version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 364
start: 4 14 119 18 55 33
data:
$ID,574
$MISSION,3
$DIVE,364
$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,200
$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,315
$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,29
$R_STBD_OVSHOOT,49
$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
$GPS1,140419,184531,-3424.4148,2557.6394,8,0.8,32,-28.1,0.6,113.3,11,7.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-66.1
$GPS2,140419,185507,-3424.4197,2557.7051,7,0.8,13,-28.1,0.0,79.8,10,9.4
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,-3416.783,2548.464
$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,343.1,20000,-15.7,-10.010,-18.71,2973
$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,23,-0.76,-194.6,54,1807,623,553,0.0,0.0,0,123,0.00,0.00,-97.88,0.000,16386,0.000,0.000,54,1808,2967,2935,2999,0,0,0,0,0,0,14.92,28.83,14.92
$GC,128,-0.76,-194.6,54,1808,2936,2999,3.2,-7.0,18,159,14.65,2.50,-9.48,0.000,18948,0.308,0.090,2503,401,3497,3511,3483,0,0,0,0,0,0,14.47,13.53,14.73
$GC,227,-0.76,-194.6,2503,401,3512,3483,25.7,-14.1,36,234,0.00,2.35,0.00,0.000,3078,0.000,0.040,2497,1803,3497,3512,3483,0,0,0,0,0,0,14.86,14.77,14.88
$GC,298,-0.76,-194.6,2496,1807,3512,3483,36.6,-16.8,49,305,0.05,2.38,0.00,0.000,2308,0.353,0.054,2500,3215,3497,3512,3483,0,0,0,0,0,0,14.59,14.76,14.75
$GC,338,-0.76,-194.6,2499,3215,3513,3483,43.6,-15.0,56,345,0.00,2.38,0.00,0.000,3078,0.000,0.046,2500,1810,3498,3513,3483,0,0,0,0,0,0,14.89,14.78,14.90
$GC,409,-0.76,-194.6,2499,1809,3513,3481,54.4,-15.6,69,416,0.00,2.42,0.00,0.000,2564,0.000,0.067,2499,403,3497,3513,3482,0,0,0,0,0,0,15.02,14.69,15.02
$GC,429,-0.76,-194.6,2499,403,3513,3482,58.1,-17.3,72,436,0.00,2.38,0.00,0.000,3078,0.000,0.040,2498,1815,3497,3513,3482,0,0,0,0,0,0,14.88,14.81,14.88
$GC,500,-0.76,-194.6,2498,1817,3513,3482,69.8,-17.4,85,510,0.00,2.38,0.00,0.000,2308,0.000,0.057,2498,3214,3498,3513,3484,0,0,0,0,0,0,15.04,14.75,15.04
$GC,594,-0.76,-194.6,2498,3214,3513,3481,83.5,-14.0,102,601,0.00,2.38,0.00,0.000,3078,0.000,0.044,2498,1802,3497,3513,3482,0,0,0,0,0,0,14.86,14.82,14.87
$GC,667,-0.76,-194.6,2498,1801,3514,3482,93.3,-14.1,115,672,0.00,0.00,0.00,0.000,2054,0.000,0.000,2498,1801,3497,3513,3482,0,0,0,0,0,0,15.06,15.07,15.07
$GC,736,-0.76,-194.6,2498,1801,3514,3482,103.3,-14.4,128,743,0.00,2.42,0.00,0.000,2564,0.000,0.066,2498,405,3497,3513,3482,0,0,0,0,0,0,15.07,14.80,15.07
$GC,766,-0.76,-194.6,2498,405,3513,3482,107.8,-14.1,133,773,0.00,2.35,0.00,0.000,3078,0.000,0.038,2498,1819,3497,3513,3482,0,0,0,0,0,0,14.90,14.81,14.90
