version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 325
start: 4 11 119 18 14 38
data:
$ID,574
$MISSION,3
$DIVE,325
$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,300
$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,27
$R_STBD_OVSHOOT,34
$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
$GPS1,110419,175455,-3330.5464,2742.9705,41,0.8,48,-27.9,2.2,228.5,10,9.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-70.9
$GPS2,110419,181413,-3331.6562,2741.7014,6,0.9,16,-27.9,3.2,224.8,9,7.8
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3326.257,2730.494
$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,327.9,20000,-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,22,-0.88,-92.5,54,1804,630,554,0.0,0.0,0,112,0.00,0.00,-87.20,0.000,16386,0.000,0.000,53,1805,2912,2879,2946,0,0,0,0,0,0,14.88,28.83,14.88
$GC,116,-0.88,-92.5,53,1804,2879,2943,3.3,-6.5,16,141,14.32,2.40,-2.92,0.000,18692,0.297,0.063,2456,3233,3078,3063,3093,0,0,0,0,0,0,14.45,13.87,14.73
$GC,308,-0.88,-92.5,2456,3233,3067,3088,42.3,-14.5,53,316,0.08,2.40,0.00,0.000,3078,0.270,0.047,2470,1806,3078,3068,3088,0,0,0,0,0,0,14.60,14.76,14.79
$GC,379,-0.88,-92.5,2470,1806,3068,3086,53.0,-15.2,66,384,0.00,0.00,0.00,0.000,2054,0.000,0.000,2470,1806,3080,3073,3087,0,0,0,0,0,0,15.01,15.01,15.00
$GC,447,-0.88,-92.5,2470,1806,3069,3087,63.8,-15.9,79,453,0.00,0.00,0.00,0.000,2054,0.000,0.000,2470,1806,3078,3069,3087,0,0,0,0,0,0,15.02,15.02,15.02
$GC,515,-0.88,-92.5,2469,1806,3069,3087,73.9,-14.4,92,521,0.00,2.42,0.00,0.000,2308,0.000,0.054,2461,3232,3079,3072,3086,0,0,0,0,0,0,15.03,14.70,15.03
$GC,544,-0.88,-92.5,2461,3232,3069,3087,78.2,-13.6,97,551,0.00,2.40,0.00,0.000,3078,0.000,0.045,2461,1805,3077,3069,3086,0,0,0,0,0,0,14.81,14.70,14.83
$GC,615,-0.88,-92.5,2460,1805,3070,3087,88.5,-15.3,110,621,0.00,0.00,0.00,0.000,2054,0.000,0.000,2461,1805,3078,3070,3086,0,0,0,0,0,0,15.04,15.05,15.04
$GC,684,-0.88,-92.5,2461,1805,3070,3086,99.5,-15.5,123,692,0.00,2.42,0.00,0.000,2308,0.000,0.054,2459,3227,3078,3070,3086,0,0,0,0,0,0,15.05,14.69,15.05
$GC,781,-0.88,-92.5,2452,3228,3069,3086,113.7,-14.3,141,788,0.10,2.38,0.00,0.000,3078,0.238,0.044,2471,1809,3078,3070,3087,0,0,0,0,0,0,14.67,14.82,14.85
$GC,853,-0.88,-92.5,2471,1809,3070,3086,123.7,-14.3,154,859,0.00,2.40,0.00,0.000,2308,0.000,0.053,2462,3229,3078,3070,3086,0,0,0,0,0,0,15.07,14.82,15.07
$GC,933,-0.88,-92.5,2462,3229,3070,3086,133.6,-13.9,169,939,0.00,2.38,0.00,0.000,3078,0.000,0.045,2462,1808,3078,3070,3086,0,0,0,0,0,0,14.94,14.83,14.95
