version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 409
start: 4 17 119 7 16 11
data:
$ID,574
$MISSION,3
$DIVE,409
$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,27
$R_STBD_OVSHOOT,51
$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
$GPS1,170419,070549,-3424.0420,2558.7827,6,1.0,38,-28.1,0.2,9.8,8,6.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-69.1
$GPS2,170419,071545,-3424.0601,2558.7249,6,1.0,15,-28.1,0.8,40.2,8,9.8
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,HEADING
$TGT_LATLONG,-3413.912,2603.192
$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,-243.3,53,1811,620,551,0.0,0.0,0,123,0.00,0.00,-97.70,0.000,16386,0.000,0.000,53,1812,2966,2929,3003,0,0,0,0,0,0,14.91,28.83,14.92
$GC,128,-0.76,-243.3,53,1815,2930,3003,3.2,-6.5,18,164,14.60,2.47,-12.60,0.000,18948,0.301,0.091,2507,402,3695,3712,3679,0,0,0,0,0,0,14.45,13.48,14.73
$GC,248,-0.76,-243.3,2503,402,3712,3679,35.9,-21.7,40,255,0.00,2.35,0.00,0.000,3078,0.000,0.041,2501,1801,3695,3712,3679,0,0,0,0,0,0,14.87,14.77,14.88
$GC,319,-0.76,-243.3,2501,1804,3712,3679,47.3,-15.1,53,326,0.00,2.42,0.00,0.000,2308,0.000,0.057,2501,3221,3695,3712,3679,0,0,0,0,0,0,15.01,14.66,15.01
$GC,395,-0.76,-243.3,2500,3221,3713,3679,55.8,-10.1,67,402,0.00,2.40,0.00,0.000,3078,0.000,0.045,2501,1805,3696,3713,3679,0,0,0,0,0,0,14.84,14.73,14.85
$GC,468,-0.76,-243.3,2500,1805,3712,3679,63.7,-12.2,80,474,0.00,2.42,0.00,0.000,2564,0.000,0.067,2500,403,3696,3713,3679,0,0,0,0,0,0,15.02,14.77,15.02
$GC,502,-0.76,-243.3,2500,404,3712,3679,68.5,-12.8,86,509,0.00,2.35,0.00,0.000,3078,0.000,0.038,2501,1816,3696,3713,3679,0,0,0,0,0,0,14.91,14.82,14.92
$GC,574,-0.76,-243.3,2500,1819,3712,3679,76.4,-10.7,99,579,0.00,0.00,0.00,0.000,2054,0.000,0.000,2500,1818,3695,3712,3679,0,0,0,0,0,0,15.04,15.05,15.04
$GC,643,-0.76,-243.3,2500,1819,3712,3679,83.4,-9.3,112,649,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1819,3695,3711,3679,0,0,0,0,0,0,15.05,15.05,15.05
$GC,712,-0.76,-243.3,2500,1819,3712,3679,89.7,-9.2,125,720,0.00,0.00,0.00,0.000,2054,0.000,0.000,2500,1819,3696,3713,3679,0,0,0,0,0,0,15.06,15.05,15.06
$GC,786,-0.76,-243.3,2500,1819,3713,3679,96.3,-8.7,138,792,0.00,2.38,0.00,0.000,2308,0.000,0.057,2498,3211,3696,3713,3679,0,0,0,0,0,0,15.07,14.76,15.07
$GC,815,-0.76,-243.3,2498,3211,3713,3679,98.4,-7.3,143,822,0.00,2.38,0.00,0.000,3078,0.000,0.044,2498,1806,3695,3712,3679,0,0,0,0,0,0,14.88,14.77,14.89
$GC,888,-0.76,-243.3,2498,1806,3713,3679,104.3,-9.8,156,895,0.00,0.00,0.00,0.000,2054,0.000,0.000,2498,1806,3696,3713,3679,0,0,0,0,0,0,15.06,15.06,15.06
$GC,960,-0.76,-243.3,2497,1806,3713,3677,112.9,-12.7,169,965,0.00,0.00,0.00,0.000,2054,0.000,0.000,2498,1806,3696,3713,3679,0,0,0,0,0,0,15.07,15.07,15.07
$GC,1031,-0.76,-243.3,2497,1806,3713,3679,121.4,-11.3,182,1037,0.00,0.00,0.00,0.000,2054,0.000,0.000,2498,1806,3696,3713,3679,0,0,0,0,0,0,15.07,15.08,15.08
$GC,1105,-0.76,-243.3,2497,1806,3713,3679,130.5,-13.1,195,1112,0.00,2.42,0.00,0.000,2308,0.000,0.054,2495,3217,3695,3712,3679,0,0,0,0,0,0,15.08,14.76,15.09
$GC,1145,-0.76,-243.3,2494,3217,3713,3679,136.0,-11.5,202,1152,0.05,2.38,0.00,0.000,3078,0.291,0.044,2508,1810,3696,3713,3679,0,0,0,0,0,0,14.60,14.71,14.77
