version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 428
start: 4 18 119 17 50 28
data:
$ID,574
$MISSION,3
$DIVE,428
$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,310
$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,37
$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
$GPS1,180419,173958,-3427.5776,2532.7478,7,0.9,17,-28.0,0.9,271.8,8,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-64.4
$GPS2,180419,175001,-3427.7314,2532.5815,7,0.8,33,-28.0,1.6,195.0,9,5.7
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,HEADING
$TGT_LATLONG,-3420.790,2522.562
$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,338.0,20000,-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,-243.3,53,1809,623,547,0.0,0.0,0,128,0.00,0.00,-102.65,0.000,16386,0.000,0.000,53,1810,3075,3040,3110,0,0,0,0,0,0,14.92,28.83,14.93
$GC,134,-0.76,-243.3,53,1810,3040,3110,3.4,-7.1,19,165,14.70,2.45,-10.38,0.000,18692,0.307,0.073,2495,3217,3694,3707,3682,0,0,0,0,0,0,14.47,13.45,14.76
$GC,305,-0.76,-243.3,2494,3216,3708,3682,37.9,-13.6,51,313,0.03,2.40,0.00,0.000,3078,0.456,0.044,2502,1801,3695,3709,3682,0,0,0,0,0,0,14.57,14.72,14.75
$GC,377,-0.76,-243.3,2502,1801,3707,3682,48.0,-14.9,64,384,0.00,2.42,0.00,0.000,2564,0.000,0.067,2503,404,3695,3709,3682,0,0,0,0,0,0,15.02,14.75,15.02
$GC,397,-0.76,-243.3,2502,403,3709,3682,51.2,-15.2,67,404,0.00,2.38,0.00,0.000,3078,0.000,0.038,2501,1817,3695,3709,3682,0,0,0,0,0,0,14.89,14.80,14.90
$GC,469,-0.76,-243.3,2501,1820,3709,3682,60.1,-12.1,80,476,0.00,2.38,0.00,0.000,2308,0.000,0.055,2501,3214,3695,3709,3682,0,0,0,0,0,0,15.04,14.68,15.04
$GC,529,-0.76,-243.3,2498,3214,3708,3682,66.7,-9.2,91,536,0.00,2.38,0.00,0.000,3078,0.000,0.044,2501,1806,3695,3709,3682,0,0,0,0,0,0,14.78,14.69,14.79
$GC,602,-0.76,-243.3,2501,1806,3709,3682,73.9,-11.3,104,611,0.00,2.42,0.00,0.000,2564,0.000,0.065,2501,405,3696,3710,3682,0,0,0,0,0,0,15.04,14.77,15.04
$GC,629,-0.76,-243.3,2502,405,3709,3682,77.5,-12.1,108,636,0.00,2.35,0.00,0.000,3078,0.000,0.036,2501,1821,3695,3709,3682,0,0,0,0,0,0,14.92,14.83,14.92
$GC,700,-0.76,-243.3,2501,1824,3709,3682,85.3,-11.1,121,707,0.00,2.38,0.00,0.000,2308,0.000,0.056,2500,3216,3695,3709,3682,0,0,0,0,0,0,15.03,14.73,15.05
$GC,762,-0.76,-243.3,2501,3215,3709,3680,91.4,-9.4,132,769,0.00,2.38,0.00,0.000,3078,0.000,0.043,2501,1805,3695,3709,3682,0,0,0,0,0,0,14.92,14.81,14.93
$GC,833,-0.76,-243.3,2501,1805,3709,3681,98.9,-11.1,145,840,0.00,2.42,0.00,0.000,2564,0.000,0.066,2502,408,3695,3709,3682,0,0,0,0,0,0,15.04,14.78,15.06
$GC,863,-0.76,-243.3,2501,408,3709,3682,102.5,-12.6,150,869,0.00,2.33,0.00,0.000,3078,0.000,0.035,2501,1813,3695,3709,3682,0,0,0,0,0,0,14.92,14.83,14.94
$GC,935,-0.76,-243.3,2501,1816,3709,3682,110.3,-12.2,163,941,0.00,2.38,0.00,0.000,2308,0.000,0.057,2501,3210,3695,3709,3682,0,0,0,0,0,0,15.07,14.67,15.07
$GC,969,-0.76,-243.3,2501,3210,3708,3682,114.5,-9.8,169,976,0.00,2.35,0.00,0.000,3078,0.000,0.041,2501,1808,3695,3709,3682,0,0,0,0,0,0,14.78,14.69,14.81
$GC,1040,-0.76,-243.3,2501,1808,3709,3681,122.4,-12.0,182,1047,0.00,2.42,0.00,0.000,2564,0.000,0.064,2501,403,3695,3709,3682,0,0,0,0,0,0,15.07,14.73,15.07
$GC,1066,-0.76,-243.3,2501,403,3709,3682,125.5,-12.6,186,1072,0.00,2.35,0.00,0.000,3078,0.000,0.035,2501,1816,3695,3709,3682,0,0,0,0,0,0,14.88,14.79,14.89
