version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 443
start: 4 19 119 18 24 14
data:
$ID,574
$MISSION,3
$DIVE,443
$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,45
$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
$GPS1,190419,172337,-3432.4839,2514.9424,8,0.7,19,-27.9,0.0,283.7,11,7.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.23
$_SM_ANGLEo,0.5
$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,21,begin dive
$GC,24,-0.77,-272.5,2801,1820,2363,2269,0.0,0.0,0,31,0.00,0.00,-5.80,0.000,16386,0.000,0.000,2801,1820,2509,2556,2463,0,0,0,0,0,0,15.08,28.83,15.09
$GC,34,-0.77,-272.5,2801,1820,2555,2464,4.7,0.0,1,80,1.30,2.40,-35.10,0.000,20740,0.096,0.078,2522,3207,3812,3832,3793,0,0,0,0,0,0,14.75,13.35,14.82
$GC,159,-0.77,-272.5,2522,3207,3833,3793,17.4,-11.8,24,166,0.00,2.38,0.00,0.000,5126,0.000,0.047,2522,1801,3813,3834,3793,0,0,0,0,0,0,14.95,14.83,14.96
$GC,230,-0.77,-272.5,2522,1800,3831,3793,27.0,-14.9,37,237,0.00,2.42,0.00,0.000,4612,0.000,0.067,2522,402,3812,3832,3793,0,0,0,0,0,0,15.09,14.71,15.09
$GC,260,-0.77,-272.5,2522,402,3832,3793,31.4,-15.3,42,266,0.00,2.33,0.00,0.000,5126,0.000,0.036,2522,1810,3813,3833,3793,0,0,0,0,0,0,14.81,14.73,14.83
$GC,331,-0.77,-272.5,2522,1812,3832,3793,40.9,-14.1,55,338,0.00,2.40,0.00,0.000,4356,0.000,0.054,2522,3217,3812,3831,3793,0,0,0,0,0,0,15.09,14.76,15.09
$GC,386,-0.77,-272.5,2522,3217,3832,3793,47.6,-10.5,65,393,0.00,2.38,0.00,0.000,5126,0.000,0.043,2522,1807,3813,3833,3793,0,0,0,0,0,0,14.88,14.78,14.90
$GC,458,-0.77,-272.5,2522,1808,3833,3793,56.0,-11.5,78,465,0.00,2.42,0.00,0.000,4612,0.000,0.066,2522,404,3812,3832,3793,0,0,0,0,0,0,15.08,14.79,15.08
$GC,478,-0.77,-272.5,2522,403,3833,3792,58.5,-11.3,81,484,0.00,2.33,0.00,0.000,5126,0.000,0.033,2522,1818,3813,3833,3793,0,0,0,0,0,0,14.95,14.86,14.96
$GC,550,-0.77,-272.5,2522,1821,3833,3793,65.4,-9.6,94,557,0.00,2.35,0.00,0.000,4356,0.000,0.053,2522,3205,3813,3833,3793,0,0,0,0,0,0,15.08,14.69,15.09
$GC,617,-0.77,-272.5,2522,3205,3833,3793,71.1,-8.8,106,623,0.00,2.35,0.00,0.000,5126,0.000,0.042,2522,1812,3813,3833,3793,0,0,0,0,0,0,14.93,14.83,14.95
$GC,688,-0.77,-272.5,2522,1812,3833,3791,77.6,-9.4,119,695,0.00,0.00,0.00,0.000,4102,0.000,0.000,2522,1812,3813,3834,3793,0,0,0,0,0,0,15.07,15.07,15.07
$GC,758,-0.77,-272.5,2522,1812,3834,3792,83.8,-8.9,132,764,0.00,0.00,0.00,0.000,4102,0.000,0.000,2522,1811,3813,3834,3793,0,0,0,0,0,0,15.07,15.08,15.08