$GC,1215,-0.76,-243.3,2507,1810,3713,3679,144.5,-13.0,215,1222,0.00,0.00,0.00,0.000,2054,0.000,0.000,2509,1810,3695,3712,3679,0,0,0,0,0,0,15.07,15.08,15.08
$GC,1287,-0.76,-243.3,2508,1810,3712,3679,153.6,-13.1,228,1293,0.00,0.00,0.00,0.000,2054,0.000,0.000,2509,1809,3695,3712,3679,0,0,0,0,0,0,15.07,15.07,15.07
$GC,1361,-0.76,-243.3,2508,1810,3712,3679,163.2,-13.5,241,1367,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1810,3695,3712,3679,0,0,0,0,0,0,15.08,15.08,15.08
$GC,1429,-0.76,-243.3,2508,1810,3712,3679,172.0,-12.6,254,1435,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1810,3695,3712,3679,0,0,0,0,0,0,15.09,15.09,15.09
$GC,1498,-0.76,-243.3,2508,1810,3711,3679,181.0,-13.1,267,1504,0.00,0.00,0.00,0.000,2054,0.000,0.000,2509,1810,3694,3711,3678,0,0,0,0,0,0,15.07,15.09,15.09
$STATE,1539,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1539,begin apogee
$GC,1545,-0.17,0.0,2508,1810,3711,3679,186.3,-12.8,275,1738,0.95,0.00,183.75,1.201,10246,0.148,0.000,2698,1810,2699,2733,2665,0,0,0,0,0,0,14.60,14.31,13.80
$STATE,1741,end apogee,CONTROL_FINISHED_OK
$STATE,1741,begin climb
$GC,1744,0.76,243.3,2697,1810,2732,2664,194.5,0.0,310,1947,1.40,2.55,190.38,1.170,10756,0.086,0.072,2989,399,1706,1746,1666,0,0,0,0,0,0,14.35,14.15,13.76
$GC,2051,0.76,243.3,2989,399,1737,1665,172.0,13.0,365,2058,0.00,2.38,0.00,0.000,3078,0.000,0.037,2989,1802,1700,1737,1664,0,0,0,0,0,0,14.66,14.58,14.68
$GC,2122,0.76,243.3,2989,1804,1737,1661,162.6,13.4,378,2129,0.00,2.38,0.00,0.000,2308,0.000,0.052,2989,3200,1698,1737,1660,0,0,0,0,0,0,14.83,14.64,14.85
$GC,2152,0.76,243.3,2989,3200,1736,1660,158.4,14.3,383,2159,0.00,2.42,0.00,0.000,3078,0.000,0.054,2989,1798,1698,1736,1660,0,0,0,0,0,0,14.76,14.66,14.78
$GC,2223,0.76,243.3,2989,1798,1736,1659,149.5,12.7,396,2230,0.00,2.45,0.00,0.000,2564,0.000,0.073,2992,392,1697,1736,1659,0,0,0,0,0,0,14.92,14.68,14.92
$GC,2248,0.76,243.3,2990,391,1736,1659,146.4,11.8,400,2254,0.00,2.35,0.00,0.000,3078,0.000,0.036,2992,1803,1697,1736,1659,0,0,0,0,0,0,14.83,14.75,14.85
$GC,2319,0.76,243.3,2992,1806,1735,1658,137.3,12.8,413,2325,0.00,2.35,0.00,0.000,2308,0.000,0.051,2992,3199,1697,1735,1659,0,0,0,0,0,0,14.97,14.66,14.97
$GC,2343,0.76,243.3,2990,3199,1734,1659,134.2,12.4,417,2349,0.00,2.40,0.00,0.000,3078,0.000,0.054,2991,1799,1696,1735,1658,0,0,0,0,0,0,14.85,14.75,14.88
$GC,2414,0.76,243.3,2992,1799,1735,1658,125.2,13.0,430,2420,0.00,0.00,0.00,0.000,2054,0.000,0.000,2992,1799,1696,1735,1658,0,0,0,0,0,0,15.00,15.00,15.00
$GC,2483,0.76,243.3,2992,1799,1735,1658,116.0,13.6,443,2489,0.00,2.38,0.00,0.000,2308,0.000,0.050,2992,3204,1696,1735,1658,0,0,0,0,0,0,15.02,14.79,15.02
$GC,2507,0.76,243.3,2990,3204,1734,1658,112.4,14.6,447,2514,0.00,2.42,0.00,0.000,3078,0.000,0.055,2997,1797,1696,1734,1658,0,0,0,0,0,0,14.90,14.78,14.91
$GC,2578,0.76,243.3,2996,1798,1734,1658,102.9,13.4,460,2585,0.00,2.45,0.00,0.000,2564,0.000,0.073,3004,385,1695,1734,1657,0,0,0,0,0,0,15.02,14.77,15.03
$GC,2613,0.76,243.3,3004,385,1734,1657,98.1,13.5,466,2619,0.00,2.35,0.00,0.000,1030,0.000,0.035,3004,1809,1696,1734,1658,0,0,0,0,0,0,14.91,14.84,14.92
