version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 445
start: 4 19 119 20 34 59
data:
$ID,574
$MISSION,3
$DIVE,445
$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,50
$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,32
$R_STBD_OVSHOOT,50
$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
$GPS1,190419,193931,-3432.2263,2514.6655,7,1.2,17,-27.9,0.4,218.4,8,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.92
$_SM_ANGLEo,3.3
$GPS2,190419,193931,-3432.2263,2514.6655,7,1.2,17,-27.9,0.4,218.4,8,9.4
$SPEED_LIMITS,0.173,0.342
$TGT_NAME,HEADING
$TGT_LATLONG,-3425.285,2524.694
$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,77.9,20000,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.77,-272.5,2804,1796,2348,2252,0.0,0.0,0,32,0.00,0.00,-6.55,0.000,16386,0.000,0.000,2804,1797,2505,2549,2462,0,0,0,0,0,0,15.05,28.83,15.07
$GC,35,-0.77,-272.5,2805,1796,2550,2463,3.9,0.0,1,81,1.30,2.40,-35.85,0.000,20740,0.096,0.077,2526,3209,3812,3832,3792,0,0,0,0,0,0,14.76,13.41,14.83
$GC,116,-0.77,-272.5,2525,3208,3832,3793,11.9,-10.8,15,122,0.00,2.38,0.00,0.000,5126,0.000,0.044,2525,1802,3812,3832,3792,0,0,0,0,0,0,14.85,14.74,14.85
$GC,187,-0.77,-272.5,2525,1802,3832,3792,21.4,-14.8,28,193,0.00,0.00,0.00,0.000,4102,0.000,0.000,2526,1802,3812,3832,3793,0,0,0,0,0,0,15.08,15.09,15.11
$GC,256,-0.77,-272.5,2525,1802,3831,3792,30.5,-12.8,41,261,0.00,0.00,0.00,0.000,4102,0.000,0.000,2525,1802,3811,3831,3792,0,0,0,0,0,0,15.08,15.09,15.09
$GC,324,-0.77,-272.5,2525,1802,3832,3793,39.7,-12.8,54,330,0.00,0.00,0.00,0.000,4102,0.000,0.000,2524,1802,3812,3832,3792,0,0,0,0,0,0,15.07,15.09,15.09
$GC,393,-0.77,-272.5,2525,1802,3832,3793,49.2,-15.3,67,400,0.00,0.00,0.00,0.000,4102,0.000,0.000,2525,1802,3812,3832,3792,0,0,0,0,0,0,15.08,15.08,15.08
$GC,465,-0.77,-272.5,2525,1801,3832,3793,56.0,-8.5,80,472,0.00,2.40,0.00,0.000,4356,0.000,0.050,2525,3210,3812,3832,3793,0,0,0,0,0,0,15.08,14.69,15.08
$GC,479,-0.77,-272.5,2525,3210,3833,3792,57.8,-10.1,82,486,0.00,2.35,0.00,0.000,5126,0.000,0.045,2525,1819,3813,3833,3793,0,0,0,0,0,0,14.95,14.83,14.96
$GC,551,-0.77,-272.5,2525,1814,3832,3792,63.0,-8.3,95,557,0.00,0.00,0.00,0.000,4102,0.000,0.000,2525,1814,3812,3832,3792,0,0,0,0,0,0,15.08,15.09,15.09
$GC,620,-0.77,-272.5,2525,1814,3833,3793,69.0,-7.5,108,627,0.00,2.38,0.00,0.000,4356,0.000,0.054,2525,3204,3812,3833,3792,0,0,0,0,0,0,15.09,14.69,15.09
$GC,659,-0.77,-272.5,2525,3204,3833,3793,71.8,-6.4,115,666,0.00,2.35,0.00,0.000,5126,0.000,0.041,2525,1799,3812,3833,3792,0,0,0,0,0,0,14.95,14.84,14.95
