version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 366
start: 4 14 119 21 24 58
data:
$ID,574
$MISSION,3
$DIVE,366
$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,28
$R_STBD_OVSHOOT,47
$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
$GPS1,140419,211503,-3424.0864,2557.4175,7,0.9,23,-28.1,0.0,249.6,8,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-66.8
$GPS2,140419,212431,-3424.0811,2557.4468,7,0.7,29,-28.1,0.4,142.6,11,9.6
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,-3416.445,2548.206
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.76,-194.6,53,1810,622,548,0.0,0.0,0,122,0.00,0.00,-97.38,0.000,16386,0.000,0.000,54,1811,2972,2941,3004,0,0,0,0,0,0,14.94,28.83,14.94
$GC,127,-0.76,-194.6,54,1811,2942,3007,3.4,-6.9,18,158,14.77,2.50,-9.10,0.000,18948,0.317,0.087,2506,401,3496,3508,3485,0,0,0,0,0,0,14.46,13.52,14.73
$GC,201,-0.76,-194.6,2506,399,3509,3485,24.5,-17.7,31,208,0.00,2.38,0.00,0.000,3078,0.000,0.040,2501,1811,3497,3509,3485,0,0,0,0,0,0,14.87,14.78,14.88
$GC,272,-0.76,-194.6,2501,1813,3509,3485,34.8,-15.3,44,277,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1814,3497,3509,3485,0,0,0,0,0,0,15.00,15.00,15.00
$GC,340,-0.76,-194.6,2501,1813,3509,3485,45.9,-15.9,57,347,0.00,2.40,0.00,0.000,2308,0.000,0.056,2501,3223,3497,3509,3485,0,0,0,0,0,0,15.02,14.75,15.03
$GC,379,-0.76,-194.6,2501,3223,3510,3485,51.4,-12.7,64,386,0.00,2.40,0.00,0.000,3078,0.000,0.044,2501,1799,3497,3510,3484,0,0,0,0,0,0,14.83,14.71,14.84
$GC,450,-0.76,-194.6,2501,1799,3510,3484,61.1,-14.5,77,457,0.00,2.42,0.00,0.000,2308,0.000,0.054,2494,3217,3496,3509,3484,0,0,0,0,0,0,15.04,14.76,15.04
$GC,521,-0.76,-194.6,2494,3217,3510,3484,69.8,-11.5,90,529,0.08,2.38,0.00,0.000,3078,0.252,0.044,2510,1808,3497,3510,3484,0,0,0,0,0,0,14.70,14.83,14.87
$GC,593,-0.76,-194.6,2510,1808,3511,3484,78.3,-13.1,103,599,0.00,0.00,0.00,0.000,2054,0.000,0.000,2511,1808,3497,3511,3484,0,0,0,0,0,0,15.07,15.07,15.07
$GC,663,-0.76,-194.6,2510,1808,3511,3484,85.5,-10.9,116,669,0.00,0.00,0.00,0.000,2054,0.000,0.000,2511,1808,3497,3510,3484,0,0,0,0,0,0,15.06,15.07,15.07
$GC,732,-0.76,-194.6,2510,1808,3511,3484,93.2,-10.2,129,738,0.00,0.00,0.00,0.000,2054,0.000,0.000,2511,1808,3497,3511,3483,0,0,0,0,0,0,15.07,15.08,15.07
$GC,805,-0.76,-194.6,2510,1808,3511,3484,100.3,-9.9,142,811,0.00,2.40,0.00,0.000,2308,0.000,0.054,2505,3218,3497,3511,3483,0,0,0,0,0,0,15.08,14.76,15.09
$GC,844,-0.76,-194.6,2505,3218,3511,3484,104.4,-8.9,149,851,0.00,2.38,0.00,0.000,3078,0.000,0.044,2505,1804,3497,3511,3484,0,0,0,0,0,0,14.85,14.75,14.86
$GC,915,-0.76,-194.6,2505,1804,3511,3484,111.0,-10.3,162,922,0.00,2.42,0.00,0.000,2564,0.000,0.065,2505,395,3497,3511,3484,0,0,0,0,0,0,15.08,14.78,15.09
$GC,945,-0.76,-194.6,2505,396,3511,3483,114.1,-10.4,167,952,0.00,2.38,0.00,0.000,3078,0.000,0.037,2504,1816,3496,3510,3483,0,0,0,0,0,0,14.88,14.78,14.88
$GC,1015,-0.76,-194.6,2505,1819,3511,3483,120.9,-9.8,180,1022,0.00,2.38,0.00,0.000,2308,0.000,0.055,2505,3221,3497,3511,3483,0,0,0,0,0,0,15.08,14.79,15.09
$GC,1060,-0.76,-194.6,2504,3221,3511,3483,124.8,-8.1,188,1069,0.00,2.38,0.00,0.000,3078,0.000,0.044,2505,1808,3497,3511,3483,0,0,0,0,0,0,14.91,14.81,14.92
