version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 435
start: 4 19 119 5 9 31
data:
$ID,574
$MISSION,3
$DIVE,435
$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,340
$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,26
$R_STBD_OVSHOOT,46
$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
$GPS1,190419,045431,-3432.5054,2523.5664,17,0.8,28,-28.0,2.1,233.6,11,9.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-68.2
$GPS2,190419,050904,-3432.9314,2522.9619,7,0.9,18,-28.0,1.9,246.0,11,9.8
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,-3422.783,2518.487
$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,8.0,20000,-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,-194.6,53,1803,623,552,0.0,0.0,0,123,0.00,0.00,-97.45,0.000,16386,0.000,0.000,53,1804,2996,2965,3028,0,0,0,0,0,0,14.88,28.83,14.88
$GC,128,-0.76,-194.6,52,1804,2965,3028,3.3,-7.8,18,159,14.73,2.40,-8.68,0.000,18692,0.301,0.070,2498,3217,3496,3513,3479,0,0,0,0,0,0,14.40,13.77,14.69
$GC,273,-0.76,-194.6,2498,3209,3513,3479,31.2,-12.9,45,280,0.00,2.40,0.00,0.000,3078,0.000,0.045,2498,1798,3495,3513,3478,0,0,0,0,0,0,14.83,14.71,14.84
$GC,345,-0.76,-194.6,2498,1798,3514,3478,41.7,-15.4,58,351,0.00,0.00,0.00,0.000,2054,0.000,0.000,2498,1798,3496,3514,3479,0,0,0,0,0,0,14.98,14.98,14.98
$GC,413,-0.76,-194.6,2498,1798,3514,3478,51.2,-13.7,71,420,0.00,2.42,0.00,0.000,2308,0.000,0.054,2498,3208,3495,3513,3478,0,0,0,0,0,0,15.00,14.72,15.00
$GC,484,-0.76,-194.6,2498,3207,3516,3478,58.8,-10.9,84,490,0.00,2.38,0.00,0.000,3078,0.000,0.044,2498,1806,3495,3514,3477,0,0,0,0,0,0,14.74,14.64,14.75
$GC,556,-0.76,-194.6,2498,1806,3514,3477,67.2,-11.9,97,562,0.00,0.00,0.00,0.000,2054,0.000,0.000,2498,1806,3495,3514,3477,0,0,0,0,0,0,15.01,15.02,15.01
$GC,625,-0.76,-194.6,2497,1806,3514,3477,75.4,-12.3,110,630,0.00,0.00,0.00,0.000,2054,0.000,0.000,2497,1806,3495,3514,3477,0,0,0,0,0,0,15.00,15.02,15.02
$GC,693,-0.76,-194.6,2497,1806,3515,3477,84.0,-12.3,123,700,0.00,2.40,0.00,0.000,2308,0.000,0.054,2492,3210,3495,3514,3477,0,0,0,0,0,0,15.02,14.76,15.03
$GC,768,-0.76,-194.6,2491,3210,3512,3477,92.5,-11.5,137,775,0.08,2.38,0.00,0.000,3078,0.237,0.043,2509,1804,3495,3514,3477,0,0,0,0,0,0,14.64,14.77,14.81
$GC,842,-0.76,-194.6,2508,1803,3515,3478,101.3,-12.6,150,848,0.00,2.42,0.00,0.000,2564,0.000,0.065,2508,405,3495,3515,3476,0,0,0,0,0,0,15.03,14.73,15.04
$GC,883,-0.76,-194.6,2509,405,3514,3476,107.1,-14.1,157,889,0.00,2.33,0.00,0.000,3078,0.000,0.035,2508,1811,3495,3515,3476,0,0,0,0,0,0,14.90,14.80,14.91