$GC,829,-0.77,-272.5,2522,1812,3834,3793,90.2,-9.5,145,836,0.00,2.40,0.00,0.000,4356,0.000,0.055,2522,3214,3813,3834,3793,0,0,0,0,0,0,15.07,14.80,15.07
$GC,853,-0.77,-272.5,2522,3214,3834,3792,93.0,-10.5,149,860,0.00,2.38,0.00,0.000,5126,0.000,0.041,2522,1802,3813,3834,3793,0,0,0,0,0,0,14.93,14.83,14.95
$GC,925,-0.77,-272.5,2522,1803,3833,3793,99.0,-9.3,162,932,0.00,2.42,0.00,0.000,4612,0.000,0.065,2522,403,3813,3834,3793,0,0,0,0,0,0,15.07,14.72,15.07
$GC,955,-0.77,-272.5,2522,403,3833,3793,102.2,-10.2,167,962,0.00,2.33,0.00,0.000,5126,0.000,0.034,2522,1811,3813,3834,3792,0,0,0,0,0,0,14.80,14.71,14.81
$GC,1026,-0.77,-272.5,2522,1814,3834,3793,108.3,-9.0,180,1033,0.00,2.38,0.00,0.000,4356,0.000,0.054,2522,3210,3813,3834,3793,0,0,0,0,0,0,15.08,14.77,15.08
$GC,1063,-0.77,-272.5,2522,3210,3835,3793,111.1,-7.3,186,1069,0.00,2.35,0.00,0.000,5126,0.000,0.041,2522,1807,3813,3834,3793,0,0,0,0,0,0,14.93,14.83,14.95
$GC,1135,-0.77,-272.5,2522,1807,3834,3793,117.2,-9.2,199,1141,0.00,0.00,0.00,0.000,4102,0.000,0.000,2522,1807,3813,3834,3793,0,0,0,0,0,0,15.07,15.07,15.07
$GC,1206,-0.77,-272.5,2521,1807,3834,3793,123.9,-8.9,212,1212,0.00,2.40,0.00,0.000,4356,0.000,0.054,2522,3209,3813,3834,3793,0,0,0,0,0,0,15.08,14.74,15.08
$GC,1237,-0.77,-272.5,2522,3209,3835,3793,126.4,-8.5,217,1243,0.00,2.35,0.00,0.000,5126,0.000,0.041,2523,1813,3814,3835,3793,0,0,0,0,0,0,14.92,14.83,14.95
$GC,1310,-0.77,-272.5,2522,1813,3835,3793,132.8,-9.5,230,1316,0.00,0.00,0.00,0.000,4102,0.000,0.000,2522,1813,3813,3835,3792,0,0,0,0,0,0,15.07,15.09,15.08
$GC,1383,-0.77,-272.5,2521,1812,3835,3793,140.2,-9.7,243,1390,0.00,2.40,0.00,0.000,4356,0.000,0.054,2521,3212,3813,3835,3792,0,0,0,0,0,0,15.07,14.79,15.07
$GC,1423,-0.77,-272.5,2522,3211,3835,3793,144.1,-9.1,250,1430,0.00,2.35,0.00,0.000,5126,0.000,0.039,2526,1808,3814,3835,3793,0,0,0,0,0,0,14.93,14.83,14.95
$GC,1495,-0.77,-272.5,2522,1808,3835,3793,150.8,-9.6,263,1501,0.00,2.40,0.00,0.000,4612,0.000,0.062,2523,410,3814,3835,3793,0,0,0,0,0,0,15.07,14.68,15.07
$GC,1524,-0.77,-272.5,2522,411,3834,3793,154.1,-11.2,268,1531,0.00,2.30,0.00,0.000,5126,0.000,0.034,2522,1817,3814,3835,3793,0,0,0,0,0,0,14.80,14.72,14.81
$GC,1596,-0.77,-272.5,2522,1818,3835,3793,161.1,-9.4,281,1603,0.00,2.38,0.00,0.000,4356,0.000,0.054,2523,3211,3814,3835,3793,0,0,0,0,0,0,15.08,14.79,15.08
$STATE,1608,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1608,begin apogee