$GC,837,-0.76,-194.6,2498,1818,3513,3482,116.7,-12.9,146,844,0.00,2.38,0.00,0.000,2308,0.000,0.056,2498,3217,3498,3513,3483,0,0,0,0,0,0,15.07,14.82,15.07
$GC,867,-0.76,-194.6,2497,3217,3513,3482,120.4,-10.6,151,874,0.00,2.38,0.00,0.000,3078,0.000,0.044,2499,1806,3498,3514,3482,0,0,0,0,0,0,14.94,14.83,14.95
$GC,938,-0.76,-194.6,2497,1807,3514,3482,128.7,-12.4,164,944,0.00,0.00,0.00,0.000,2054,0.000,0.000,2498,1807,3498,3514,3482,0,0,0,0,0,0,15.06,15.07,15.06
$GC,1008,-0.76,-194.6,2498,1806,3514,3477,137.8,-12.8,177,1015,0.00,2.38,0.00,0.000,2308,0.000,0.052,2490,3211,3497,3513,3482,0,0,0,0,0,0,15.06,14.83,15.06
$GC,1070,-0.76,-194.6,2490,3211,3512,3482,145.3,-11.9,188,1077,0.08,2.35,0.00,0.000,3078,0.251,0.044,2506,1813,3498,3514,3482,0,0,0,0,0,0,14.63,14.73,14.79
$GC,1140,-0.76,-194.6,2506,1814,3514,3482,154.1,-12.4,201,1147,0.00,2.42,0.00,0.000,2564,0.000,0.065,2507,408,3498,3514,3482,0,0,0,0,0,0,15.08,14.73,15.08
$GC,1159,-0.76,-194.6,2506,406,3514,3482,156.8,-13.4,204,1166,0.00,2.33,0.00,0.000,3078,0.000,0.036,2507,1813,3498,3514,3482,0,0,0,0,0,0,14.85,14.77,14.85
$GC,1231,-0.76,-194.6,2506,1816,3513,3482,165.4,-12.5,217,1238,0.00,2.38,0.00,0.000,2308,0.000,0.055,2507,3217,3497,3513,3482,0,0,0,0,0,0,15.08,14.79,15.08
$GC,1260,-0.76,-194.6,2507,3217,3514,3481,168.8,-11.0,222,1267,0.00,2.38,0.00,0.000,3078,0.000,0.045,2506,1808,3497,3514,3481,0,0,0,0,0,0,14.88,14.75,14.90
$GC,1330,-0.76,-194.6,2507,1808,3514,3482,176.5,-10.6,235,1335,0.00,0.00,0.00,0.000,2054,0.000,0.000,2507,1808,3497,3514,3481,0,0,0,0,0,0,15.08,15.09,15.09
$GC,1398,-0.76,-194.6,2507,1808,3514,3481,184.4,-11.7,248,1404,0.00,0.00,0.00,0.000,2054,0.000,0.000,2507,1808,3498,3514,3482,0,0,0,0,0,0,15.09,15.08,15.09
$GC,1470,-0.76,-194.6,2507,1808,3514,3481,193.4,-13.9,261,1476,0.00,0.00,0.00,0.000,2054,0.000,0.000,2507,1808,3497,3513,3481,0,0,0,0,0,0,15.09,15.09,15.09
$GC,1538,-0.76,-194.6,2507,1808,3514,3481,202.3,-11.8,274,1544,0.00,0.00,0.00,0.000,2054,0.000,0.000,2507,1808,3497,3513,3481,0,0,0,0,0,0,15.10,15.11,15.11
$GC,1607,-0.76,-194.6,2507,1808,3513,3480,211.3,-13.7,287,1612,0.00,0.00,0.00,0.000,2054,0.000,0.000,2507,1808,3497,3514,3481,0,0,0,0,0,0,15.11,15.11,15.11
$STATE,1617,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1617,begin apogee
$GC,1623,-0.17,0.0,2507,1808,3514,3480,213.0,-14.0,289,1778,0.95,0.00,148.20,1.242,10246,0.151,0.000,2696,1809,2699,2729,2670,0,0,0,0,0,0,14.69,14.37,13.84
$STATE,1780,end apogee,CONTROL_FINISHED_OK
$STATE,1780,begin climb