$GC,1134,-0.76,-194.6,2504,1807,3511,3483,131.7,-9.9,201,1139,0.00,0.00,0.00,0.000,2054,0.000,0.000,2505,1807,3497,3511,3483,0,0,0,0,0,0,15.09,15.10,15.09
$GC,1202,-0.76,-194.6,2505,1807,3510,3483,139.6,-11.3,214,1209,0.00,2.40,0.00,0.000,2308,0.000,0.053,2504,3220,3497,3511,3483,0,0,0,0,0,0,15.09,14.84,15.09
$GC,1232,-0.76,-194.6,2503,3220,3511,3483,142.9,-10.0,219,1239,0.00,2.38,0.00,0.000,3078,0.000,0.044,2504,1805,3497,3511,3483,0,0,0,0,0,0,14.95,14.85,14.97
$GC,1305,-0.76,-194.6,2504,1805,3511,3482,150.4,-11.2,232,1312,0.00,2.40,0.00,0.000,2564,0.000,0.064,2504,409,3496,3511,3482,0,0,0,0,0,0,15.09,14.78,15.09
$GC,1325,-0.76,-194.6,2504,409,3511,3482,153.3,-12.4,235,1332,0.00,2.33,0.00,0.000,3078,0.000,0.035,2501,1821,3496,3511,3482,0,0,0,0,0,0,14.88,14.79,14.89
$GC,1396,-0.76,-194.6,2501,1818,3511,3482,161.9,-12.5,248,1403,0.00,2.35,0.00,0.000,2308,0.000,0.055,2501,3204,3496,3511,3482,0,0,0,0,0,0,15.09,14.84,15.10
$GC,1430,-0.76,-194.6,2501,3206,3511,3482,166.0,-11.6,254,1436,0.00,2.35,0.00,0.000,3078,0.000,0.045,2502,1809,3496,3511,3482,0,0,0,0,0,0,14.87,14.77,14.88
$GC,1501,-0.76,-194.6,2501,1809,3511,3485,174.7,-12.8,267,1507,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1809,3496,3511,3481,0,0,0,0,0,0,15.09,15.10,15.10
$STATE,1557,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1557,begin apogee
$GC,1563,-0.17,0.0,2501,1809,3511,3481,182.5,-12.9,278,1718,0.98,0.00,147.02,1.204,10246,0.155,0.000,2693,1808,2698,2728,2669,0,0,0,0,0,0,14.70,14.36,13.87
$STATE,1720,end apogee,CONTROL_FINISHED_OK
$STATE,1720,begin climb
$GC,1723,0.76,194.6,2693,1808,2727,2668,191.0,0.0,306,1886,1.40,2.53,152.38,1.178,10756,0.070,0.069,2996,399,1902,1938,1867,0,0,0,0,0,0,14.42,14.20,13.79
$GC,2046,0.76,194.6,2996,399,1930,1863,164.6,12.8,365,2052,0.00,2.35,0.00,0.000,3078,0.000,0.035,2996,1803,1896,1931,1861,0,0,0,0,0,0,14.75,14.67,14.76
$GC,2117,0.76,194.6,2995,1806,1930,1859,155.8,11.6,378,2123,0.00,2.35,0.00,0.000,2308,0.000,0.050,2996,3205,1894,1930,1859,0,0,0,0,0,0,14.90,14.70,14.90
$GC,2141,0.76,194.6,2996,3205,1929,1857,152.8,11.8,382,2148,0.00,2.40,0.00,0.000,1030,0.000,0.051,3003,1803,1893,1928,1859,0,0,0,0,0,0,14.81,14.71,14.82
$GC,2212,0.76,194.6,3003,1803,1929,1859,143.5,13.7,395,2218,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1803,1894,1929,1859,0,0,0,0,0,0,14.95,14.95,14.95
$GC,2281,0.76,194.6,3003,1804,1929,1858,134.1,12.9,408,2286,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,1803,1893,1929,1858,0,0,0,0,0,0,14.99,15.00,15.00
$GC,2349,0.76,194.6,3002,1803,1930,1856,124.8,13.9,421,2356,0.00,2.35,0.00,0.000,260,0.000,0.047,3003,3201,1893,1928,1858,0,0,0,0,0,0,15.01,14.76,15.02
$GC,2383,0.76,194.6,3003,3199,1927,1858,120.0,14.4,427,2390,0.00,2.40,0.00,0.000,5126,0.000,0.051,3010,1793,1892,1927,1858,0,0,0,0,0,0,14.84,14.73,14.86
$GC,2455,0.76,194.6,3010,1793,1927,1857,110.6,13.7,440,2461,0.00,2.38,0.00,0.000,4356,0.000,0.048,3009,3202,1892,1927,1857,0,0,0,0,0,0,15.02,14.81,15.04
$GC,2484,0.76,194.6,3010,3202,1927,1857,106.2,13.6,445,2491,0.00,2.40,0.00,0.000,5126,0.000,0.051,3017,1800,1891,1926,1857,0,0,0,0,0,0,14.88,14.78,14.90