$GC,732,-0.77,-272.5,2525,1799,3833,3792,78.0,-11.2,128,739,0.00,2.40,0.00,0.000,4612,0.000,0.065,2526,411,3812,3833,3792,0,0,0,0,0,0,15.09,14.81,15.09
$GC,771,-0.77,-272.5,2525,410,3833,3793,82.5,-11.2,135,778,0.00,2.33,0.00,0.000,5126,0.000,0.034,2525,1818,3812,3833,3792,0,0,0,0,0,0,14.89,14.80,14.90
$GC,844,-0.77,-272.5,2525,1820,3833,3792,91.4,-13.0,148,850,0.00,2.35,0.00,0.000,4356,0.000,0.054,2525,3208,3813,3834,3792,0,0,0,0,0,0,15.08,14.81,15.09
$GC,888,-0.77,-272.5,2525,3208,3833,3797,96.5,-9.5,156,895,0.00,2.35,0.00,0.000,5126,0.000,0.040,2526,1804,3812,3833,3792,0,0,0,0,0,0,14.95,14.84,14.96
$GC,960,-0.77,-272.5,2524,1804,3833,3793,103.1,-9.4,169,967,0.00,2.42,0.00,0.000,4612,0.000,0.064,2525,405,3812,3833,3792,0,0,0,0,0,0,15.08,14.67,15.08
$GC,995,-0.77,-272.5,2525,405,3833,3793,107.0,-9.1,175,1002,0.00,2.35,0.00,0.000,5126,0.000,0.034,2526,1814,3813,3833,3793,0,0,0,0,0,0,14.81,14.72,14.82
$GC,1067,-0.77,-272.5,2525,1816,3833,3792,113.4,-8.7,188,1074,0.00,2.38,0.00,0.000,4356,0.000,0.055,2525,3213,3813,3834,3792,0,0,0,0,0,0,15.07,14.81,15.09
$GC,1112,-0.77,-272.5,2525,3213,3834,3793,117.6,-8.9,196,1119,0.00,2.35,0.00,0.000,5126,0.000,0.039,2525,1811,3813,3833,3793,0,0,0,0,0,0,14.94,14.83,14.95
$GC,1184,-0.77,-272.5,2525,1811,3834,3792,126.9,-12.9,209,1189,0.00,0.00,0.00,0.000,4102,0.000,0.000,2525,1811,3813,3834,3792,0,0,0,0,0,0,15.08,15.08,15.08
$GC,1255,-0.77,-272.5,2525,1811,3834,3792,135.3,-11.8,222,1262,0.00,2.40,0.00,0.000,4356,0.000,0.054,2525,3213,3813,3833,3793,0,0,0,0,0,0,15.09,14.68,15.09
$GC,1275,-0.77,-272.5,2525,3213,3834,3792,138.1,-12.5,225,1282,0.00,2.35,0.00,0.000,5126,0.000,0.041,2525,1813,3813,3834,3793,0,0,0,0,0,0,14.81,14.73,14.83
$GC,1346,-0.77,-272.5,2525,1813,3834,3792,145.2,-11.3,238,1352,0.00,0.00,0.00,0.000,4102,0.000,0.000,2525,1813,3813,3834,3792,0,0,0,0,0,0,15.08,15.08,15.09
$GC,1416,-0.77,-272.5,2525,1813,3834,3792,152.1,-8.9,251,1421,0.00,0.00,0.00,0.000,4102,0.000,0.000,2525,1812,3813,3834,3792,0,0,0,0,0,0,15.08,15.09,15.09
$GC,1485,-0.77,-272.5,2525,1813,3834,3792,158.2,-8.7,264,1491,0.00,2.40,0.00,0.000,4356,0.000,0.054,2525,3217,3813,3834,3792,0,0,0,0,0,0,15.09,14.69,15.09
$GC,1515,-0.77,-272.5,2525,3217,3834,3793,160.8,-9.1,269,1521,0.00,2.35,0.00,0.000,5126,0.000,0.039,2526,1809,3813,3834,3793,0,0,0,0,0,0,14.83,14.78,14.83
$STATE,1584,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1584,begin apogee