$GC,1783,0.76,194.6,2697,1808,2728,2669,221.0,0.0,317,1946,1.40,2.60,153.20,1.217,10756,0.080,0.070,2992,392,1904,1941,1867,0,0,0,0,0,0,14.37,14.24,13.78
$GC,2100,0.76,194.6,2991,392,1931,1863,199.5,12.8,375,2107,0.00,2.38,0.00,0.000,3078,0.000,0.036,2991,1802,1896,1931,1861,0,0,0,0,0,0,14.74,14.66,14.75
$GC,2171,0.76,194.6,2991,1804,1931,1860,190.4,12.2,388,2177,0.00,0.00,0.00,0.000,2054,0.000,0.000,2992,1804,1895,1931,1860,0,0,0,0,0,0,14.89,14.89,14.89
$GC,2240,0.76,194.6,2991,1804,1931,1858,181.6,12.9,401,2246,0.00,0.00,0.00,0.000,2054,0.000,0.000,2992,1804,1894,1930,1859,0,0,0,0,0,0,14.95,14.95,14.95
$GC,2308,0.76,194.6,2991,1804,1930,1859,172.6,13.2,414,2315,0.00,2.35,0.00,0.000,2308,0.000,0.050,2990,3204,1893,1929,1858,0,0,0,0,0,0,14.97,14.69,14.98
$GC,2343,0.76,194.6,2991,3204,1928,1859,168.1,13.9,420,2350,0.00,2.40,0.00,0.000,3078,0.000,0.052,2993,1796,1893,1928,1858,0,0,0,0,0,0,14.78,14.68,14.79
$GC,2414,0.76,194.6,2992,1796,1928,1858,159.2,12.8,433,2420,0.00,0.00,0.00,0.000,2054,0.000,0.000,2992,1796,1893,1928,1858,0,0,0,0,0,0,15.02,15.02,15.02
$GC,2482,0.76,194.6,2992,1796,1928,1858,150.1,13.0,446,2488,0.00,0.00,0.00,0.000,2054,0.000,0.000,2992,1796,1891,1925,1858,0,0,0,0,0,0,15.02,15.03,15.04
$GC,2551,0.76,194.6,2991,1797,1928,1858,140.7,13.7,459,2556,0.00,0.00,0.00,0.000,2054,0.000,0.000,2992,1796,1893,1928,1858,0,0,0,0,0,0,15.04,15.04,15.04
$GC,2619,0.76,194.6,2991,1796,1928,1857,131.7,13.1,472,2626,0.00,2.40,0.00,0.000,2308,0.000,0.050,2992,3212,1892,1928,1857,0,0,0,0,0,0,15.04,14.77,15.04
$GC,2678,0.76,194.6,2992,3212,1926,1857,123.1,14.7,483,2685,0.00,2.42,0.00,0.000,3078,0.000,0.054,2998,1792,1892,1927,1857,0,0,0,0,0,0,14.85,14.74,14.86
$GC,2749,0.76,194.6,2998,1792,1927,1857,113.3,14.1,496,2756,0.00,2.42,0.00,0.000,2564,0.000,0.072,2999,393,1891,1927,1856,0,0,0,0,0,0,15.06,14.76,15.06
$GC,2779,0.76,194.6,3000,393,1927,1857,108.4,16.0,501,2785,0.00,2.33,0.00,0.000,1030,0.000,0.034,3001,1809,1891,1925,1857,0,0,0,0,0,0,14.89,14.81,14.90
$GC,2850,0.76,194.6,3000,1810,1926,1856,99.0,12.9,514,2856,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,1810,1891,1926,1856,0,0,0,0,0,0,15.06,15.07,15.07
$GC,2918,0.76,194.6,3000,1810,1926,1856,89.6,13.4,527,2925,0.00,2.47,0.00,0.000,516,0.000,0.070,3009,387,1891,1926,1856,0,0,0,0,0,0,15.07,14.73,15.07
$GC,2957,0.76,194.6,3008,387,1926,1856,84.5,13.3,534,2964,0.00,2.33,0.00,0.000,5126,0.000,0.035,3009,1798,1891,1926,1856,0,0,0,0,0,0,14.95,14.87,14.97
$GC,3029,0.76,194.6,3009,1801,1926,1856,76.0,12.0,547,3035,0.00,2.35,0.00,0.000,4356,0.000,0.050,3009,3207,1891,1927,1856,0,0,0,0,0,0,15.08,14.80,15.09
