version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 408
start: 4 17 119 5 59 9
data:
$ID,574
$MISSION,3
$DIVE,408
$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,250
$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,20
$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,60
$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,2
$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
$GPS1,170419,054831,-3424.2983,2558.5408,6,0.8,38,-28.1,1.2,66.0,10,5.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-70.8
$GPS2,170419,055843,-3424.3335,2558.5161,6,0.9,15,-28.1,0.8,248.4,9,9.4
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,HEADING
$TGT_LATLONG,-3414.186,2602.984
$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,48.1,20000,-13.9,-10.010,-17.09,3711
$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,-243.3,54,1817,621,551,0.0,0.0,0,123,0.00,0.00,-97.03,0.000,16386,0.000,0.000,53,1818,2969,2932,3007,0,0,0,0,0,0,14.91,28.83,14.94
$GC,128,-0.76,-243.3,53,1819,2933,3007,3.4,-7.1,18,164,14.62,2.47,-12.57,0.000,18948,0.300,0.089,2510,395,3694,3711,3678,0,0,0,0,0,0,14.42,13.46,14.69
$GC,202,-0.76,-243.3,2510,395,3712,3679,23.9,-16.7,31,209,0.00,2.35,0.00,0.000,3078,0.000,0.041,2508,1791,3695,3712,3678,0,0,0,0,0,0,14.85,14.76,14.87
$GC,273,-0.76,-243.3,2508,1794,3711,3678,36.1,-18.3,44,280,0.00,2.45,0.00,0.000,2308,0.000,0.058,2508,3225,3695,3712,3678,0,0,0,0,0,0,14.97,14.75,14.98
$GC,337,-0.76,-243.3,2508,3225,3712,3679,45.7,-13.3,56,344,0.00,2.40,0.00,0.000,3078,0.000,0.046,2508,1810,3695,3712,3678,0,0,0,0,0,0,14.88,14.78,14.90
$GC,408,-0.76,-243.3,2508,1810,3712,3679,55.3,-14.5,69,414,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1809,3695,3712,3678,0,0,0,0,0,0,15.02,15.03,15.02
$GC,477,-0.76,-243.3,2508,1810,3712,3678,65.8,-14.0,82,483,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1810,3695,3712,3678,0,0,0,0,0,0,15.04,15.04,15.03
$GC,548,-0.76,-243.3,2508,1810,3712,3679,75.0,-13.0,95,554,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1810,3695,3712,3678,0,0,0,0,0,0,15.04,15.04,15.04
$GC,617,-0.76,-243.3,2508,1810,3713,3678,83.4,-11.8,108,623,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1810,3696,3713,3679,0,0,0,0,0,0,15.05,15.06,15.06
$GC,687,-0.76,-243.3,2508,1810,3713,3679,91.4,-11.2,121,692,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1810,3695,3713,3678,0,0,0,0,0,0,15.06,15.04,15.06
$GC,756,-0.76,-243.3,2508,1810,3713,3678,99.4,-11.7,134,765,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1810,3695,3713,3678,0,0,0,0,0,0,15.07,15.07,15.07
$GC,830,-0.76,-243.3,2508,1809,3713,3678,107.6,-11.6,147,836,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1810,3693,3713,3673,0,0,0,0,0,0,15.07,15.07,15.07
$GC,902,-0.76,-243.3,2508,1810,3713,3679,115.4,-11.9,160,908,0.00,0.00,0.00,0.000,2054,0.000,0.000,2509,1810,3696,3713,3679,0,0,0,0,0,0,15.07,15.08,15.08
$GC,970,-0.76,-243.3,2508,1810,3713,3678,123.5,-11.8,173,976,0.00,2.40,0.00,0.000,2308,0.000,0.054,2508,3216,3695,3712,3678,0,0,0,0,0,0,15.08,14.71,15.08
$GC,1009,-0.76,-243.3,2508,3217,3713,3678,128.0,-10.2,180,1015,0.00,2.38,0.00,0.000,3078,0.000,0.044,2508,1802,3694,3711,3678,0,0,0,0,0,0,14.94,14.83,14.96
$GC,1081,-0.76,-243.3,2511,1802,3713,3678,136.0,-11.8,193,1086,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1802,3695,3713,3678,0,0,0,0,0,0,15.07,15.07,15.07
$GC,1149,-0.76,-243.3,2508,1802,3713,3678,144.7,-12.3,206,1156,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1802,3695,3713,3678,0,0,0,0,0,0,15.09,15.09,15.09