$GC,1590,-0.17,0.0,2525,1809,3834,3792,167.1,-9.2,282,1802,0.85,0.00,202.50,1.101,10246,0.129,0.000,2699,1806,2700,2737,2664,0,0,0,0,0,0,14.67,14.35,13.83
$STATE,1803,end apogee,CONTROL_FINISHED_OK
$STATE,1803,begin climb
$GC,1806,0.77,272.5,2699,1806,2735,2663,179.2,0.0,320,2036,1.42,2.58,213.57,1.147,10756,0.097,0.070,2999,403,1587,1630,1545,0,0,0,0,0,0,14.35,14.28,13.78
$GC,2049,0.77,272.5,2999,403,1629,1545,167.4,14.4,362,2056,0.00,2.38,0.00,0.000,3078,0.000,0.031,2999,1812,1587,1629,1545,0,0,0,0,0,0,14.50,14.41,14.50
$GC,2121,0.77,272.5,2998,1814,1628,1542,157.5,14.1,375,2126,0.00,0.00,0.00,0.000,2054,0.000,0.000,2998,1814,1585,1628,1542,0,0,0,0,0,0,14.74,14.75,14.75
$GC,2189,0.77,272.5,2998,1814,1628,1542,147.3,14.8,388,2195,0.00,2.35,0.00,0.000,2308,0.000,0.045,2999,3199,1584,1627,1541,0,0,0,0,0,0,14.85,14.64,14.85
$GC,2233,0.77,272.5,3005,3199,1624,1541,140.7,14.7,396,2239,0.00,2.40,0.00,0.000,3078,0.000,0.052,2999,1809,1582,1624,1541,0,0,0,0,0,0,14.74,14.64,14.75
$GC,2304,0.77,272.5,2999,1808,1625,1541,130.4,15.5,409,2311,0.00,2.47,0.00,0.000,2564,0.000,0.072,2999,392,1583,1625,1541,0,0,0,0,0,0,14.93,14.69,14.94
$GC,2324,0.77,272.5,2999,392,1624,1541,126.8,16.1,412,2330,0.00,2.33,0.00,0.000,3078,0.000,0.031,2999,1799,1582,1624,1541,0,0,0,0,0,0,14.84,14.76,14.85
$GC,2395,0.77,272.5,2999,1801,1624,1540,115.7,16.2,425,2401,0.00,0.00,0.00,0.000,2054,0.000,0.000,2999,1801,1582,1624,1540,0,0,0,0,0,0,14.96,14.97,14.97
$GC,2464,0.77,272.5,2999,1801,1624,1540,104.8,15.8,438,2471,0.00,2.47,0.00,0.000,2564,0.000,0.070,3007,388,1582,1624,1540,0,0,0,0,0,0,15.00,14.74,15.00
$GC,2488,0.77,272.5,3006,390,1623,1540,100.8,16.9,442,2495,0.00,2.35,0.00,0.000,1030,0.000,0.032,3007,1803,1582,1624,1540,0,0,0,0,0,0,14.84,14.77,14.87
$GC,2560,0.77,272.5,3007,1805,1623,1540,91.2,13.5,455,2566,0.00,2.33,0.00,0.000,260,0.000,0.047,3007,3196,1581,1623,1540,0,0,0,0,0,0,15.00,14.79,15.01
$GC,2589,0.77,272.5,3007,3195,1622,1541,87.0,14.4,460,2595,0.00,2.40,0.00,0.000,1030,0.000,0.053,3007,1794,1581,1622,1540,0,0,0,0,0,0,14.89,14.79,14.91
$GC,2660,0.77,272.5,3007,1793,1622,1540,78.3,11.9,473,2667,0.00,2.42,0.00,0.000,516,0.000,0.071,3012,392,1580,1622,1539,0,0,0,0,0,0,15.02,14.78,15.02
$GC,2705,0.77,272.5,3012,392,1622,1539,72.9,12.8,481,2711,0.00,2.33,0.00,0.000,5126,0.000,0.033,3012,1802,1581,1622,1540,0,0,0,0,0,0,14.92,14.85,14.94
$GC,2776,0.77,272.5,3011,1804,1623,1540,63.4,12.8,494,2783,0.00,2.33,0.00,0.000,4356,0.000,0.045,3012,3198,1581,1622,1540,0,0,0,0,0,0,15.05,14.71,15.06