$GC,1137,-0.76,-243.3,2501,1820,3709,3681,133.3,-12.1,199,1144,0.00,2.38,0.00,0.000,2308,0.000,0.055,2501,3211,3695,3709,3682,0,0,0,0,0,0,15.06,14.80,15.07
$GC,1177,-0.76,-243.3,2501,3211,3708,3682,137.8,-10.2,206,1183,0.00,2.38,0.00,0.000,3078,0.000,0.042,2500,1809,3695,3709,3682,0,0,0,0,0,0,14.93,14.82,14.94
$GC,1247,-0.76,-243.3,2501,1809,3706,3681,145.7,-12.2,219,1253,0.00,0.00,0.00,0.000,2054,0.000,0.000,2506,1809,3695,3709,3682,0,0,0,0,0,0,15.06,15.07,15.06
$GC,1316,-0.76,-243.3,2501,1809,3709,3682,154.5,-12.3,232,1323,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1809,3695,3708,3682,0,0,0,0,0,0,15.07,15.07,15.07
$GC,1389,-0.76,-243.3,2505,1809,3709,3681,163.3,-12.5,245,1395,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1809,3694,3708,3681,0,0,0,0,0,0,15.07,15.07,15.08
$GC,1458,-0.76,-243.3,2501,1809,3709,3681,172.3,-12.0,258,1464,0.00,0.00,0.00,0.000,2054,0.000,0.000,2501,1808,3694,3708,3681,0,0,0,0,0,0,15.07,15.08,15.07
$GC,1527,-0.76,-243.3,2501,1808,3706,3681,180.5,-11.8,271,1533,0.00,2.40,0.00,0.000,2308,0.000,0.053,2502,3212,3694,3708,3681,0,0,0,0,0,0,15.07,14.81,15.08
$GC,1556,-0.76,-243.3,2501,3213,3708,3681,183.8,-9.9,276,1563,0.00,2.38,0.00,0.000,3078,0.000,0.047,2501,1816,3693,3706,3681,0,0,0,0,0,0,14.93,14.81,14.95
$STATE,1584,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1584,begin apogee
$GC,1590,-0.17,0.0,2501,1816,3717,3681,187.2,-10.6,281,1783,1.00,0.00,183.05,1.201,10246,0.149,0.000,2699,1813,2699,2731,2668,0,0,0,0,0,0,14.64,14.19,13.79
$STATE,1787,end apogee,CONTROL_FINISHED_OK
$STATE,1787,begin climb
$GC,1790,0.76,243.3,2699,1813,2730,2667,194.8,0.0,316,1993,1.40,2.45,189.85,1.171,10500,0.078,0.047,2993,3208,1707,1749,1666,0,0,0,0,0,0,14.35,14.14,13.74
$GC,2036,0.76,243.3,2992,3208,1740,1665,182.0,14.0,359,2042,0.00,2.47,0.00,0.000,3078,0.000,0.052,2999,1802,1702,1740,1664,0,0,0,0,0,0,14.50,14.38,14.51
$GC,2107,0.76,243.3,2997,1802,1739,1662,172.5,14.3,372,2113,0.00,0.00,0.00,0.000,2054,0.000,0.000,2999,1801,1700,1739,1662,0,0,0,0,0,0,14.78,14.79,14.79
$GC,2176,0.76,243.3,2998,1802,1739,1661,162.6,13.5,385,2181,0.00,0.00,0.00,0.000,2054,0.000,0.000,2999,1802,1699,1738,1660,0,0,0,0,0,0,14.86,14.87,14.87
$GC,2245,0.76,243.3,2998,1802,1739,1660,153.3,13.8,398,2250,0.00,0.00,0.00,0.000,2054,0.000,0.000,2999,1802,1699,1739,1660,0,0,0,0,0,0,14.92,14.92,14.92
$GC,2313,0.76,243.3,2999,1802,1738,1660,143.6,13.7,411,2319,0.00,0.00,0.00,0.000,2054,0.000,0.000,2999,1802,1699,1738,1660,0,0,0,0,0,0,14.94,14.95,14.95
$GC,2382,0.76,243.3,2998,1802,1738,1659,134.1,14.0,424,2387,0.00,0.00,0.00,0.000,2054,0.000,0.000,2999,1802,1698,1738,1659,0,0,0,0,0,0,14.97,14.98,14.98
$GC,2450,0.76,243.3,2998,1802,1737,1657,124.6,13.8,437,2456,0.00,0.00,0.00,0.000,2054,0.000,0.000,2999,1801,1698,1737,1659,0,0,0,0,0,0,15.00,15.01,15.00
$GC,2519,0.76,243.3,2998,1802,1737,1659,114.7,15.0,450,2525,0.00,0.00,0.00,0.000,2054,0.000,0.000,2999,1802,1698,1737,1659,0,0,0,0,0,0,15.02,15.02,15.02
$GC,2588,0.76,243.3,2998,1802,1737,1659,104.8,13.7,463,2594,0.00,0.00,0.00,0.000,2054,0.000,0.000,2999,1802,1698,1737,1659,0,0,0,0,0,0,15.02,15.03,15.03
$GC,2656,0.76,243.3,2998,1802,1737,1659,95.2,13.8,476,2663,0.00,2.38,0.00,0.000,2308,0.000,0.050,2998,3201,1697,1736,1658,0,0,0,0,0,0,15.04,14.76,15.04