$GC,1617,-0.17,0.0,2522,1797,3835,3793,162.1,-6.6,283,1829,0.88,0.00,202.88,1.065,10246,0.118,0.000,2701,1794,2698,2735,2662,0,0,0,0,0,0,14.57,14.33,13.81
$STATE,1831,end apogee,CONTROL_FINISHED_OK
$STATE,1831,begin climb
$GC,1833,0.77,272.5,2700,1793,2734,2661,171.9,0.0,321,2060,1.40,2.58,213.60,1.145,10756,0.087,0.068,2995,393,1587,1630,1544,0,0,0,0,0,0,14.35,14.26,13.75
$GC,2159,0.77,272.5,2995,393,1624,1544,151.7,12.9,379,2166,0.00,2.38,0.00,0.000,3078,0.000,0.033,2996,1797,1583,1623,1544,0,0,0,0,0,0,14.58,14.51,14.59
$GC,2230,0.77,272.5,2995,1800,1623,1542,142.9,13.1,392,2236,0.00,2.40,0.00,0.000,2308,0.000,0.047,2996,3208,1586,1624,1549,0,0,0,0,0,0,14.85,14.60,14.86
$GC,2279,0.77,272.5,2995,3208,1622,1540,136.0,12.3,401,2286,0.00,2.42,0.00,0.000,3078,0.000,0.052,2997,1803,1579,1622,1536,0,0,0,0,0,0,14.70,14.60,14.72
$GC,2351,0.77,272.5,2996,1803,1622,1540,128.3,12.1,414,2357,0.00,0.00,0.00,0.000,2054,0.000,0.000,2997,1803,1580,1621,1540,0,0,0,0,0,0,14.95,14.95,14.95
$GC,2420,0.77,272.5,3002,1803,1622,1539,119.7,10.1,427,2426,0.00,2.38,0.00,0.000,2308,0.000,0.047,2997,3203,1581,1622,1540,0,0,0,0,0,0,14.97,14.69,15.00
$GC,2449,0.77,272.5,2996,3202,1622,1540,116.2,12.4,432,2456,0.00,2.40,0.00,0.000,1030,0.000,0.049,3003,1798,1580,1622,1539,0,0,0,0,0,0,14.74,14.66,14.77
$GC,2522,0.77,272.5,3003,1798,1622,1539,107.1,13.6,445,2528,0.00,2.45,0.00,0.000,516,0.000,0.073,3003,392,1581,1622,1540,0,0,0,0,0,0,14.99,14.73,15.00
$GC,2556,0.77,272.5,3003,392,1622,1539,101.6,14.8,451,2563,0.00,2.35,0.00,0.000,1030,0.000,0.032,3003,1808,1580,1622,1539,0,0,0,0,0,0,14.88,14.81,14.90
$GC,2628,0.77,272.5,3003,1809,1621,1539,91.8,13.8,464,2634,0.00,2.47,0.00,0.000,516,0.000,0.071,3012,394,1580,1622,1539,0,0,0,0,0,0,15.00,14.76,15.01
$GC,2662,0.77,272.5,3012,395,1622,1539,86.0,17.2,470,2669,0.00,2.33,0.00,0.000,5126,0.000,0.033,3012,1800,1580,1622,1539,0,0,0,0,0,0,14.91,14.83,14.92
$GC,2734,0.77,272.5,3011,1803,1622,1539,75.2,15.1,483,2740,0.00,0.00,0.00,0.000,4102,0.000,0.000,3012,1803,1580,1621,1539,0,0,0,0,0,0,15.03,15.03,15.03
$GC,2802,0.77,272.5,3012,1803,1621,1539,65.9,12.4,496,2809,0.00,2.35,0.00,0.000,4356,0.000,0.047,3012,3209,1577,1621,1534,0,0,0,0,0,0,15.04,14.81,15.04
$GC,2862,0.77,272.5,3012,3210,1621,1539,57.6,14.0,507,2869,0.00,2.40,0.00,0.000,5126,0.000,0.052,3015,1800,1580,1621,1539,0,0,0,0,0,0,14.92,14.81,14.94
