version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 330
start: 4 12 119 3 38 16
data:
$ID,574
$MISSION,3
$DIVE,330
$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,30
$R_STBD_OVSHOOT,54
$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
$GPS1,120419,032728,-3346.2893,2719.2253,7,1.2,15,-28.0,2.7,223.5,8,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-68.5
$GPS2,120419,033752,-3346.8291,2718.5605,6,1.3,18,-28.0,2.0,227.1,8,9.1
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3341.429,2707.321
$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,328.0,20000,-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,-92.5,54,1809,619,558,0.0,0.0,0,117,0.00,0.00,-92.60,0.000,16386,0.000,0.000,54,1809,2985,2955,3016,0,0,0,0,0,0,14.99,28.83,15.00
$GC,121,-0.88,-92.5,54,1808,2955,3016,3.6,-8.1,17,146,14.07,2.35,-1.65,0.000,18692,0.290,0.070,2460,3204,3079,3063,3095,0,0,0,0,0,0,14.54,13.66,14.78
$GC,402,-0.88,-92.5,2460,3203,3068,3092,58.8,-18.5,71,410,0.00,2.35,0.00,0.000,3078,0.000,0.047,2460,1801,3080,3069,3091,0,0,0,0,0,0,14.97,14.87,14.98
$GC,473,-0.88,-92.5,2459,1802,3070,3090,72.6,-17.9,84,479,0.00,0.00,0.00,0.000,2054,0.000,0.000,2460,1802,3079,3069,3090,0,0,0,0,0,0,15.10,15.11,15.11
$GC,541,-0.88,-92.5,2459,1801,3070,3090,84.0,-15.6,97,549,0.03,2.38,0.00,0.000,2308,0.515,0.052,2459,3208,3079,3070,3089,0,0,0,0,0,0,14.70,14.87,14.83
$GC,692,-0.88,-92.5,2458,3208,3070,3090,105.4,-12.4,125,699,0.05,2.33,0.00,0.000,3078,0.320,0.046,2469,1812,3079,3070,3089,0,0,0,0,0,0,14.74,14.90,14.93
$GC,762,-0.88,-92.5,2470,1812,3075,3089,114.9,-14.6,138,768,0.00,0.00,0.00,0.000,2054,0.000,0.000,2469,1812,3080,3071,3089,0,0,0,0,0,0,15.13,15.13,15.13
$GC,832,-0.88,-92.5,2472,1812,3071,3089,122.5,-11.1,151,839,0.00,2.42,0.00,0.000,2564,0.000,0.066,2469,399,3079,3071,3088,0,0,0,0,0,0,15.12,14.88,15.12
$GC,877,-0.88,-92.5,2469,399,3071,3088,128.6,-14.1,159,883,0.00,2.30,0.00,0.000,3078,0.000,0.037,2463,1804,3080,3072,3088,0,0,0,0,0,0,15.02,14.92,15.02
$GC,948,-0.88,-92.5,2462,1806,3072,3085,137.9,-13.7,172,954,0.00,2.35,0.00,0.000,2308,0.000,0.054,2453,3216,3079,3071,3088,0,0,0,0,0,0,15.14,14.90,15.14
$GC,1149,-0.88,-92.5,2453,3216,3071,3088,162.2,-11.5,211,1156,0.08,2.35,0.00,0.000,3078,0.262,0.046,2468,1811,3079,3072,3087,0,0,0,0,0,0,14.69,14.83,14.86
$GC,1219,-0.88,-92.5,2468,1810,3072,3087,170.2,-11.6,224,1226,0.00,2.38,0.00,0.000,2308,0.000,0.052,2460,3220,3080,3072,3088,0,0,0,0,0,0,15.14,14.87,15.14