$GC,3129,0.76,194.6,3008,3207,1925,1856,63.4,11.5,566,3135,0.00,2.40,0.00,0.000,5126,0.000,0.051,3009,1795,1890,1925,1856,0,0,0,0,0,0,14.90,14.79,14.92
$GC,3200,0.76,194.6,3009,1795,1925,1855,55.8,12.1,579,3206,0.00,2.38,0.00,0.000,4356,0.000,0.050,3010,3197,1890,1925,1856,0,0,0,0,0,0,15.08,14.84,15.08
$GC,3214,0.76,194.6,3009,3197,1924,1855,53.8,12.4,581,3220,0.00,2.38,0.00,0.000,5126,0.000,0.052,3010,1799,1890,1925,1855,0,0,0,0,0,0,14.87,14.76,14.90
$GC,3284,0.76,194.6,3009,1799,1925,1855,46.9,10.3,594,3291,0.00,2.45,0.00,0.000,4612,0.000,0.073,3010,395,1890,1925,1855,0,0,0,0,0,0,15.08,14.80,15.09
$GC,3319,0.76,194.6,3009,395,1925,1855,43.0,10.9,600,3326,0.00,2.33,0.00,0.000,5126,0.000,0.034,3009,1805,1890,1925,1855,0,0,0,0,0,0,14.91,14.83,14.92
$GC,3390,0.76,194.6,3009,1807,1925,1854,35.8,10.8,613,3396,0.00,2.33,0.00,0.000,4356,0.000,0.050,3009,3196,1889,1925,1854,0,0,0,0,0,0,15.08,14.83,15.09
$GC,3424,0.76,194.6,3009,3197,1924,1854,31.2,13.2,619,3431,0.00,2.40,0.00,0.000,5126,0.000,0.053,3009,1791,1889,1924,1854,0,0,0,0,0,0,14.90,14.79,14.92
$GC,3495,0.76,194.6,3009,1790,1925,1854,21.3,13.7,632,3502,0.00,2.42,0.00,0.000,4612,0.000,0.072,3010,391,1889,1925,1854,0,0,0,0,0,0,15.08,14.82,15.08
$GC,3640,0.85,265.4,3009,391,1924,1854,7.7,7.6,660,3691,0.00,2.33,44.47,0.908,11270,0.000,0.034,3010,1803,1615,1657,1573,0,0,0,0,0,0,14.97,14.88,14.27
$STATE,3703,end climb,SURFACE_DEPTH_REACHED
$STATE,3703,begin surface coast
$FINISH,0.1,1.025587
$STATE,3734,end surface coast,CONTROL_FINISHED_OK
$STATE,3734,begin surface
$SM_CCo,3758,168.45,0.825,0,0,599,515.37
$SM_GC,0.84,13.73,0.00,168.45,0.044,0.000,0.825,112,1803,599,-8.21,-0.25,515.37,0,0,0,0,0,0,14.74,14.95,14.04
$IRIDIUM_FIX,-3412.10,2554.19,140419,172629
$TT8_MAMPS,0.021721,0.819406
$HUMID,44.95
$INTERNAL_PRESSURE,9.2635
$TCM_TEMP,18.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,185.6,36.5
$SC_FREEKB,3729792
$24V_AH,13.53,118.127
$10V_AH,13.51,0.000
$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,30.850,90.750,345.875,168.450,0.000,23.718,19.151,289.483,7.250,0.000,15.838,1426.576,627.557,704.016,1487.357,266.625,0.000,1350.526,0.000,1018.907,0.000,46.598,0.000
$DEVICE_MAMPS,353.430,89.505,1242.360,825.435,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3805.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,34.665,0.000,0.000,0.000
$MEM,340928
$DATA_FILE_SIZE,16736,677
$CAP_FILE_SIZE,129662,0
$CFSIZE,2097086464,2023096320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,140419,200159,-3424.254,2557.535,7,1.0,16,-28.1,0.0,221.6,9,9.7