
$GC,2976,0.90,111.1,3048,1799,2264,2217,102.6,10.6,540,2982,0.00,2.38,0.00,0.000,516,0.000,0.067,3057,391,2239,2263,2216,0,0,0,0,0,0,15.17,14.92,15.17
$GC,3019,0.90,111.1,3056,391,2262,2217,97.8,10.4,548,3026,0.00,2.30,0.00,0.000,5126,0.000,0.033,3057,1806,2239,2262,2217,0,0,0,0,0,0,15.06,14.98,15.07
$GC,3090,0.93,129.5,3056,1808,2262,2217,91.5,8.7,561,3113,0.00,2.40,15.55,0.905,8708,0.000,0.067,3060,391,2168,2194,2143,0,0,0,0,0,0,15.16,14.89,14.46
$GC,3256,0.93,129.5,3059,391,2191,2141,77.7,10.6,593,3263,0.00,2.30,0.00,0.000,5126,0.000,0.033,3060,1816,2165,2191,2139,0,0,0,0,0,0,14.93,14.88,14.94
$GC,3327,0.94,137.5,3060,1816,2191,2140,71.4,9.4,606,3338,0.00,0.00,7.38,0.789,8198,0.000,0.000,3060,1816,2138,2166,2111,0,0,0,0,0,0,15.14,14.88,14.40
$GC,3402,0.94,137.5,3060,1817,2164,2110,62.9,12.7,620,3409,0.00,2.25,0.00,0.000,260,0.000,0.047,3060,3194,2136,2164,2109,0,0,0,0,0,0,15.12,14.85,15.13
$GC,3436,0.94,137.5,3060,3194,2163,2109,58.5,11.0,626,3443,0.00,2.33,0.00,0.000,5126,0.000,0.050,3064,1802,2135,2161,2109,0,0,0,0,0,0,14.92,14.85,14.94
$GC,3507,0.98,172.3,3063,1801,2163,2109,52.8,7.5,639,3542,0.00,2.42,28.20,0.898,10756,0.000,0.070,3064,388,1995,2026,1965,0,0,0,0,0,0,15.15,14.74,14.38
$GC,4047,1.09,263.5,3063,388,2016,1958,12.4,3.4,745,4110,0.12,2.33,53.92,0.919,11270,0.148,0.034,3106,1811,1623,1659,1588,0,0,0,0,0,0,14.88,14.89,14.31
$GC,4173,1.10,268.3,3106,1811,1658,1584,3.1,9.7,768,4181,0.00,2.50,2.15,0.256,10756,0.000,0.067,3116,395,1605,1641,1569,0,0,0,0,0,0,14.99,14.76,14.24
$STATE,4186,end climb,SURFACE_DEPTH_REACHED
$STATE,4186,begin surface coast
$FINISH,-0.0,1.024212
$STATE,4219,end surface coast,CONTROL_FINISHED_OK
$STATE,4219,begin surface
$SM_CCo,4245,150.43,0.788,0,0,598,515.37
$SM_GC,0.84,14.07,2.38,150.43,0.043,0.037,0.788,121,1804,598,-8.18,-1.58,515.37,0,0,0,0,0,0,14.84,14.85,14.19
$IRIDIUM_FIX,-3127.82,2934.02,080419,232315
$TT8_MAMPS,0.021721,0.730275
$HUMID,45.78
$INTERNAL_PRESSURE,9.40998
$TCM_TEMP,19.80
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,201.0,37.0
$SC_FREEKB,3775744
$24V_AH,13.71,99.783
$10V_AH,13.84,0.000
$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,31.375,98.525,267.225,150.425,0.000,23.725,22.826,293.021,9.000,0.000,14.181,1699.909,761.883,625.134,1659.149,231.774,0.000,1314.104,0.000,1177.240,0.000,52.400,0.000
$DEVICE_MAMPS,322.065,69.615,1049.580,787.950,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4296.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,33.965,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,20034,776
$CAP_FILE_SIZE,143492,0
$CFSIZE,2097086464,2039414784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,090419,021431,-3142.457,2935.432,6,0.8,32,-26.5,2.0,254.7,10,5.5