$GC,1300,-0.88,-92.5,2460,3220,3071,3087,179.4,-10.9,239,1307,0.00,2.35,0.00,0.000,3078,0.000,0.045,2460,1809,3079,3072,3087,0,0,0,0,0,0,14.97,14.88,14.99
$GC,1369,-0.88,-92.5,2460,1809,3072,3087,188.5,-13.7,252,1376,0.00,2.38,0.00,0.000,2308,0.000,0.051,2452,3221,3079,3072,3087,0,0,0,0,0,0,15.15,14.84,15.15
$GC,1445,-0.88,-92.5,2452,3221,3071,3087,199.3,-14.0,266,1453,0.08,2.35,0.00,0.000,3078,0.261,0.046,2468,1813,3079,3072,3087,0,0,0,0,0,0,14.74,14.87,14.91
$GC,1516,-0.88,-92.5,2468,1812,3072,3087,208.8,-12.6,279,1522,0.00,2.38,0.00,0.000,2308,0.000,0.054,2460,3217,3079,3072,3087,0,0,0,0,0,0,15.16,14.91,15.17
$GC,1576,-0.88,-92.5,2460,3217,3071,3087,217.0,-14.2,290,1583,0.00,2.35,0.00,0.000,3078,0.000,0.046,2460,1806,3079,3072,3087,0,0,0,0,0,0,15.03,14.93,15.04
$GC,1646,-0.88,-92.5,2460,1806,3069,3087,227.1,-14.2,303,1652,0.00,0.00,0.00,0.000,2054,0.000,0.000,2460,1806,3079,3072,3086,0,0,0,0,0,0,15.17,15.18,15.18
$GC,1715,-0.88,-92.5,2460,1806,3072,3087,236.4,-14.4,316,1722,0.03,2.38,0.00,0.000,2308,0.523,0.051,2457,3221,3079,3072,3086,0,0,0,0,0,0,14.79,14.88,14.97
$GC,1817,-0.88,-92.5,2459,3221,3071,3086,249.3,-11.8,335,1824,0.00,2.33,0.00,0.000,3078,0.000,0.044,2460,1812,3079,3072,3086,0,0,0,0,0,0,15.04,14.95,15.06
$GC,1888,-0.88,-92.5,2460,1812,3072,3086,258.4,-14.1,348,1894,0.00,2.35,0.00,0.000,2308,0.000,0.053,2451,3218,3079,3072,3086,0,0,0,0,0,0,15.16,14.93,15.17
$GC,1963,-0.88,-92.5,2451,3215,3071,3086,269.3,-14.4,362,1970,0.10,2.33,0.00,0.000,3078,0.235,0.046,2471,1814,3078,3071,3086,0,0,0,0,0,0,14.81,14.94,14.97
$STATE,1975,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1975,begin apogee
$GC,1981,-0.17,0.0,2470,1814,3072,3086,271.6,-14.2,364,2058,1.15,0.00,69.78,1.093,10246,0.168,0.000,2697,1814,2699,2713,2686,0,0,0,0,0,0,14.76,14.53,14.11
$STATE,2062,end apogee,CONTROL_FINISHED_OK
$STATE,2062,begin climb
$GC,2064,0.88,92.5,2696,1814,2713,2686,275.1,0.0,378,2149,1.55,0.00,75.62,1.095,10246,0.078,0.000,3030,1814,2322,2342,2302,0,0,0,0,0,0,14.65,14.37,14.02
$GC,2212,0.91,116.1,3030,1813,2339,2296,269.1,8.3,404,2235,0.00,0.00,20.05,1.029,10246,0.000,0.000,3030,1814,2225,2250,2201,0,0,0,0,0,0,14.84,14.59,14.12
$GC,2298,0.91,116.1,3029,1813,2248,2198,259.5,13.6,420,2304,0.00,2.35,0.00,0.000,2308,0.000,0.047,3030,3205,2222,2247,2198,0,0,0,0,0,0,14.90,14.69,14.90
$GC,2332,0.91,116.1,3030,3205,2245,2196,255.4,10.7,426,2339,0.00,2.40,0.00,0.000,3078,0.000,0.049,3033,1800,2220,2243,2198,0,0,0,0,0,0,14.83,14.73,14.83