$GC,2681,0.76,243.3,2998,3201,1735,1659,91.7,14.1,480,2688,0.00,2.42,0.00,0.000,3078,0.000,0.054,2999,1790,1697,1735,1659,0,0,0,0,0,0,14.85,14.75,14.88
$GC,2753,0.76,243.3,2999,1789,1735,1658,82.3,13.9,493,2759,0.00,2.40,0.00,0.000,2308,0.000,0.049,2999,3212,1697,1735,1659,0,0,0,0,0,0,15.04,14.81,15.04
$GC,2792,0.76,243.3,2999,3208,1734,1659,76.4,14.4,500,2799,0.00,2.42,0.00,0.000,1030,0.000,0.054,3003,1796,1700,1742,1658,0,0,0,0,0,0,14.90,14.80,14.92
$GC,2864,0.76,243.3,3002,1796,1734,1658,67.2,13.1,513,2870,0.00,2.45,0.00,0.000,516,0.000,0.074,3003,388,1696,1735,1658,0,0,0,0,0,0,15.02,14.77,15.03
$GC,2908,0.76,243.3,3002,384,1735,1658,60.9,13.8,521,2915,0.00,2.35,0.00,0.000,1030,0.000,0.034,3002,1811,1696,1735,1658,0,0,0,0,0,0,14.93,14.87,14.94
$GC,2979,0.76,243.3,3001,1810,1735,1657,51.8,12.0,534,2986,0.00,2.33,0.00,0.000,260,0.000,0.049,3003,3201,1695,1734,1657,0,0,0,0,0,0,15.04,14.81,15.04
$GC,3019,0.76,243.3,3002,3200,1734,1657,47.4,10.9,541,3025,0.00,2.40,0.00,0.000,1030,0.000,0.052,3003,1795,1695,1734,1657,0,0,0,0,0,0,14.91,14.81,14.94
$GC,3089,0.76,243.3,3003,1795,1734,1657,39.5,10.7,554,3096,0.00,2.42,0.00,0.000,516,0.000,0.073,3005,392,1694,1735,1654,0,0,0,0,0,0,15.04,14.70,15.05
$GC,3109,0.80,273.9,3004,392,1734,1656,37.5,9.2,557,3144,0.00,2.33,25.15,1.066,11270,0.000,0.033,3002,1810,1580,1621,1539,0,0,0,0,0,0,14.94,14.85,14.16
$GC,3208,0.80,273.9,3004,1809,1621,1537,26.1,11.3,575,3214,0.00,2.35,0.00,0.000,2308,0.000,0.048,3004,3197,1579,1621,1537,0,0,0,0,0,0,15.00,14.73,14.97
$GC,3252,0.80,273.9,3004,3197,1620,1536,20.9,11.4,583,3259,0.00,2.40,0.00,0.000,3078,0.000,0.052,3008,1800,1577,1619,1536,0,0,0,0,0,0,14.85,14.74,14.87
$GC,3323,0.80,273.9,3007,1800,1620,1536,13.1,11.3,596,3329,0.00,0.00,0.00,0.000,2054,0.000,0.000,3007,1800,1577,1619,1536,0,0,0,0,0,0,14.98,14.98,14.98
$GC,3392,0.80,273.9,3007,1799,1619,1535,5.2,10.7,609,3398,0.00,0.00,0.00,0.000,2054,0.000,0.000,3007,1800,1577,1620,1535,0,0,0,0,0,0,15.02,15.02,15.02
$STATE,3413,end climb,SURFACE_DEPTH_REACHED
$STATE,3413,begin surface coast
$FINISH,0.2,1.025705
$STATE,3439,end surface coast,CONTROL_FINISHED_OK
$STATE,3440,begin surface
$SM_CCo,3464,167.27,0.822,0,0,599,515.37
$SM_GC,0.79,13.57,0.00,167.27,0.043,0.000,0.822,125,1799,599,-8.18,-0.37,515.37,0,0,0,0,0,0,14.81,15.05,14.04
$IRIDIUM_FIX,-3414.71,2531.96,180419,162821
$TT8_MAMPS,0.021721,0.93625
$HUMID,45.55
$INTERNAL_PRESSURE,9.25373
$TCM_TEMP,18.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,160.5,36.6
$SC_FREEKB,3696576
$24V_AH,13.45,134.928
$10V_AH,13.54,0.000
$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,30.700,81.275,398.050,167.275,0.000,27.335,38.423,266.628,6.000,0.000,34.466,1266.499,550.084,736.492,1410.677,280.805,0.000,1352.348,0.000,928.573,0.000,44.335,0.000
$DEVICE_MAMPS,455.940,74.205,1201.050,822.375,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3508.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.467,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,16759,618
$CAP_FILE_SIZE,120289,0
$CFSIZE,2097086464,2011496448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,180419,185225,-3427.869,2531.517,7,0.8,42,-28.0,0.0,187.8,10,4.5