$GC,1004,-0.88,-92.5,2462,1808,3070,3086,142.3,-13.2,182,1009,0.00,0.00,0.00,0.000,2054,0.000,0.000,2462,1808,3077,3070,3085,0,0,0,0,0,0,15.07,15.07,15.10
$GC,1073,-0.88,-92.5,2462,1808,3070,3086,151.6,-12.8,195,1079,0.00,0.00,0.00,0.000,2054,0.000,0.000,2462,1808,3078,3070,3086,0,0,0,0,0,0,15.07,15.07,15.07
$GC,1142,-0.88,-92.5,2462,1808,3070,3086,160.6,-12.6,208,1149,0.00,2.40,0.00,0.000,2308,0.000,0.053,2453,3228,3078,3070,3086,0,0,0,0,0,0,15.07,14.83,15.07
$GC,1208,-0.88,-92.5,2453,3228,3070,3086,168.4,-11.4,220,1216,0.08,2.38,0.00,0.000,3078,0.263,0.044,2468,1804,3078,3070,3086,0,0,0,0,0,0,14.69,14.85,14.87
$GC,1279,-0.88,-92.5,2468,1804,3070,3086,177.6,-12.6,233,1285,0.00,0.00,0.00,0.000,2054,0.000,0.000,2468,1804,3078,3070,3086,0,0,0,0,0,0,15.09,15.09,15.09
$GC,1349,-0.88,-92.5,2468,1804,3070,3086,187.0,-13.7,246,1355,0.00,0.00,0.00,0.000,2054,0.000,0.000,2468,1804,3078,3070,3086,0,0,0,0,0,0,15.09,15.09,15.09
$GC,1419,-0.88,-92.5,2468,1804,3070,3085,196.8,-14.0,259,1425,0.00,0.00,0.00,0.000,2054,0.000,0.000,2468,1804,3077,3070,3085,0,0,0,0,0,0,15.09,15.09,15.09
$GC,1489,-0.88,-92.5,2468,1804,3070,3086,206.3,-12.7,272,1496,0.00,2.40,0.00,0.000,2308,0.000,0.053,2460,3222,3077,3070,3085,0,0,0,0,0,0,15.10,14.75,15.11
$GC,1652,-0.88,-92.5,2460,3222,3070,3085,226.3,-11.9,303,1658,0.00,2.35,0.00,0.000,3078,0.000,0.043,2460,1813,3077,3070,3084,0,0,0,0,0,0,14.97,14.87,14.99
$GC,1722,-0.88,-92.5,2460,1812,3069,3084,235.0,-12.2,316,1729,0.00,2.38,0.00,0.000,2308,0.000,0.051,2451,3224,3077,3070,3084,0,0,0,0,0,0,15.11,14.86,15.11
$GC,1757,-0.88,-92.5,2450,3224,3070,3084,239.6,-12.4,322,1765,0.10,2.35,0.00,0.000,3078,0.234,0.045,2470,1813,3077,3070,3084,0,0,0,0,0,0,14.72,14.88,14.90
$GC,1828,-0.88,-92.5,2470,1813,3070,3083,248.9,-12.8,335,1835,0.00,2.38,0.00,0.000,2308,0.000,0.051,2461,3225,3076,3070,3082,0,0,0,0,0,0,15.13,14.87,15.13
$GC,1878,-0.88,-92.5,2461,3225,3070,3083,255.2,-12.6,344,1885,0.00,2.35,0.00,0.000,3078,0.000,0.046,2461,1813,3075,3068,3083,0,0,0,0,0,0,14.98,14.87,15.00
$GC,1949,-0.88,-92.5,2460,1813,3070,3082,264.7,-14.1,357,1956,0.00,0.00,0.00,0.000,2054,0.000,0.000,2461,1809,3076,3070,3082,0,0,0,0,0,0,15.13,15.14,15.14
$GC,2021,-0.88,-92.5,2460,1813,3071,3082,274.7,-14.4,370,2027,0.00,0.00,0.00,0.000,2054,0.000,0.000,2461,1813,3076,3070,3082,0,0,0,0,0,0,15.14,15.16,15.14
$GC,2094,-0.88,-92.5,2461,1813,3070,3081,285.3,-15.1,383,2100,0.00,2.38,0.00,0.000,2308,0.000,0.053,2452,3223,3075,3070,3081,0,0,0,0,0,0,15.14,14.87,15.14
