version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 442
start: 4 19 119 17 24 5
data:
$ID,574
$MISSION,3
$DIVE,442
$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,5
$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,280
$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,355
$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,2
$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,49
$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
$GPS1,190419,170801,-3432.4099,2515.0659,16,0.7,33,-27.9,0.4,293.7,11,6.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-70.3
$GPS2,190419,172337,-3432.4839,2514.9424,8,0.7,19,-27.9,0.0,283.7,11,7.3
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3421.726,2513.802
$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,22.9,20000,-13.1,-10.010,-16.32,4154
$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,-0.77,-272.5,54,1808,621,552,0.0,0.0,0,128,0.00,0.00,-102.45,0.000,16386,0.000,0.000,54,1809,3089,3055,3124,0,0,0,0,0,0,14.90,28.83,14.90
$GC,134,-0.77,-272.5,54,1808,3055,3124,3.7,-9.5,19,169,14.70,2.50,-11.82,0.000,18948,0.307,0.088,2504,399,3819,3841,3798,0,0,0,0,0,0,14.45,13.41,14.74
$GC,199,-0.77,-272.5,2503,399,3833,3798,23.9,-19.9,30,205,0.00,2.35,0.00,0.000,3078,0.000,0.040,2501,1801,3815,3832,3798,0,0,0,0,0,0,14.83,14.73,14.85
$GC,271,-0.77,-272.5,2501,1804,3832,3797,35.6,-17.7,43,277,0.00,2.42,0.00,0.000,2308,0.000,0.057,2501,3215,3815,3832,3798,0,0,0,0,0,0,14.99,14.68,14.99
$GC,314,-0.77,-272.5,2501,3216,3833,3798,42.5,-14.2,51,321,0.00,2.40,0.00,0.000,3078,0.000,0.044,2501,1801,3814,3832,3797,0,0,0,0,0,0,14.74,14.64,14.75
$GC,386,-0.77,-272.5,2501,1801,3832,3798,53.8,-17.2,64,394,0.00,2.45,0.00,0.000,2564,0.000,0.067,2501,401,3814,3832,3797,0,0,0,0,0,0,15.01,14.72,15.02
$GC,412,-0.77,-272.5,2501,400,3832,3798,58.3,-16.5,68,418,0.00,2.38,0.00,0.000,3078,0.000,0.038,2501,1814,3815,3832,3798,0,0,0,0,0,0,14.88,14.78,14.89
$GC,484,-0.77,-272.5,2501,1816,3832,3797,67.6,-12.9,81,490,0.00,2.40,0.00,0.000,2308,0.000,0.056,2502,3224,3815,3832,3798,0,0,0,0,0,0,15.01,14.76,15.01
$GC,572,-0.77,-272.5,2505,3225,3835,3798,77.0,-8.8,97,579,0.00,2.38,0.00,0.000,3078,0.000,0.041,2501,1811,3814,3832,3797,0,0,0,0,0,0,14.90,14.79,14.91
$GC,644,-0.77,-272.5,2501,1811,3832,3798,84.2,-11.1,110,651,0.00,2.42,0.00,0.000,2564,0.000,0.065,2501,407,3815,3832,3798,0,0,0,0,0,0,15.02,14.76,15.03
$GC,670,-0.77,-272.5,2501,407,3832,3797,87.4,-12.3,114,676,0.00,2.35,0.00,0.000,3078,0.000,0.037,2501,1822,3815,3832,3798,0,0,0,0,0,0,14.78,14.69,14.79
$GC,741,-0.77,-272.5,2501,1825,3831,3797,95.0,-11.1,127,751,0.00,2.38,0.00,0.000,2308,0.000,0.054,2501,3216,3815,3832,3798,0,0,0,0,0,0,15.04,14.73,15.05
$GC,778,-0.77,-272.5,2501,3216,3832,3798,99.1,-9.5,133,785,0.00,2.38,0.00,0.000,3078,0.000,0.041,2501,1801,3814,3832,3797,0,0,0,0,0,0,14.91,14.80,14.92
$GC,850,-0.77,-272.5,2501,1801,3832,3797,107.0,-12.9,146,857,0.00,2.42,0.00,0.000,2564,0.000,0.065,2501,399,3814,3832,3797,0,0,0,0,0,0,15.05,14.66,15.06
$GC,894,-0.77,-272.5,2501,400,3832,3797,112.1,-10.7,154,901,0.00,2.35,0.00,0.000,3078,0.000,0.036,2501,1821,3814,3832,3797,0,0,0,0,0,0,14.84,14.83,14.84
$GC,966,-0.77,-272.5,2501,1824,3832,3797,120.1,-11.8,167,973,0.00,2.38,0.00,0.000,2308,0.000,0.054,2501,3217,3815,3832,3798,0,0,0,0,0,0,15.06,14.79,15.06