$GC,2685,0.76,243.3,3004,1810,1734,1657,87.9,15.9,479,2691,0.00,2.33,0.00,0.000,260,0.000,0.049,3004,3198,1695,1734,1657,0,0,0,0,0,0,15.03,14.77,15.04
$GC,2724,0.76,243.3,3004,3198,1733,1656,81.8,14.1,486,2731,0.00,2.42,0.00,0.000,1030,0.000,0.054,3005,1793,1695,1733,1657,0,0,0,0,0,0,14.81,14.71,14.84
$GC,2796,0.76,243.3,3005,1793,1734,1657,73.1,12.3,499,2802,0.00,2.45,0.00,0.000,516,0.000,0.075,3006,389,1695,1734,1656,0,0,0,0,0,0,15.05,14.78,15.06
$GC,2830,0.76,243.3,3005,389,1733,1656,68.2,13.1,505,2837,0.00,2.35,0.00,0.000,1030,0.000,0.034,3006,1809,1694,1733,1656,0,0,0,0,0,0,14.88,14.81,14.90
$GC,2901,0.76,243.3,3005,1812,1733,1656,60.0,10.9,518,2908,0.00,2.35,0.00,0.000,260,0.000,0.050,3006,3200,1694,1733,1656,0,0,0,0,0,0,15.05,14.82,15.06
$GC,2956,0.76,243.3,3005,3200,1732,1656,53.5,11.5,528,2962,0.00,2.40,0.00,0.000,1030,0.000,0.054,3006,1800,1695,1734,1656,0,0,0,0,0,0,14.92,14.81,14.94
$GC,3027,0.76,243.3,3006,1800,1733,1656,45.6,10.7,541,3033,0.00,2.45,0.00,0.000,516,0.000,0.072,3011,387,1694,1733,1655,0,0,0,0,0,0,15.04,14.79,15.05
$GC,3041,0.76,243.3,3010,386,1733,1656,43.8,10.8,543,3048,0.00,2.35,0.00,0.000,5126,0.000,0.034,3011,1807,1692,1729,1656,0,0,0,0,0,0,14.95,14.86,14.96
$GC,3112,0.76,243.3,3010,1809,1733,1655,35.0,11.5,556,3119,0.00,2.33,0.00,0.000,4356,0.000,0.050,3011,3200,1694,1733,1655,0,0,0,0,0,0,15.04,14.83,15.05
$GC,3197,0.76,243.3,3010,3199,1732,1656,24.8,11.0,572,3204,0.00,2.40,0.00,0.000,5126,0.000,0.050,3013,1788,1694,1733,1655,0,0,0,0,0,0,14.94,14.83,14.95
$GC,3269,0.76,243.3,3012,1788,1732,1655,17.7,10.5,585,3275,0.00,2.42,0.00,0.000,4612,0.000,0.076,3010,392,1694,1733,1655,0,0,0,0,0,0,15.07,14.70,15.07
$GC,3293,0.80,270.6,3012,394,1733,1655,15.2,9.3,589,3318,0.00,2.33,17.48,0.942,9222,0.000,0.034,3013,1804,1592,1634,1551,0,0,0,0,0,0,14.94,14.87,14.25
$GC,3381,0.80,276.3,3012,1804,1633,1548,5.8,9.9,605,3389,0.00,2.40,2.85,0.469,8452,0.000,0.049,3013,3202,1571,1614,1529,0,0,0,0,0,0,15.00,14.71,14.19
$STATE,3404,end climb,SURFACE_DEPTH_REACHED
$STATE,3405,begin surface coast
$FINISH,0.4,1.025337
$STATE,3427,end surface coast,CONTROL_FINISHED_OK
$STATE,3428,begin surface
$SM_CCo,3454,164.10,0.824,0,0,599,515.37
$SM_GC,0.90,13.62,2.40,164.10,0.048,0.049,0.824,124,1813,599,-8.18,1.10,515.37,0,0,0,0,0,0,14.82,14.80,14.05
$IRIDIUM_FIX,-3409.50,2557.68,170419,055233
$TT8_MAMPS,0.021721,0.934752
$HUMID,45.70
$INTERNAL_PRESSURE,9.2635
$TCM_TEMP,18.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,160.1,36.0
$SC_FREEKB,3706560
$24V_AH,13.48,129.187
$10V_AH,13.62,0.000
$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,30.625,86.225,394.450,164.100,0.000,26.866,38.152,275.851,6.000,0.000,16.124,1270.069,548.748,725.248,1397.781,282.212,0.000,1333.731,0.000,926.605,0.000,38.969,0.000
$DEVICE_MAMPS,301.410,91.035,1201.050,823.905,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3497.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.434,0.000,0.000,0.000
$MEM,340928
$DATA_FILE_SIZE,16764,613
$CAP_FILE_SIZE,119386,0
$CFSIZE,2097086464,2015068160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,170419,081728,-3423.837,2558.835,6,1.0,15,-28.1,1.5,44.4,8,9.7