$GC,2173,-0.88,-92.5,2451,3223,3070,3081,297.4,-13.4,398,2181,0.10,2.35,0.00,0.000,3078,0.235,0.046,2471,1812,3075,3069,3081,0,0,0,0,0,0,14.73,14.88,14.91
$GC,2253,-0.88,-92.5,2471,1811,3070,3080,308.5,-13.7,404,2254,0.00,0.00,0.00,0.000,2054,0.000,0.000,2471,1809,3075,3070,3080,0,0,0,0,0,0,15.15,15.15,15.16
$GC,2373,-0.88,-92.5,2471,1811,3070,3080,324.6,-13.5,410,2378,0.00,2.38,0.00,0.000,2308,0.000,0.054,2463,3222,3074,3070,3079,0,0,0,0,0,0,15.16,14.90,15.17
$GC,2569,-0.88,-92.5,2462,3223,3069,3078,344.6,-9.4,419,2574,0.00,2.35,0.00,0.000,3078,0.000,0.046,2462,1806,3073,3069,3077,0,0,0,0,0,0,15.02,14.91,15.03
$GC,2702,-0.88,-92.5,2462,1804,3069,3076,361.5,-12.7,426,2707,0.00,2.40,0.00,0.000,2308,0.000,0.054,2453,3229,3072,3069,3075,0,0,0,0,0,0,15.18,14.92,15.18
$GC,2957,-0.88,-92.5,2452,3229,3068,3074,394.9,-14.2,438,2963,0.08,2.38,0.00,0.000,3078,0.262,0.053,2468,1814,3071,3068,3074,0,0,0,0,0,0,14.76,14.90,14.95
$GC,3092,-0.88,-92.5,2468,1814,3067,3073,413.7,-14.1,445,3097,0.00,2.40,0.00,0.000,2308,0.000,0.054,2460,3221,3070,3067,3073,0,0,0,0,0,0,15.20,14.92,15.20
$GC,3155,-0.88,-92.5,2460,3222,3067,3073,422.7,-13.8,448,3161,0.00,2.38,0.00,0.000,3078,0.000,0.047,2460,1799,3070,3067,3073,0,0,0,0,0,0,15.04,14.95,15.05
$GC,3300,-0.88,-92.5,2460,1799,3066,3072,442.5,-13.7,455,3305,0.00,2.42,0.00,0.000,2308,0.000,0.054,2454,3231,3069,3066,3072,0,0,0,0,0,0,15.21,14.85,15.21
$GC,3415,-0.88,-92.5,2454,3231,3065,3072,456.1,-12.9,460,3421,0.08,2.35,0.00,0.000,3078,0.266,0.047,2468,1814,3068,3065,3072,0,0,0,0,0,0,14.76,14.93,14.96
$GC,3552,-0.88,-92.5,2468,1814,3065,3071,476.5,-14.4,467,3557,0.00,2.38,0.00,0.000,2308,0.000,0.055,2460,3221,3067,3064,3070,0,0,0,0,0,0,15.21,14.92,15.21
$GC,3676,-0.88,-92.5,2460,3221,3063,3069,494.3,-14.2,473,3682,0.00,2.38,0.00,0.000,3078,0.000,0.049,2460,1810,3066,3063,3069,0,0,0,0,0,0,15.04,14.92,15.05
$GC,3821,-0.88,-92.5,2460,1810,3064,3068,514.8,-14.3,480,3826,0.00,2.40,0.00,0.000,2308,0.000,0.056,2459,3222,3065,3063,3068,0,0,0,0,0,0,15.20,14.92,15.21
$GC,3888,-0.88,-92.5,2456,3222,3062,3068,523.2,-13.4,483,3894,0.08,2.35,0.00,0.000,3078,0.269,0.048,2471,1817,3065,3063,3068,0,0,0,0,0,0,14.75,14.92,14.95
$GC,4029,-0.88,-92.5,2471,1811,3062,3067,542.1,-13.4,490,4030,0.00,0.00,0.00,0.000,2054,0.000,0.000,2471,1812,3064,3061,3067,0,0,0,0,0,0,15.21,15.21,15.21
$GC,4147,-0.88,-92.5,2471,1812,3061,3066,557.9,-13.0,496,4148,0.00,0.00,0.00,0.000,2054,0.000,0.000,2471,1812,3063,3061,3066,0,0,0,0,0,0,15.21,15.21,15.21
$GC,4267,-0.88,-92.5,2470,1812,3061,3066,573.1,-12.7,502,4268,0.00,0.00,0.00,0.000,2054,0.000,0.000,2471,1812,3063,3061,3066,0,0,0,0,0,0,15.21,15.21,15.22