$GC,958,-0.76,-194.6,2508,1812,3515,3476,115.4,-11.5,170,963,0.00,0.00,0.00,0.000,2054,0.000,0.000,2509,1813,3495,3515,3476,0,0,0,0,0,0,15.04,15.04,15.04
$GC,1027,-0.76,-194.6,2508,1813,3515,3476,124.3,-12.4,183,1036,0.00,0.00,0.00,0.000,2054,0.000,0.000,2509,1814,3495,3515,3476,0,0,0,0,0,0,15.04,15.04,15.04
$GC,1101,-0.76,-194.6,2508,1813,3514,3476,133.6,-12.1,196,1106,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1813,3495,3515,3476,0,0,0,0,0,0,15.04,15.05,15.05
$GC,1172,-0.76,-194.6,2508,1813,3515,3476,142.3,-12.4,209,1177,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1814,3495,3515,3476,0,0,0,0,0,0,15.04,15.04,15.04
$GC,1243,-0.76,-194.6,2508,1814,3515,3476,150.8,-11.8,222,1249,0.00,0.00,0.00,0.000,2054,0.000,0.000,2509,1813,3495,3515,3476,0,0,0,0,0,0,15.02,15.03,15.02
$GC,1313,-0.76,-194.6,2508,1813,3515,3476,159.4,-11.3,235,1319,0.00,0.00,0.00,0.000,2054,0.000,0.000,2509,1813,3495,3515,3476,0,0,0,0,0,0,15.06,15.06,15.06
$GC,1384,-0.76,-194.6,2508,1813,3515,3476,166.7,-11.0,248,1389,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1814,3495,3515,3476,0,0,0,0,0,0,15.04,15.04,15.04
$GC,1452,-0.76,-194.6,2508,1813,3515,3476,174.4,-11.1,261,1459,0.00,0.00,0.00,0.000,2054,0.000,0.000,2509,1813,3495,3515,3475,0,0,0,0,0,0,15.05,15.05,15.05
$GC,1523,-0.76,-194.6,2508,1815,3515,3475,182.0,-11.1,274,1529,0.00,2.38,0.00,0.000,2308,0.000,0.054,2509,3209,3495,3515,3475,0,0,0,0,0,0,15.03,14.76,15.04
$GC,1553,-0.76,-194.6,2508,3211,3514,3475,185.4,-10.1,279,1560,0.00,2.38,0.00,0.000,3078,0.000,0.044,2508,1802,3495,3515,3475,0,0,0,0,0,0,14.90,14.78,14.92
$GC,1624,-0.76,-194.6,2508,1802,3515,3475,192.8,-10.9,292,1630,0.00,0.00,0.00,0.000,2054,0.000,0.000,2509,1802,3495,3515,3475,0,0,0,0,0,0,15.04,15.05,15.05
$GC,1695,-0.76,-194.6,2508,1802,3515,3474,200.7,-11.7,305,1702,0.00,2.42,0.00,0.000,2308,0.000,0.054,2508,3210,3494,3514,3474,0,0,0,0,0,0,15.07,14.70,15.07
$GC,1736,-0.76,-194.6,2508,3209,3514,3474,205.4,-10.1,312,1742,0.00,2.38,0.00,0.000,3078,0.000,0.043,2508,1809,3494,3514,3474,0,0,0,0,0,0,14.84,14.73,14.84
$GC,1807,-0.76,-194.6,2502,1808,3515,3473,213.4,-11.1,325,1813,0.00,0.00,0.00,0.000,2054,0.000,0.000,2509,1808,3494,3514,3474,0,0,0,0,0,0,15.06,15.07,15.07
$GC,1878,-0.76,-194.6,2508,1808,3515,3474,221.8,-11.7,338,1883,0.00,0.00,0.00,0.000,2054,0.000,0.000,2509,1808,3494,3514,3474,0,0,0,0,0,0,15.06,15.07,15.07
$GC,1949,-0.76,-194.6,2508,1808,3515,3473,230.2,-12.0,351,1954,0.00,0.00,0.00,0.000,2054,0.000,0.000,2509,1808,3494,3515,3474,0,0,0,0,0,0,15.07,15.07,15.07