$GC,1222,-0.76,-243.3,2508,1802,3712,3678,153.3,-11.7,219,1227,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1802,3695,3713,3678,0,0,0,0,0,0,15.08,15.09,15.09
$GC,1293,-0.76,-243.3,2508,1802,3712,3678,161.9,-12.2,232,1298,0.00,0.00,0.00,0.000,2054,0.000,0.000,2509,1802,3695,3712,3678,0,0,0,0,0,0,15.07,15.07,15.07
$GC,1366,-0.76,-243.3,2508,1802,3712,3678,170.3,-11.6,245,1372,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1802,3695,3712,3678,0,0,0,0,0,0,15.09,15.09,15.09
$GC,1437,-0.76,-243.3,2508,1802,3712,3678,179.2,-12.2,258,1447,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1802,3695,3712,3679,0,0,0,0,0,0,15.09,15.09,15.09
$GC,1512,-0.76,-243.3,2508,1802,3711,3678,188.3,-12.4,271,1517,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1802,3694,3711,3678,0,0,0,0,0,0,15.09,15.09,15.09
$GC,1580,-0.76,-243.3,2508,1802,3711,3678,196.6,-12.6,284,1587,0.00,2.42,0.00,0.000,2308,0.000,0.055,2508,3215,3694,3710,3678,0,0,0,0,0,0,15.09,14.71,15.09
$GC,1625,-0.76,-243.3,2508,3215,3710,3678,201.7,-10.2,292,1631,0.00,2.38,0.00,0.000,3078,0.000,0.045,2508,1807,3694,3710,3678,0,0,0,0,0,0,14.82,14.71,14.83
$STATE,1642,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1642,begin apogee
$GC,1648,-0.17,0.0,2508,1807,3710,3678,203.9,-11.1,295,1840,0.95,0.00,183.68,1.230,10246,0.144,0.000,2697,1807,2701,2735,2667,0,0,0,0,0,0,14.65,14.34,13.81
$STATE,1844,end apogee,CONTROL_FINISHED_OK
$STATE,1844,begin climb
$GC,1846,0.76,243.3,2697,1807,2734,2667,212.0,0.0,330,2049,1.40,2.60,191.12,1.189,10756,0.083,0.073,2991,398,1705,1746,1665,0,0,0,0,0,0,14.34,14.21,13.77
$GC,2138,0.76,243.3,2991,398,1738,1666,190.8,13.9,382,2144,0.00,2.38,0.00,0.000,3078,0.000,0.034,2992,1807,1701,1738,1664,0,0,0,0,0,0,14.61,14.53,14.61
$GC,2208,0.76,243.3,2991,1810,1737,1662,181.9,12.5,395,2215,0.00,2.38,0.00,0.000,2308,0.000,0.048,2992,3205,1699,1737,1661,0,0,0,0,0,0,14.84,14.62,14.85
$GC,2248,0.76,243.3,2991,3205,1735,1660,176.5,13.1,402,2254,0.00,2.42,0.00,0.000,3078,0.000,0.055,2992,1807,1697,1735,1660,0,0,0,0,0,0,14.73,14.62,14.74
$GC,2319,0.76,243.3,2992,1806,1736,1659,167.4,13.2,415,2325,0.00,2.47,0.00,0.000,2564,0.000,0.074,2993,391,1697,1736,1659,0,0,0,0,0,0,14.94,14.68,14.94
$GC,2338,0.76,243.3,2994,391,1736,1659,164.6,13.5,418,2345,0.00,2.35,0.00,0.000,3078,0.000,0.034,2994,1803,1697,1736,1659,0,0,0,0,0,0,14.82,14.76,14.83
$GC,2409,0.76,243.3,2993,1806,1735,1660,155.3,13.3,431,2415,0.00,0.00,0.00,0.000,2054,0.000,0.000,2994,1806,1697,1736,1659,0,0,0,0,0,0,14.96,14.96,14.95
$GC,2478,0.76,243.3,2993,1806,1735,1659,146.1,13.0,444,2484,0.00,0.00,0.00,0.000,2054,0.000,0.000,2994,1806,1696,1735,1658,0,0,0,0,0,0,15.00,15.00,14.99
$GC,2546,0.76,243.3,2994,1806,1735,1658,137.6,12.4,457,2552,0.00,0.00,0.00,0.000,2054,0.000,0.000,2994,1806,1696,1735,1658,0,0,0,0,0,0,15.02,15.02,15.02
$GC,2615,0.76,243.3,2993,1806,1735,1658,129.5,11.9,470,2622,0.00,2.35,0.00,0.000,2308,0.000,0.049,2994,3196,1696,1735,1658,0,0,0,0,0,0,15.02,14.79,15.02
$GC,2634,0.76,243.3,2994,3196,1734,1658,126.8,13.2,473,2641,0.00,2.40,0.00,0.000,3078,0.000,0.054,2998,1795,1695,1734,1657,0,0,0,0,0,0,14.90,14.79,14.92
$GC,2706,0.76,243.3,2999,1795,1734,1657,119.0,11.6,486,2712,0.00,0.00,0.00,0.000,2054,0.000,0.000,2999,1795,1696,1735,1657,0,0,0,0,0,0,15.03,15.03,15.03
$GC,2774,0.76,243.3,2999,1795,1734,1657,111.4,10.4,499,2781,0.00,2.38,0.00,0.000,2308,0.000,0.050,2999,3199,1695,1734,1657,0,0,0,0,0,0,15.04,14.81,15.04