$GC,2933,0.77,272.5,3014,1800,1621,1539,48.7,11.2,520,2940,0.00,2.35,0.00,0.000,4356,0.000,0.047,3015,3204,1580,1622,1539,0,0,0,0,0,0,15.04,14.78,15.05
$GC,2968,0.77,272.5,3014,3204,1621,1538,44.7,11.7,526,2975,0.00,2.40,0.00,0.000,5126,0.000,0.052,3016,1796,1579,1621,1538,0,0,0,0,0,0,14.92,14.81,14.93
$GC,3040,0.77,272.5,3016,1795,1620,1538,36.7,11.5,539,3046,0.00,2.45,0.00,0.000,4612,0.000,0.072,3017,389,1580,1621,1539,0,0,0,0,0,0,15.06,14.73,15.07
$GC,3079,0.77,272.5,3016,389,1621,1538,31.8,10.9,546,3086,0.00,2.35,0.00,0.000,5126,0.000,0.033,3017,1814,1579,1621,1538,0,0,0,0,0,0,14.83,14.76,14.85
$GC,3151,0.77,272.5,3016,1817,1621,1538,24.9,10.3,559,3158,0.00,2.33,0.00,0.000,4356,0.000,0.047,3017,3204,1579,1621,1538,0,0,0,0,0,0,15.06,14.81,15.07
$GC,3185,0.77,272.5,3016,3204,1621,1538,20.9,10.8,565,3192,0.00,2.40,0.00,0.000,5126,0.000,0.050,3017,1801,1579,1620,1538,0,0,0,0,0,0,14.88,14.76,14.89
$GC,3257,0.78,278.1,3022,1801,1621,1538,14.0,9.9,578,3263,0.00,0.00,1.88,0.181,12294,0.000,0.000,3017,1801,1568,1611,1525,0,0,0,0,0,0,15.05,14.84,14.64
$GC,3328,0.78,278.1,3017,1801,1612,1525,6.0,12.4,591,3334,0.00,2.45,0.00,0.000,4612,0.000,0.073,3016,398,1568,1612,1524,0,0,0,0,0,0,15.04,14.78,15.04
$STATE,3350,end climb,SURFACE_DEPTH_REACHED
$STATE,3350,begin surface coast
$FINISH,2.3,1.025649
$STATE,3355,end surface coast,CONTROL_FINISHED_OK
$STATE,3355,begin surface
$SM_CCo,3383,168.88,0.819,0,0,599,515.37
$SM_GC,0.82,14.07,2.38,168.88,0.086,0.035,0.819,126,1803,599,-8.17,-1.50,515.37,0,0,0,0,0,0,14.85,14.86,14.06
$IRIDIUM_FIX,-3419.93,2516.66,190419,143537
$TT8_MAMPS,0.020972,0.898051
$HUMID,45.07
$INTERNAL_PRESSURE,9.2635
$TCM_TEMP,18.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,135.3,35.9
$SC_FREEKB,3688896
$24V_AH,13.35,139.028
$10V_AH,13.36,0.000
$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,17.650,107.350,418.350,168.875,0.000,0.000,0.000,0.000,4.750,0.000,0.000,1252.288,536.492,695.503,1024.829,206.835,0.000,1287.375,0.000,894.597,0.000,33.153,0.000
$DEVICE_MAMPS,117.810,78.030,1145.205,818.550,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3423.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.519,0.000,0.000,0.000
$MEM,341056
$DATA_FILE_SIZE,16770,596
$CAP_FILE_SIZE,115170,0
$CFSIZE,2097086464,2008678400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190419,192449,-3432.150,2514.836,16,1.2,39,-27.9,0.2,276.5,8,5.3