$GC,2018,-0.76,-194.6,2510,1808,3514,3473,238.7,-12.0,364,2023,0.00,0.00,0.00,0.000,2054,0.000,0.000,2509,1808,3494,3515,3473,0,0,0,0,0,0,15.08,15.09,15.09
$GC,2087,-0.76,-194.6,2508,1807,3514,3473,247.2,-12.6,377,2093,0.00,0.00,0.00,0.000,2054,0.000,0.000,2509,1808,3493,3514,3473,0,0,0,0,0,0,15.07,15.09,15.07
$GC,2157,-0.76,-194.6,2508,1808,3514,3472,256.1,-12.7,390,2163,0.00,0.00,0.00,0.000,2054,0.000,0.000,2509,1808,3493,3514,3473,0,0,0,0,0,0,15.07,15.08,15.07
$GC,2229,-0.76,-194.6,2508,1808,3514,3472,265.1,-13.0,403,2234,0.00,0.00,0.00,0.000,2054,0.000,0.000,2509,1808,3493,3514,3472,0,0,0,0,0,0,15.08,15.09,15.08
$GC,2298,-0.76,-194.6,2508,1808,3514,3472,274.3,-12.9,416,2304,0.00,0.00,0.00,0.000,2054,0.000,0.000,2509,1808,3493,3514,3472,0,0,0,0,0,0,15.09,15.09,15.09
$GC,2369,-0.76,-194.6,2508,1808,3513,3471,283.4,-12.7,429,2375,0.00,0.00,0.00,0.000,2054,0.000,0.000,2509,1808,3492,3513,3472,0,0,0,0,0,0,15.08,15.09,15.09
$GC,2439,-0.76,-194.6,2508,1808,3513,3471,292.4,-12.6,442,2445,0.00,0.00,0.00,0.000,2054,0.000,0.000,2508,1808,3491,3513,3470,0,0,0,0,0,0,15.09,15.09,15.09
$GC,2518,-0.76,-194.6,2510,1808,3512,3470,302.7,-12.2,454,2519,0.00,0.00,0.00,0.000,2054,0.000,0.000,2509,1808,3491,3512,3470,0,0,0,0,0,0,15.11,15.11,15.11
$GC,2638,-0.76,-194.6,2508,1808,3513,3470,317.6,-12.4,460,2639,0.00,0.00,0.00,0.000,2054,0.000,0.000,2509,1808,3491,3512,3470,0,0,0,0,0,0,15.13,15.14,15.14
$GC,2759,-0.76,-194.6,2508,1808,3513,3469,332.1,-12.1,466,2760,0.00,0.00,0.00,0.000,2054,0.000,0.000,2509,1808,3490,3512,3469,0,0,0,0,0,0,15.14,15.14,15.14
$GC,2879,-0.76,-194.6,2508,1808,3511,3468,346.1,-11.6,472,2880,0.00,0.00,0.00,0.000,2054,0.000,0.000,2509,1808,3489,3511,3468,0,0,0,0,0,0,15.14,15.14,15.14
$GC,2998,-0.76,-194.6,2508,1808,3510,3468,359.7,-11.3,478,3003,0.00,2.40,0.00,0.000,2308,0.000,0.056,2509,3210,3489,3511,3468,0,0,0,0,0,0,15.16,14.82,15.16
$GC,3037,-0.76,-194.6,2508,3210,3510,3475,362.2,-11.3,479,3043,0.00,2.35,0.00,0.000,3078,0.000,0.044,2509,1816,3489,3510,3468,0,0,0,0,0,0,14.97,14.85,14.98
$GC,3167,-0.76,-194.6,2508,1812,3510,3467,377.1,-10.9,486,3172,0.00,2.45,0.00,0.000,2564,0.000,0.068,2508,397,3488,3509,3467,0,0,0,0,0,0,15.16,14.81,15.16
$GC,3199,-0.76,-194.6,2509,396,3509,3467,380.2,-11.1,487,3205,0.00,2.35,0.00,0.000,3078,0.000,0.038,2509,1806,3487,3508,3467,0,0,0,0,0,0,14.97,14.88,14.99
$GC,3333,-0.76,-194.6,2508,1810,3509,3466,396.9,-10.9,494,3339,0.00,2.40,0.00,0.000,2308,0.000,0.055,2509,3223,3487,3509,3466,0,0,0,0,0,0,15.16,14.83,15.16
$STATE,3354,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3354,begin apogee
