version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 319
start: 4 10 119 19 48 58
data:
$ID,574
$MISSION,3
$DIVE,319
$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,125
$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,2
$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,33
$R_STBD_OVSHOOT,58
$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
$GPS1,100419,182755,-3254.9766,2826.5222,6,0.9,12,-27.5,2.5,223.2,10,9.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,19.63
$_SM_ANGLEo,-2.7
$GPS2,100419,182755,-3254.9766,2826.5222,6,0.9,12,-27.5,2.5,223.2,10,9.9
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3301.171,2837.073
$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,152.5,20000,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-0.88,-92.5,2844,1821,1938,1851,0.0,0.0,0,31,0.00,0.00,-6.95,0.000,16386,0.000,0.000,2844,1822,2332,2371,2294,0,0,0,0,0,0,15.13,28.83,15.14
$GC,34,-0.88,-92.5,2844,1822,2371,2295,19.8,0.0,1,52,1.73,0.00,-10.77,0.000,20742,0.082,0.000,2472,1822,3080,3079,3082,0,0,0,0,0,0,14.89,13.74,14.94
$GC,114,-0.88,-92.5,2471,1821,3080,3082,34.8,-22.9,16,121,0.00,2.42,0.00,0.000,2564,0.000,0.063,2471,401,3081,3080,3082,0,0,0,0,0,0,15.15,14.82,15.16
$GC,221,-0.88,-92.5,2471,400,3080,3082,58.8,-23.0,36,227,0.00,2.30,0.00,0.000,3078,0.000,0.034,2463,1806,3081,3080,3082,0,0,0,0,0,0,15.00,14.90,15.01
$GC,292,-0.88,-92.5,2463,1808,3081,3082,71.3,-16.7,49,298,0.00,2.33,0.00,0.000,2308,0.000,0.048,2453,3215,3081,3081,3082,0,0,0,0,0,0,15.17,14.93,15.18
$GC,391,-0.88,-92.5,2453,3215,3081,3082,86.6,-14.1,68,398,0.08,2.33,0.00,0.000,3078,0.268,0.041,2468,1808,3081,3081,3082,0,0,0,0,0,0,14.77,14.91,14.94
$GC,463,-0.88,-92.5,2468,1808,3082,3082,96.8,-14.9,81,469,0.00,2.38,0.00,0.000,2564,0.000,0.060,2469,401,3082,3082,3082,0,0,0,0,0,0,15.20,14.92,15.17
$GC,491,-0.88,-92.5,2468,400,3082,3082,101.0,-14.5,86,498,0.00,2.30,0.00,0.000,3078,0.000,0.031,2461,1815,3082,3082,3082,0,0,0,0,0,0,15.01,14.91,15.02
$GC,562,-0.88,-92.5,2461,1817,3082,3082,111.3,-15.3,99,569,0.00,2.40,0.00,0.000,2564,0.000,0.060,2461,403,3082,3082,3082,0,0,0,0,0,0,15.18,14.92,15.18
$GC,631,-0.88,-92.5,2461,403,3082,3082,122.6,-16.5,111,638,0.08,2.30,0.00,0.000,3078,0.288,0.033,2469,1815,3082,3083,3082,0,0,0,0,0,0,14.76,14.92,14.94
$GC,701,-0.88,-92.5,2469,1816,3083,3082,132.8,-14.5,124,707,0.00,2.33,0.00,0.000,2308,0.000,0.049,2460,3215,3079,3076,3082,0,0,0,0,0,0,15.17,14.90,15.18