$STATE,4285,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4285,begin apogee
$GC,4290,-0.17,0.0,2470,1812,3061,3067,575.4,-12.6,503,4368,1.20,0.00,72.03,1.533,10246,0.178,0.000,2701,1812,2700,2715,2686,0,0,0,0,0,0,14.65,14.54,13.92
$STATE,4369,end apogee,CONTROL_FINISHED_OK
$STATE,4369,begin climb
$GC,4372,0.88,92.5,2699,1812,2714,2685,576.8,0.0,507,4461,1.62,2.55,80.53,1.486,10756,0.063,0.076,3049,396,2323,2353,2294,0,0,0,0,0,0,14.55,14.30,13.76
$GC,4780,0.88,92.5,3049,394,2338,2293,563.1,10.7,527,4785,0.00,2.35,0.00,0.000,5126,0.000,0.041,3045,1809,2315,2338,2292,0,0,0,0,0,0,14.87,14.78,14.88
$GC,4913,0.88,92.5,3048,1812,2337,2290,548.1,10.1,534,4914,0.00,0.00,0.00,0.000,4102,0.000,0.000,3049,1812,2313,2337,2289,0,0,0,0,0,0,15.06,15.06,15.07
$GC,5033,0.88,92.5,3049,1812,2337,2288,536.0,10.6,540,5034,0.00,0.00,0.00,0.000,4102,0.000,0.000,3049,1812,2311,2336,2287,0,0,0,0,0,0,15.10,15.10,15.11
$GC,5153,0.90,110.6,3049,1811,2336,2287,525.2,8.7,546,5177,0.00,2.50,15.57,1.392,8708,0.000,0.073,3058,390,2248,2272,2224,0,0,0,0,0,0,15.11,14.78,14.21
$GC,5224,0.92,127.3,3058,389,2262,2223,519.4,8.8,549,5247,0.00,2.35,14.77,1.372,13318,0.000,0.042,3058,1808,2180,2207,2154,0,0,0,0,0,0,14.91,14.83,14.10
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$STATE,9469,end climb,SURFACE_DEPTH_REACHED
$STATE,9469,begin surface coast
$FINISH,0.0,1.005803
$STATE,9502,end surface coast,CONTROL_FINISHED_OK
$STATE,9502,begin surface
$SM_CCo,9526,190.00,0.819,0,0,598,515.37
$SM_GC,0.76,14.15,0.00,190.00,0.056,0.000,0.819,122,1798,598,-8.18,-0.40,515.37,0,0,0,0,0,0,14.76,14.97,14.01
$IRIDIUM_FIX,-3317.63,2740.94,110419,180100
$TT8_MAMPS,0.021721,0.939246
$HUMID,46.18
$INTERNAL_PRESSURE,9.31233
$TCM_TEMP,19.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,550.2,35.1
$SC_FREEKB,3750368
$24V_AH,13.76,108.620
$10V_AH,13.42,0.000
$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,32.475,172.425,263.050,190.000,0.000,53.120,66.293,588.509,25.750,0.000,17.806,2974.279,3565.188,771.231,3119.925,423.216,0.000,1950.721,0.000,2130.715,0.000,160.609,0.000
$DEVICE_MAMPS,406.215,76.500,1533.060,818.550,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9661.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.979,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,30038,1110
$CAP_FILE_SIZE,245964,0
$CFSIZE,2097086464,2030534656
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,4288.12,0x2131c2,2,24
$GPS,110419,205755,-3334.368,2736.078,18,0.8,40,-27.9,2.1,223.7,10,6.9