$GC,3363,-0.17,0.0,2508,1794,3509,3466,400.1,-11.9,495,3520,0.98,0.00,152.75,1.454,10246,0.142,0.000,2700,1791,2700,2732,2668,0,0,0,0,0,0,14.71,14.26,13.64
$STATE,3522,end apogee,CONTROL_FINISHED_OK
$STATE,3522,begin climb
$GC,3525,0.76,194.6,2700,1791,2730,2667,408.4,0.0,503,3693,1.38,2.53,158.68,1.459,10500,0.075,0.049,2991,3213,1903,1941,1865,0,0,0,0,0,0,14.28,14.04,13.59
$GC,3772,0.78,210.1,2990,3212,1934,1864,400.1,9.5,515,3791,0.00,2.47,13.43,1.278,11270,0.000,0.054,2992,1806,1843,1881,1805,0,0,0,0,0,0,14.54,14.42,13.74
$GC,3926,0.78,210.1,2988,1806,1875,1799,377.9,13.5,523,3931,0.00,2.42,0.00,0.000,2308,0.000,0.050,2992,3205,1836,1875,1798,0,0,0,0,0,0,14.85,14.62,14.85
$GC,3953,0.78,210.1,2991,3205,1874,1799,374.4,13.6,524,3958,0.00,2.42,0.00,0.000,3078,0.000,0.050,2999,1796,1838,1878,1799,0,0,0,0,0,0,14.74,14.64,14.76
$GC,4091,0.78,210.1,2999,1796,1874,1798,355.5,13.1,531,4096,0.00,2.47,0.00,0.000,2564,0.000,0.075,2999,387,1835,1873,1798,0,0,0,0,0,0,14.97,14.69,14.97
$GC,4108,0.78,210.1,2999,387,1871,1798,355.5,13.1,531,4115,0.00,2.35,0.00,0.000,3078,0.000,0.034,2998,1809,1834,1871,1797,0,0,0,0,0,0,14.85,14.77,14.87
$GC,4235,0.78,210.1,2999,1812,1871,1796,336.3,13.5,538,4240,0.00,2.35,0.00,0.000,2308,0.000,0.050,2999,3207,1834,1872,1796,0,0,0,0,0,0,15.04,14.76,15.04
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$STATE,6952,end climb,SURFACE_DEPTH_REACHED
$STATE,6952,begin surface coast
$FINISH,0.0,1.025663
$STATE,6980,end surface coast,CONTROL_FINISHED_OK
$STATE,6980,begin surface
$SM_CCo,7005,161.75,0.841,0,0,597,515.37
$SM_GC,0.77,13.77,0.00,161.75,0.050,0.000,0.841,127,1812,597,-8.18,0.00,515.37,0,0,0,0,0,0,14.74,15.00,13.99
$IRIDIUM_FIX,-3417.32,2522.51,190419,045920
$TT8_MAMPS,0.021721,0.875581
$HUMID,46.69
$INTERNAL_PRESSURE,9.21467
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,377.1,32.6
$SC_FREEKB,3692992
$24V_AH,13.59,136.874
$10V_AH,12.85,0.000
$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,30.925,115.700,398.225,161.750,0.000,51.744,57.596,388.277,16.750,0.000,19.944,2333.308,2101.605,864.716,2312.319,428.956,0.000,1838.290,0.000,1611.048,0.000,104.391,0.000
$DEVICE_MAMPS,300.645,78.795,1458.855,840.735,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7068.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,25.499,0.000,0.000,0.000
$MEM,340928
$DATA_FILE_SIZE,26698,1006
$CAP_FILE_SIZE,201584,0
$CFSIZE,2097086464,2010120192
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,3529.18,0x23609a,1,24
$GPS,190419,071025,-3432.951,2520.928,14,1.0,43,-28.0,0.5,224.0,9,5.7