$GC,2403,0.91,116.1,3032,1800,2244,2197,248.3,10.2,439,2410,0.00,2.38,0.00,0.000,2308,0.000,0.048,3033,3212,2219,2243,2196,0,0,0,0,0,0,14.99,14.78,14.99
$GC,2462,0.91,116.1,3033,3212,2242,2196,241.1,12.1,450,2469,0.00,2.40,0.00,0.000,3078,0.000,0.052,3033,1798,2219,2242,2196,0,0,0,0,0,0,14.91,14.80,14.93
$GC,2533,0.91,116.1,3033,1798,2242,2196,233.2,11.5,463,2540,0.00,2.35,0.00,0.000,2308,0.000,0.050,3033,3204,2218,2242,2195,0,0,0,0,0,0,15.05,14.84,15.06
$GC,2604,0.91,118.5,3033,3204,2241,2195,225.5,9.8,476,2611,0.00,2.38,0.00,0.000,3078,0.000,0.050,3037,1792,2218,2241,2195,0,0,0,0,0,0,14.96,14.85,14.97
$GC,2675,0.91,118.5,3036,1791,2241,2195,218.2,10.6,489,2682,0.00,2.38,0.00,0.000,2308,0.000,0.048,3037,3211,2217,2241,2194,0,0,0,0,0,0,15.10,14.88,15.11
$GC,2780,0.94,137.4,3036,3211,2240,2194,207.4,8.6,509,2804,0.00,2.38,16.88,1.011,11270,0.000,0.050,3040,1801,2140,2167,2114,0,0,0,0,0,0,14.96,14.86,14.26
$GC,2867,0.94,137.4,3038,1801,2166,2114,198.9,10.1,525,2874,0.00,2.38,0.00,0.000,2308,0.000,0.052,3040,3205,2141,2165,2118,0,0,0,0,0,0,15.07,14.85,15.07
$GC,2887,0.94,137.4,3039,3206,2165,2113,196.5,11.5,528,2893,0.00,2.38,0.00,0.000,3078,0.000,0.049,3044,1798,2139,2165,2113,0,0,0,0,0,0,14.95,14.85,14.97
$GC,2957,0.94,137.4,3042,1798,2165,2112,189.0,10.7,541,2963,0.00,2.38,0.00,0.000,2308,0.000,0.050,3044,3208,2138,2164,2112,0,0,0,0,0,0,15.08,14.87,15.08
$GC,2995,0.94,137.4,3043,3208,2164,2112,184.4,11.1,548,3002,0.00,2.38,0.00,0.000,3078,0.000,0.050,3046,1801,2138,2164,2113,0,0,0,0,0,0,14.94,14.83,14.95
$GC,3066,0.94,137.4,3046,1801,2163,2111,177.1,10.5,561,3073,0.00,2.38,0.00,0.000,2308,0.000,0.050,3046,3211,2136,2163,2110,0,0,0,0,0,0,15.10,14.88,15.10
$GC,3137,0.94,137.4,3045,3211,2162,2111,169.4,10.6,574,3143,0.00,2.40,0.00,0.000,3078,0.000,0.051,3047,1790,2136,2162,2111,0,0,0,0,0,0,14.99,14.88,15.00
$GC,3208,0.94,143.4,3046,1790,2162,2111,162.4,9.6,587,3221,0.00,2.38,6.12,0.788,10500,0.000,0.047,3047,3207,2113,2140,2086,0,0,0,0,0,0,15.10,14.76,14.29
$GC,3310,0.95,148.8,3046,3207,2140,2086,152.2,9.6,606,3323,0.00,2.38,5.57,0.785,11270,0.000,0.051,3051,1800,2093,2121,2065,0,0,0,0,0,0,14.91,14.81,14.28
$GC,3385,0.95,148.8,3050,1800,2121,2065,144.3,11.4,620,3392,0.00,2.35,0.00,0.000,2308,0.000,0.051,3051,3203,2093,2121,2065,0,0,0,0,0,0,15.09,14.84,15.09
$GC,3439,0.95,148.8,3050,3203,2121,2065,138.5,11.3,630,3445,0.00,2.38,0.00,0.000,3078,0.000,0.052,3054,1796,2093,2121,2065,0,0,0,0,0,0,14.98,14.88,15.00