$GC,745,-0.88,-92.5,2460,3216,3082,3082,138.8,-13.0,132,751,0.00,2.33,0.00,0.000,3078,0.000,0.042,2460,1808,3082,3082,3083,0,0,0,0,0,0,14.95,14.85,14.95
$GC,815,-0.88,-92.5,2460,1808,3083,3082,148.4,-14.1,145,821,0.00,0.00,0.00,0.000,2054,0.000,0.000,2460,1808,3082,3083,3082,0,0,0,0,0,0,15.18,15.18,15.16
$GC,886,-0.88,-92.5,2460,1808,3083,3083,158.5,-14.0,158,892,0.00,2.35,0.00,0.000,2308,0.000,0.047,2450,3215,3086,3083,3089,0,0,0,0,0,0,15.18,14.90,15.19
$GC,904,-0.88,-92.5,2450,3216,3083,3083,161.4,-14.3,161,911,0.10,2.33,0.00,0.000,3078,0.239,0.042,2470,1808,3083,3084,3083,0,0,0,0,0,0,14.81,14.95,14.98
$GC,976,-0.88,-92.5,2470,1807,3084,3083,171.3,-13.1,174,982,0.00,2.38,0.00,0.000,2564,0.000,0.060,2470,403,3083,3084,3082,0,0,0,0,0,0,15.17,14.89,15.18
$GC,1007,-0.88,-92.5,2470,404,3084,3082,175.7,-15.6,179,1014,0.00,2.30,0.00,0.000,3078,0.000,0.032,2471,1813,3083,3084,3082,0,0,0,0,0,0,15.05,14.97,15.07
$GC,1077,-0.88,-92.5,2471,1819,3084,3082,186.1,-14.5,192,1084,0.00,2.33,0.00,0.000,2308,0.000,0.048,2462,3215,3083,3084,3083,0,0,0,0,0,0,15.18,14.94,15.18
$GC,1111,-0.88,-92.5,2462,3216,3084,3082,190.6,-12.9,198,1118,0.00,2.35,0.00,0.000,3078,0.000,0.040,2462,1801,3083,3084,3082,0,0,0,0,0,0,15.00,14.91,15.02
$GC,1182,-0.88,-92.5,2462,1801,3084,3082,199.4,-12.8,211,1189,0.00,2.35,0.00,0.000,2564,0.000,0.060,2462,409,3083,3084,3082,0,0,0,0,0,0,15.18,14.93,15.18
$GC,1202,-0.88,-92.5,2462,409,3084,3082,202.4,-13.5,214,1209,0.08,2.28,0.00,0.000,3078,0.287,0.031,2469,1817,3083,3084,3082,0,0,0,0,0,0,14.78,14.97,14.97
$GC,1273,-0.88,-92.5,2469,1819,3085,3083,211.1,-11.2,227,1279,0.00,2.30,0.00,0.000,2308,0.000,0.047,2463,3215,3083,3085,3082,0,0,0,0,0,0,15.19,14.95,15.19
$GC,1292,-0.88,-92.5,2461,3215,3084,3083,213.3,-11.2,230,1299,0.00,2.33,0.00,0.000,3078,0.000,0.041,2461,1811,3083,3085,3082,0,0,0,0,0,0,15.06,14.96,15.07
$GC,1363,-0.88,-92.5,2460,1804,3085,3082,221.8,-12.4,243,1369,0.00,2.38,0.00,0.000,2564,0.000,0.060,2461,392,3083,3085,3082,0,0,0,0,0,0,15.20,14.93,15.20
$GC,1382,-0.88,-92.5,2460,392,3085,3082,224.4,-13.3,246,1390,0.08,2.30,0.00,0.000,3078,0.288,0.032,2469,1813,3083,3085,3082,0,0,0,0,0,0,14.79,14.98,14.99
$GC,1453,-0.88,-92.5,2469,1814,3085,3082,233.0,-11.9,259,1460,0.00,2.33,0.00,0.000,2308,0.000,0.048,2460,3217,3084,3085,3083,0,0,0,0,0,0,15.21,14.95,15.21
$GC,1488,-0.88,-92.5,2460,3218,3085,3083,236.6,-11.6,265,1495,0.00,2.35,0.00,0.000,3078,0.000,0.041,2460,1800,3083,3085,3082,0,0,0,0,0,0,15.07,14.97,15.08
$GC,1558,-0.88,-92.5,2460,1800,3085,3082,246.1,-14.8,278,1564,0.00,0.00,0.00,0.000,2054,0.000,0.000,2460,1800,3083,3085,3082,0,0,0,0,0,0,15.20,15.20,15.20