$GC,1038,-0.77,-272.5,2501,3217,3832,3798,128.2,-11.6,180,1044,0.00,2.38,0.00,0.000,3078,0.000,0.041,2501,1800,3815,3833,3798,0,0,0,0,0,0,14.92,14.81,14.93
$GC,1108,-0.77,-272.5,2501,1799,3838,3797,137.3,-13.8,193,1115,0.00,2.40,0.00,0.000,2564,0.000,0.064,2501,407,3816,3834,3798,0,0,0,0,0,0,15.06,14.78,15.07
$GC,1133,-0.77,-272.5,2501,406,3832,3798,140.4,-12.5,197,1140,0.00,2.35,0.00,0.000,3078,0.000,0.035,2501,1821,3819,3841,3797,0,0,0,0,0,0,14.92,14.83,14.94
$GC,1205,-0.77,-272.5,2501,1823,3832,3798,148.8,-12.5,210,1212,0.00,2.35,0.00,0.000,2308,0.000,0.052,2501,3210,3814,3832,3797,0,0,0,0,0,0,15.07,14.71,15.07
$GC,1267,-0.77,-272.5,2501,3210,3832,3798,155.8,-10.5,221,1274,0.00,2.35,0.00,0.000,3078,0.000,0.041,2501,1810,3815,3832,3798,0,0,0,0,0,0,14.92,14.82,14.94
$GC,1340,-0.77,-272.5,2500,1810,3832,3797,164.9,-12.9,234,1347,0.00,2.42,0.00,0.000,2564,0.000,0.065,2501,409,3814,3831,3797,0,0,0,0,0,0,15.07,14.72,15.07
$GC,1360,-0.77,-272.5,2501,409,3832,3798,167.5,-12.4,237,1367,0.00,2.33,0.00,0.000,3078,0.000,0.034,2501,1813,3814,3832,3797,0,0,0,0,0,0,14.82,14.73,14.84
$GC,1432,-0.77,-272.5,2501,1816,3830,3797,176.1,-12.6,250,1438,0.00,2.38,0.00,0.000,2308,0.000,0.055,2501,3210,3814,3831,3797,0,0,0,0,0,0,15.06,14.78,15.07
$GC,1471,-0.77,-272.5,2501,3210,3831,3798,180.8,-11.3,257,1478,0.00,2.35,0.00,0.000,3078,0.000,0.041,2501,1813,3814,3831,3797,0,0,0,0,0,0,14.92,14.82,14.94
$STATE,1509,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1509,begin apogee
$GC,1515,-0.17,0.0,2501,1813,3831,3797,185.6,-12.3,264,1731,0.98,0.00,204.82,1.177,10246,0.141,0.000,2696,1813,2700,2734,2666,0,0,0,0,0,0,14.64,14.19,13.79
$STATE,1732,end apogee,CONTROL_FINISHED_OK
$STATE,1732,begin climb
$GC,1735,0.77,272.5,2696,1812,2733,2662,193.8,0.0,303,1960,1.45,2.60,213.00,1.151,10756,0.101,0.070,2992,399,1588,1632,1545,0,0,0,0,0,0,14.33,14.25,13.77
$GC,2050,0.77,272.5,2991,399,1632,1545,177.4,12.7,359,2056,0.00,2.38,0.00,0.000,3078,0.000,0.034,2991,1811,1580,1623,1538,0,0,0,0,0,0,14.64,14.56,14.65
$GC,2120,0.77,272.5,2991,1814,1623,1542,168.4,13.5,372,2127,0.00,2.35,0.00,0.000,2308,0.000,0.046,2992,3200,1582,1623,1541,0,0,0,0,0,0,14.84,14.54,14.84
$GC,2145,0.77,272.5,2991,3200,1622,1540,164.6,14.2,376,2152,0.00,2.40,0.00,0.000,3078,0.000,0.052,2992,1807,1581,1622,1540,0,0,0,0,0,0,14.67,14.57,14.69
$GC,2217,0.77,272.5,2992,1808,1622,1540,155.3,14.0,389,2223,0.00,0.00,0.00,0.000,2054,0.000,0.000,2992,1807,1581,1622,1540,0,0,0,0,0,0,14.92,14.92,14.92
$GC,2285,0.77,272.5,2991,1807,1622,1539,145.2,15.1,402,2292,0.00,2.38,0.00,0.000,2308,0.000,0.047,2992,3208,1580,1622,1539,0,0,0,0,0,0,14.97,14.64,14.97
$GC,2315,0.77,272.5,2992,3208,1621,1539,140.7,13.8,407,2322,0.00,2.42,0.00,0.000,3078,0.000,0.051,2999,1792,1580,1622,1539,0,0,0,0,0,0,14.74,14.64,14.76
$GC,2387,0.77,272.5,2999,1792,1621,1539,130.5,15.5,420,2392,0.00,0.00,0.00,0.000,2054,0.000,0.000,2998,1792,1580,1621,1539,0,0,0,0,0,0,14.99,15.00,15.00
$GC,2455,0.77,272.5,2999,1792,1621,1539,119.8,14.6,433,2461,0.00,0.00,0.00,0.000,2054,0.000,0.000,2999,1792,1580,1621,1539,0,0,0,0,0,0,15.01,15.02,15.02
$GC,2524,0.77,272.5,2999,1792,1621,1539,110.0,14.4,446,2531,0.00,2.42,0.00,0.000,2564,0.000,0.073,3000,395,1579,1621,1538,0,0,0,0,0,0,15.02,14.76,15.02