$GC,2555,0.76,194.6,3017,1800,1926,1857,97.4,12.3,458,2561,0.00,0.00,0.00,0.000,4102,0.000,0.000,3017,1800,1892,1927,1857,0,0,0,0,0,0,15.05,15.05,15.05
$GC,2623,0.76,194.6,3017,1800,1927,1857,89.0,11.5,471,2630,0.00,2.35,0.00,0.000,4356,0.000,0.048,3017,3201,1891,1926,1856,0,0,0,0,0,0,15.06,14.76,15.07
$GC,2653,0.76,194.6,3017,3201,1926,1857,85.3,13.0,476,2659,0.00,2.40,0.00,0.000,5126,0.000,0.051,3018,1792,1891,1926,1857,0,0,0,0,0,0,14.84,14.74,14.86
$GC,2724,0.76,194.6,3017,1792,1926,1857,76.1,14.0,489,2730,0.00,2.42,0.00,0.000,4612,0.000,0.071,3020,391,1891,1926,1856,0,0,0,0,0,0,15.07,14.77,15.11
$GC,2763,0.76,194.6,3020,391,1925,1856,70.7,12.5,496,2770,0.05,2.33,0.00,0.000,5126,0.333,0.034,3011,1808,1891,1926,1856,0,0,0,0,0,0,14.59,14.78,14.81
$GC,2835,0.76,194.6,3010,1808,1925,1855,63.2,10.3,509,2841,0.00,2.33,0.00,0.000,4356,0.000,0.048,3010,3202,1890,1925,1855,0,0,0,0,0,0,15.07,14.84,15.08
$GC,2910,0.76,194.6,3010,3202,1925,1855,54.3,12.3,523,2917,0.00,2.40,0.00,0.000,5126,0.000,0.052,3010,1794,1890,1925,1855,0,0,0,0,0,0,14.95,14.84,14.97
$GC,2981,0.76,194.6,3010,1794,1925,1855,46.5,10.8,536,2988,0.00,2.42,0.00,0.000,4612,0.000,0.072,3010,391,1890,1925,1855,0,0,0,0,0,0,15.07,14.81,15.07
$GC,3010,0.76,194.6,3010,391,1925,1855,43.1,12.0,541,3017,0.00,2.33,0.00,0.000,5126,0.000,0.033,3010,1806,1890,1925,1855,0,0,0,0,0,0,14.96,14.88,14.97
$GC,3082,0.86,269.6,3012,1807,1925,1854,37.2,7.4,554,3149,0.00,2.38,58.10,1.043,10500,0.000,0.049,3011,3187,1599,1641,1558,0,0,0,0,0,0,15.07,14.59,14.12
$GC,3158,0.95,347.2,3010,3187,1640,1557,32.3,7.3,567,3232,0.15,2.40,62.35,1.041,11270,0.122,0.053,3061,1800,1284,1337,1232,0,0,0,0,0,0,14.59,14.56,14.00
$GC,3295,0.95,347.2,3060,1801,1335,1229,19.0,13.2,592,3302,0.00,2.50,0.00,0.000,2564,0.000,0.073,3069,394,1281,1335,1227,0,0,0,0,0,0,14.79,14.57,14.79
$GC,3350,0.95,347.2,3068,393,1333,1227,10.3,15.9,602,3356,0.00,2.35,0.00,0.000,5126,0.000,0.035,3069,1791,1280,1333,1227,0,0,0,0,0,0,14.76,14.67,14.76
$STATE,3392,end climb,SURFACE_DEPTH_REACHED
$STATE,3392,begin surface coast
$FINISH,0.1,1.025482
$STATE,3410,end surface coast,CONTROL_FINISHED_OK
$STATE,3410,begin surface
$SM_CCo,3434,113.78,0.819,0,0,599,515.37
$SM_GC,0.81,13.93,0.00,113.78,0.044,0.000,0.819,121,1793,599,-8.17,-0.54,515.37,0,0,0,0,0,0,14.76,14.94,14.07
$IRIDIUM_FIX,-3409.50,2556.54,140419,200537
$TT8_MAMPS,0.021721,0.936999
$HUMID,45.35
$INTERNAL_PRESSURE,9.2635
$TCM_TEMP,18.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,155.0,37.1
$SC_FREEKB,3728768
$24V_AH,13.52,118.614
$10V_AH,13.49,0.000
$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,31.350,90.750,419.850,113.775,0.000,26.217,38.453,252.595,5.750,0.000,30.079,1256.173,540.074,693.975,1381.364,254.081,0.000,1306.682,0.000,924.488,0.000,37.455,0.000
$DEVICE_MAMPS,332.775,87.210,1204.110,819.315,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3474.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.448,0.000,0.000,0.000
$MEM,340928
$DATA_FILE_SIZE,16758,613
$CAP_FILE_SIZE,119990,0
$CFSIZE,2097086464,2022703104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,140419,222502,-3423.915,2557.281,7,1.0,15,-28.1,0.8,78.4,8,9.0