$GC,2853,0.77,272.5,3011,3198,1621,1539,53.1,14.5,508,2860,0.00,2.40,0.00,0.000,5126,0.000,0.053,3013,1800,1580,1621,1539,0,0,0,0,0,0,14.88,14.77,14.90
$GC,2924,0.77,272.5,3013,1800,1622,1539,43.8,10.7,521,2931,0.00,2.42,0.00,0.000,4612,0.000,0.070,3013,394,1580,1622,1539,0,0,0,0,0,0,15.05,14.78,15.05
$GC,2954,0.77,272.5,3013,393,1622,1539,40.5,11.8,526,2961,0.00,2.33,0.00,0.000,5126,0.000,0.032,3013,1806,1580,1622,1539,0,0,0,0,0,0,14.94,14.84,14.96
$GC,3026,0.77,272.5,3013,1809,1622,1539,33.2,10.2,539,3032,0.00,2.33,0.00,0.000,4356,0.000,0.047,3013,3196,1580,1622,1539,0,0,0,0,0,0,15.06,14.83,15.05
$GC,3056,0.77,272.5,3012,3196,1622,1539,29.9,10.0,544,3062,0.00,2.38,0.00,0.000,5126,0.000,0.052,3013,1800,1580,1621,1539,0,0,0,0,0,0,14.93,14.82,14.95
$GC,3126,0.77,272.5,3013,1800,1622,1539,22.9,10.4,557,3132,0.00,0.00,0.00,0.000,4102,0.000,0.000,3014,1800,1580,1621,1539,0,0,0,0,0,0,15.07,15.07,15.07
$GC,3195,0.77,272.5,3013,1800,1622,1537,16.0,10.6,570,3201,0.00,0.00,0.00,0.000,4102,0.000,0.000,3013,1800,1580,1622,1539,0,0,0,0,0,0,15.07,15.07,15.07
$GC,3264,0.77,272.5,3013,1801,1622,1539,8.3,10.4,583,3271,0.00,2.35,0.00,0.000,4356,0.000,0.047,3013,3193,1580,1622,1539,0,0,0,0,0,0,15.07,14.83,15.07
$GC,3308,0.77,272.5,3013,3193,1621,1538,3.8,10.2,591,3315,0.00,2.40,0.00,0.000,5126,0.000,0.053,3017,1795,1579,1621,1538,0,0,0,0,0,0,14.92,14.78,14.95
$STATE,3319,end climb,SURFACE_DEPTH_REACHED
$STATE,3319,begin surface coast
$FINISH,0.0,1.012518
$STATE,3346,end surface coast,CONTROL_FINISHED_OK
$STATE,3346,begin surface
$SM_CCo,3372,169.57,0.812,0,0,598,515.37
$SM_GC,0.80,13.55,0.00,169.57,0.044,0.000,0.812,124,1792,598,-8.18,-0.57,515.37,0,0,0,0,0,0,14.85,15.10,14.07
$IRIDIUM_FIX,-3417.32,2509.70,190419,171258
$TT8_MAMPS,0.021721,0.952728
$HUMID,45.03
$INTERNAL_PRESSURE,9.28303
$TCM_TEMP,18.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,140.3,36.6
$SC_FREEKB,3687872
$24V_AH,13.41,139.489
$10V_AH,13.47,0.000
$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,17.125,90.400,416.075,169.575,0.000,0.000,0.000,0.000,5.000,0.000,0.000,1244.526,534.630,697.484,1021.966,199.368,0.000,1291.534,0.000,899.184,0.000,32.905,0.000
$DEVICE_MAMPS,128.520,77.265,1146.735,812.430,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3409.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.439,0.000,0.000,0.000
$MEM,341064
$DATA_FILE_SIZE,16762,598
$CAP_FILE_SIZE,114016,0
$CFSIZE,2097086464,2008350720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190419,213528,-3432.168,2515.268,17,0.9,43,-27.9,0.9,290.5,9,9.7