$GC,2809,0.76,243.3,2999,3198,1733,1657,107.8,10.2,505,2815,0.00,2.40,0.00,0.000,3078,0.000,0.055,2999,1799,1695,1734,1657,0,0,0,0,0,0,14.92,14.81,14.94
$GC,2881,0.80,275.9,2999,1798,1734,1657,101.3,9.1,518,2914,0.00,0.00,26.60,1.118,10246,0.000,0.000,2999,1798,1573,1615,1531,0,0,0,0,0,0,15.04,14.73,14.17
$GC,2978,0.80,275.9,2999,1798,1613,1530,91.7,10.3,536,2984,0.00,0.00,0.00,0.000,2054,0.000,0.000,3000,1799,1571,1613,1530,0,0,0,0,0,0,14.95,14.95,14.95
$GC,3047,0.80,275.9,2998,1798,1612,1529,84.8,10.5,549,3053,0.00,2.47,0.00,0.000,2564,0.000,0.076,3007,391,1570,1612,1529,0,0,0,0,0,0,14.98,14.65,14.99
$GC,3071,0.80,275.9,3007,391,1612,1529,82.1,10.8,553,3078,0.00,2.35,0.00,0.000,3078,0.000,0.034,3007,1806,1570,1612,1529,0,0,0,0,0,0,14.79,14.71,14.80
$GC,3142,0.80,275.9,3008,1809,1612,1529,73.9,12.2,566,3148,0.00,0.00,0.00,0.000,2054,0.000,0.000,3008,1809,1570,1612,1528,0,0,0,0,0,0,15.01,15.01,15.01
$GC,3211,0.80,275.9,3007,1810,1612,1528,65.6,11.4,579,3217,0.00,2.50,0.00,0.000,2564,0.000,0.074,3011,391,1570,1612,1528,0,0,0,0,0,0,15.02,14.67,15.02
$GC,3240,0.80,275.9,3014,391,1611,1528,62.2,11.0,584,3247,0.00,2.35,0.00,0.000,1030,0.000,0.034,3014,1809,1569,1611,1528,0,0,0,0,0,0,14.90,14.83,14.92
$GC,3312,0.80,275.9,3013,1812,1611,1528,53.3,13.3,597,3318,0.00,2.35,0.00,0.000,260,0.000,0.049,3014,3204,1569,1611,1527,0,0,0,0,0,0,15.03,14.71,15.04
$GC,3351,0.80,275.9,3014,3203,1609,1527,46.9,15.6,604,3358,0.00,2.42,0.00,0.000,1030,0.000,0.057,3016,1793,1568,1609,1527,0,0,0,0,0,0,14.80,14.71,14.81
$GC,3422,0.80,275.9,3016,1793,1609,1527,36.5,15.6,617,3429,0.00,2.40,0.00,0.000,260,0.000,0.050,3016,3195,1566,1609,1523,0,0,0,0,0,0,15.04,14.76,15.06
$GC,3477,0.80,275.9,3016,3196,1609,1525,28.1,13.4,627,3483,0.00,2.40,0.00,0.000,1030,0.000,0.054,3016,1797,1567,1610,1525,0,0,0,0,0,0,14.82,14.73,14.84
$GC,3548,0.80,275.9,3016,1797,1609,1525,19.7,11.6,640,3554,0.00,2.45,0.00,0.000,516,0.000,0.074,3017,394,1567,1609,1525,0,0,0,0,0,0,15.06,14.73,15.07
$GC,3582,0.80,275.9,3016,393,1609,1525,15.4,12.1,646,3588,0.00,2.33,0.00,0.000,1030,0.000,0.034,3016,1806,1567,1609,1525,0,0,0,0,0,0,14.82,14.75,14.84
$GC,3654,0.80,275.9,3016,1808,1609,1525,8.1,11.0,659,3659,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1808,1567,1609,1525,0,0,0,0,0,0,15.06,15.07,15.07
$STATE,3700,end climb,SURFACE_DEPTH_REACHED
$STATE,3700,begin surface coast
$FINISH,0.3,1.025423
$STATE,3727,end surface coast,CONTROL_FINISHED_OK
$STATE,3727,begin surface
$SM_CCo,3751,166.05,0.839,0,0,597,515.37
$SM_GC,0.89,13.62,0.00,166.05,0.048,0.000,0.839,125,1808,597,-8.17,-0.14,515.37,0,0,0,0,0,0,14.85,15.09,14.05
$IRIDIUM_FIX,-3412.10,2603.52,170419,043142
$TT8_MAMPS,0.020972,0.941493
$HUMID,46.02
$INTERNAL_PRESSURE,9.25373
$TCM_TEMP,18.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,180.3,33.7
$SC_FREEKB,3707072
$24V_AH,13.46,128.934
$10V_AH,13.63,0.000
$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,30.600,67.400,401.400,166.050,0.000,23.716,52.663,279.176,7.000,0.000,18.797,1390.248,614.323,746.423,1503.062,284.769,0.000,1403.549,0.000,1010.117,0.000,46.745,0.000
$DEVICE_MAMPS,299.880,88.740,1230.120,839.205,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3801.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,34.866,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,16737,673
$CAP_FILE_SIZE,126323,0
$CFSIZE,2097086464,2015264768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,170419,070549,-3424.042,2558.783,6,1.0,38,-28.1,0.2,9.8,8,6.0