$GC,1627,-0.88,-92.5,2460,1800,3085,3082,256.1,-14.9,291,1634,0.00,2.35,0.00,0.000,2564,0.000,0.060,2460,409,3083,3085,3082,0,0,0,0,0,0,15.20,14.95,15.20
$GC,1652,-0.88,-92.5,2459,409,3085,3082,260.2,-15.4,295,1659,0.08,2.28,0.00,0.000,3078,0.288,0.032,2469,1815,3083,3085,3082,0,0,0,0,0,0,14.80,14.99,14.99
$GC,1722,-0.88,-92.5,2469,1817,3085,3082,270.0,-13.6,308,1729,0.00,0.00,0.00,0.000,2054,0.000,0.000,2469,1817,3083,3084,3082,0,0,0,0,0,0,15.21,15.21,15.21
$GC,1793,-0.88,-92.5,2468,1817,3084,3082,279.2,-13.6,321,1803,0.00,2.38,0.00,0.000,2564,0.000,0.060,2470,409,3083,3083,3083,0,0,0,0,0,0,15.20,14.95,15.21
$GC,1820,-0.88,-92.5,2469,409,3084,3082,283.2,-14.4,325,1826,0.00,2.28,0.00,0.000,3078,0.000,0.033,2464,1813,3083,3084,3082,0,0,0,0,0,0,15.07,14.98,15.08
$GC,1890,-0.88,-92.5,2468,1816,3084,3082,292.8,-13.2,338,1895,0.00,0.00,0.00,0.000,2054,0.000,0.000,2464,1815,3083,3084,3082,0,0,0,0,0,0,15.21,15.21,15.21
$GC,1968,-0.88,-92.5,2464,1815,3084,3082,303.1,-13.2,350,1974,0.00,2.40,0.00,0.000,2564,0.000,0.059,2464,405,3083,3084,3082,0,0,0,0,0,0,15.21,14.95,15.23
$GC,2011,-0.88,-92.5,2464,405,3084,3082,308.9,-13.4,352,2017,0.08,2.30,0.00,0.000,3078,0.279,0.033,2469,1827,3083,3084,3082,0,0,0,0,0,0,14.81,15.00,15.00
$GC,2159,-0.88,-92.5,2469,1830,3084,3082,325.4,-11.0,359,2160,0.00,0.00,0.00,0.000,2054,0.000,0.000,2470,1830,3083,3084,3082,0,0,0,0,0,0,15.23,15.23,15.24
$GC,2275,-0.88,-92.5,2469,1830,3083,3082,338.6,-10.9,365,2280,0.00,2.30,0.00,0.000,2308,0.000,0.050,2461,3218,3083,3084,3082,0,0,0,0,0,0,15.26,14.90,15.26
$GC,2292,-0.88,-92.5,2461,3218,3084,3081,338.6,-10.9,365,2301,0.00,2.33,0.00,0.000,3078,0.000,0.042,2461,1805,3082,3084,3081,0,0,0,0,0,0,15.10,15.00,15.11
$GC,2418,-0.88,-92.5,2460,1805,3084,3081,354.7,-11.8,372,2423,0.00,2.35,0.00,0.000,2564,0.000,0.061,2461,407,3085,3089,3081,0,0,0,0,0,0,15.26,14.98,15.26
$GC,2466,-0.88,-92.5,2460,408,3083,3081,360.3,-12.3,374,2471,0.00,2.28,0.00,0.000,3078,0.000,0.034,2461,1809,3082,3084,3081,0,0,0,0,0,0,15.12,15.03,15.13
$GC,2604,-0.88,-92.5,2460,1812,3083,3081,378.3,-12.9,381,2609,0.00,2.38,0.00,0.000,2564,0.000,0.060,2461,409,3082,3084,3080,0,0,0,0,0,0,15.27,14.98,15.27
$GC,2631,-0.88,-92.5,2460,409,3083,3080,381.5,-13.2,382,2637,0.08,2.28,0.00,0.000,3078,0.289,0.034,2469,1820,3082,3083,3081,0,0,0,0,0,0,14.83,15.04,15.02
$GC,2771,-0.88,-92.5,2468,1823,3083,3080,399.9,-12.6,389,2776,0.00,2.40,0.00,0.000,2564,0.000,0.060,2469,406,3081,3083,3080,0,0,0,0,0,0,15.26,14.98,15.26