$GC,3509,0.95,148.8,3053,1796,2121,2065,130.8,10.8,643,3516,0.00,2.45,0.00,0.000,2564,0.000,0.072,3054,390,2091,2118,2065,0,0,0,0,0,0,15.11,14.78,15.11
$GC,3802,0.95,148.8,3053,389,2115,2064,94.9,11.7,700,3809,0.00,2.33,0.00,0.000,3078,0.000,0.036,3054,1810,2089,2115,2064,0,0,0,0,0,0,15.02,14.94,15.02
$GC,3872,0.95,148.8,3053,1811,2112,2064,86.7,11.2,713,3879,0.00,2.30,0.00,0.000,2308,0.000,0.050,3054,3194,2089,2115,2063,0,0,0,0,0,0,15.12,14.90,15.12
$GC,3962,0.96,158.2,3053,3194,2115,2063,78.5,9.3,730,3980,0.00,2.35,9.82,0.840,11270,0.000,0.050,3057,1798,2051,2080,2023,0,0,0,0,0,0,15.01,14.90,14.39
$GC,4044,0.99,179.6,3056,1799,2078,2021,71.3,8.5,745,4067,0.00,2.40,17.73,0.887,10500,0.000,0.050,3057,3196,1965,1996,1934,0,0,0,0,0,0,15.11,14.82,14.28
$GC,4365,0.99,179.6,3056,3196,1994,1932,41.0,10.7,808,4372,0.00,2.38,0.00,0.000,3078,0.000,0.054,3057,1801,1963,1994,1932,0,0,0,0,0,0,14.94,14.83,14.95
$GC,4436,0.99,179.6,3056,1801,1994,1931,33.4,11.3,821,4442,0.00,0.00,0.00,0.000,2054,0.000,0.000,3057,1801,1962,1994,1931,0,0,0,0,0,0,15.11,15.11,15.11
$GC,4505,1.00,190.4,3056,1800,1994,1931,26.3,9.2,834,4523,0.00,2.40,8.75,0.791,10500,0.000,0.051,3057,3204,1921,1953,1890,0,0,0,0,0,0,15.11,14.88,14.31
$GC,4794,1.05,232.8,3057,3204,1954,1890,3.1,6.9,890,4803,0.10,2.38,2.90,0.451,11266,0.161,0.050,3096,1792,1902,1934,1870,0,0,0,0,0,0,14.78,14.80,14.88
$STATE,4804,end climb,SURFACE_DEPTH_REACHED
$STATE,4804,begin surface coast
$FINISH,-0.0,1.025237
$STATE,4842,end surface coast,CONTROL_FINISHED_OK
$STATE,4842,begin surface
$SM_CCo,4866,196.98,0.799,0,0,598,515.37
$SM_GC,0.82,13.95,0.00,196.98,0.050,0.000,0.799,128,1788,598,-8.17,-0.68,515.37,0,0,0,0,0,0,14.90,15.14,14.14
$IRIDIUM_FIX,-3330.55,2713.30,120419,015312
$TT8_MAMPS,0.020972,0.90629
$HUMID,44.76
$INTERNAL_PRESSURE,9.37092
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,245.4,35.7
$SC_FREEKB,3747808
$24V_AH,13.66,109.719
$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,31.175,104.100,233.225,196.975,0.000,25.378,24.920,311.993,10.250,0.000,19.579,1970.657,911.188,639.473,1882.861,285.366,0.000,1397.479,0.000,1367.499,0.000,64.859,0.000
$DEVICE_MAMPS,523.260,71.910,1094.715,798.660,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4922.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,32.333,0.000,0.000,0.000
$MEM,340928
$DATA_FILE_SIZE,23343,898
$CAP_FILE_SIZE,157307,0
$CFSIZE,2097086464,2029649920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,120419,050401,-3348.282,2715.796,8,1.1,41,-28.0,2.8,236.6,9,6.6