$GC,2564,0.77,272.5,3000,395,1621,1538,104.1,15.0,453,2571,0.00,2.33,0.00,0.000,3078,0.000,0.032,3000,1805,1579,1621,1538,0,0,0,0,0,0,14.91,14.83,14.92
$GC,2636,0.77,272.5,3000,1808,1621,1538,92.9,16.8,466,2642,0.00,2.33,0.00,0.000,2308,0.000,0.047,3000,3198,1579,1621,1538,0,0,0,0,0,0,15.04,14.71,15.04
$GC,2665,0.77,272.5,3000,3198,1621,1538,87.4,16.5,471,2672,0.00,2.40,0.00,0.000,3078,0.000,0.051,3000,1791,1580,1622,1539,0,0,0,0,0,0,14.80,14.70,14.81
$GC,2737,0.77,272.5,3000,1791,1621,1537,76.4,15.4,484,2743,0.00,0.00,0.00,0.000,2054,0.000,0.000,3000,1791,1579,1621,1537,0,0,0,0,0,0,15.05,15.05,15.05
$GC,2806,0.77,272.5,3000,1791,1621,1537,66.2,13.7,497,2812,0.00,2.38,0.00,0.000,2308,0.000,0.044,3000,3205,1579,1622,1537,0,0,0,0,0,0,15.05,14.71,15.06
$GC,2897,0.77,272.5,3000,3205,1620,1537,54.4,13.5,514,2903,0.00,2.42,0.00,0.000,3078,0.000,0.053,3003,1791,1578,1621,1536,0,0,0,0,0,0,14.88,14.76,14.89
$GC,2968,0.77,272.5,3000,1791,1621,1537,46.5,11.3,527,2975,0.00,2.42,0.00,0.000,2564,0.000,0.072,3009,395,1578,1621,1536,0,0,0,0,0,0,15.05,14.78,15.05
$GC,3028,0.77,272.5,3008,395,1620,1536,39.4,11.3,538,3034,0.00,2.33,0.00,0.000,1030,0.000,0.031,3009,1809,1578,1621,1536,0,0,0,0,0,0,14.93,14.87,14.95
$GC,3099,0.77,272.5,3008,1812,1620,1536,32.2,10.9,551,3106,0.00,2.30,0.00,0.000,4356,0.000,0.047,3008,3190,1578,1620,1536,0,0,0,0,0,0,15.04,14.81,15.02
$GC,3134,0.77,272.5,3008,3190,1620,1536,28.3,10.2,557,3140,0.00,2.38,0.00,0.000,5126,0.000,0.050,3010,1793,1578,1620,1536,0,0,0,0,0,0,14.93,14.81,14.95
$GC,3205,0.77,272.5,3008,1793,1620,1536,20.6,10.9,570,3212,0.00,2.42,0.00,0.000,4612,0.000,0.068,3010,389,1578,1621,1536,0,0,0,0,0,0,15.07,14.66,15.07
$GC,3240,0.77,272.5,3009,389,1620,1536,17.1,10.6,576,3247,0.00,2.33,0.00,0.000,5126,0.000,0.033,3010,1805,1578,1620,1536,0,0,0,0,0,0,14.82,14.75,14.83
$GC,3312,0.78,277.7,3009,1807,1620,1536,10.3,9.9,589,3318,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,1808,1577,1620,1535,0,0,0,0,0,0,15.07,15.07,15.07
$STATE,3363,end climb,FINISH_DEPTH_REACHED
$STATE,3363,begin subsurface finish
$FINISH1,4.7,1.025644,95
$GC,3370,0.12,95.1,3010,1807,1621,1536,4.7,11.0,599,3405,1.08,2.47,-26.40,0.000,20996,0.171,0.089,2801,388,2314,2361,2268,0,0,0,0,0,0,14.64,13.92,14.75
$FINISH2,3.0
$STATE,3406,end subsurface finish,CONTROL_FINISHED_OK
$STATE,3406,begin surface
$IRIDIUM_FIX,-3419.93,2516.66,190419,143537
$TT8_MAMPS,0.021721,0.858354
$HUMID,46.29
$INTERNAL_PRESSURE,9.41975
$TCM_TEMP,19.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,160.1,35.1
$SC_FREEKB,3689408
$24V_AH,13.41,138.800
$10V_AH,13.32,0.000
$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,18.200,102.700,417.825,0.000,0.000,22.680,38.157,548.273,6.000,0.000,22.249,1218.497,523.826,591.935,1620.804,390.796,0.000,1208.574,0.000,913.367,0.000,38.985,0.000
$DEVICE_MAMPS,306.765,88.740,1177.335,0.000,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3481.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.376,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,16741,605
$CAP_FILE_SIZE,121136,0
$CFSIZE,2097086464,2008842240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,190419,172337,-3432.484,2514.942,8,0.7,19,-27.9,0.0,283.7,11,7.3