$GC,2797,-0.88,-92.5,2469,406,3082,3080,403.4,-12.9,390,2803,0.00,2.28,0.00,0.000,3078,0.000,0.035,2462,1815,3081,3083,3080,0,0,0,0,0,0,15.11,15.03,15.13
$STATE,2873,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2873,begin apogee
$GC,2879,-0.17,0.0,2461,1818,3082,3079,414.5,-13.7,394,2955,1.23,0.00,72.50,1.481,10246,0.168,0.000,2697,1819,2699,2718,2681,0,0,0,0,0,0,14.86,14.62,14.02
$STATE,2957,end apogee,CONTROL_FINISHED_OK
$STATE,2957,begin climb
$GC,2960,0.88,92.5,2697,1819,2718,2681,418.3,0.0,398,3045,1.55,2.53,76.45,1.452,10756,0.076,0.061,3028,392,2323,2348,2298,0,0,0,0,0,0,14.59,14.31,13.86
$GC,3093,1.00,185.7,3033,388,2342,2297,415.3,3.2,404,3180,0.12,2.35,76.20,1.429,11270,0.129,0.031,3075,1815,1940,1974,1906,0,0,0,0,0,0,14.62,14.64,13.86
$GC,3299,1.00,185.7,3075,1816,1970,1900,382.2,17.8,415,3304,0.00,2.45,0.00,0.000,516,0.000,0.063,3085,397,1934,1969,1900,0,0,0,0,0,0,14.93,14.71,14.95
$GC,3452,1.00,185.7,3085,396,1964,1899,352.6,21.6,422,3457,0.00,2.28,0.00,0.000,5126,0.000,0.033,3085,1798,1931,1964,1898,0,0,0,0,0,0,14.95,14.88,14.96
$GC,3584,1.00,185.7,3085,1799,1963,1895,322.9,20.7,429,3590,0.00,2.40,0.00,0.000,4612,0.000,0.065,3094,395,1929,1964,1895,0,0,0,0,0,0,15.13,14.88,15.14
$GC,3596,1.00,185.7,3093,395,1963,1895,322.9,20.7,429,3602,0.05,2.28,0.00,0.000,5126,0.350,0.031,3085,1812,1929,1963,1895,0,0,0,0,0,0,14.73,14.92,14.95
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$STATE,5783,end climb,SURFACE_DEPTH_REACHED
$STATE,5783,begin surface coast
$FINISH,0.5,1.023651
$STATE,5810,end surface coast,CONTROL_FINISHED_OK
$STATE,5810,begin surface
$SM_CCo,5834,170.00,0.799,0,0,599,515.37
$SM_GC,0.77,13.95,0.00,170.00,0.051,0.000,0.799,123,1801,599,-8.17,-0.31,515.37,0,0,0,0,0,0,14.91,15.12,14.19
$IRIDIUM_FIX,-3239.07,2828.64,100419,181430
$TT8_MAMPS,0.020972,0.939246
$HUMID,47.04
$INTERNAL_PRESSURE,9.44905
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,387.3,36.2
$SC_FREEKB,3754016
$24V_AH,13.74,106.470
$10V_AH,13.61,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.550,161.275,269.375,170.000,0.000,0.000,0.000,0.000,17.250,0.000,0.000,2042.414,1667.182,674.376,1549.676,232.033,0.000,1495.765,0.000,1384.578,0.000,113.095,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,25.465,0.000,0.000,0.000
$MEM,341064
$DATA_FILE_SIZE,23398,825
$CAP_FILE_SIZE,177454,0
$CFSIZE,2097086464,2032107520
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,1297.58,0x2131ca,0,24
$GPS,100419,213025,-3302.307,2820.296,18,0.7,41,-27.6,2.2,202.0,11,5.9