version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 41
start: 3 17 119 10 23 8
data:
$ID,574
$MISSION,3
$DIVE,41
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,1020
$D_NO_BLEED,29
$D_BOOST,0
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,167
$T_MISSION,182
$T_ABORT,197
$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,85
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53998
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,118
$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,558.35083
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,259
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$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,2785
$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,1850
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,54
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2801
$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
$GPS1,170319,101049,-2938.4734,3144.4414,5,0.9,40,-24.8,2.1,204.4,9,5.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-65.5
$GPS2,170319,102244,-2939.1077,3144.0735,5,0.9,15,-24.8,1.5,200.8,9,9.9
$SPEED_LIMITS,0.173,0.199
$TGT_NAME,HEADING
$TGT_LATLONG,-2944.177,3155.054
$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,97.8,20000,-24.3,-9.980,-26.67,1272
$D_GRID,500
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.91,-82.7,89,1849,635,560,0.0,0.0,0,108,0.00,0.00,-86.25,0.000,16386,0.000,0.000,88,1849,2907,2881,2934,0,0,0,0,0,0,15.07,28.83,15.08
$GC,110,-0.91,-82.7,88,1849,2880,2934,3.2,-6.6,15,135,13.68,0.00,-4.15,0.000,18694,0.291,0.000,2483,1849,3139,3132,3146,0,0,0,0,0,0,14.76,14.32,14.97
$GC,197,-0.91,-82.7,2482,1849,3135,3144,30.8,-22.3,31,203,0.00,0.00,0.00,0.000,2054,0.000,0.000,2483,1849,3140,3136,3144,0,0,0,0,0,0,15.14,15.14,15.14
$GC,265,-0.91,-82.7,2482,1849,3136,3144,42.9,-17.8,44,271,0.00,2.35,0.00,0.000,2564,0.000,0.060,2483,443,3139,3136,3143,0,0,0,0,0,0,15.17,14.94,15.17
$GC,339,-0.91,-82.7,2483,443,3136,3143,57.6,-17.6,58,346,0.00,2.28,0.00,0.000,3078,0.000,0.039,2483,1846,3140,3137,3143,0,0,0,0,0,0,15.02,14.95,15.04
$GC,410,-0.91,-82.7,2483,1849,3138,3142,68.9,-15.3,71,417,0.00,2.30,0.00,0.000,2308,0.000,0.054,2479,3254,3140,3138,3142,0,0,0,0,0,0,15.21,14.99,15.21
$GC,434,-0.91,-82.7,2478,3254,3138,3142,72.6,-15.6,75,441,0.00,2.30,0.00,0.000,3078,0.000,0.042,2479,1839,3140,3139,3142,0,0,0,0,0,0,15.05,14.97,15.07
$GC,503,-0.91,-82.7,2479,1839,3138,3141,82.8,-14.7,88,509,0.00,2.33,0.00,0.000,2564,0.000,0.062,2479,444,3139,3138,3141,0,0,0,0,0,0,15.21,15.00,15.21
$GC,577,-0.91,-82.7,2479,444,3138,3142,94.4,-15.7,102,586,0.00,2.30,0.00,0.000,3078,0.000,0.038,2477,1861,3139,3138,3141,0,0,0,0,0,0,15.11,15.04,15.13
$GC,650,-0.91,-82.7,2477,1864,3138,3141,105.5,-15.2,115,656,0.00,0.00,0.00,0.000,2054,0.000,0.000,2477,1864,3139,3138,3141,0,0,0,0,0,0,15.23,15.23,15.23
$GC,718,-0.91,-82.7,2477,1864,3138,3141,115.7,-14.7,128,724,0.00,2.28,0.00,0.000,2308,0.000,0.056,2477,3253,3140,3139,3141,0,0,0,0,0,0,15.22,15.04,15.22
$GC,766,-0.91,-82.7,2478,3253,3138,3141,122.4,-13.4,137,773,0.00,2.30,0.00,0.000,3078,0.000,0.041,2477,1838,3140,3139,3141,0,0,0,0,0,0,15.13,15.05,15.14
$GC,836,-0.91,-82.7,2477,1835,3138,3141,130.7,-14.9,150,843,0.00,2.30,0.00,0.000,2564,0.000,0.062,2477,449,3140,3139,3141,0,0,0,0,0,0,15.24,15.04,15.25
$GC,880,-0.91,-82.7,2477,450,3138,3141,138.4,-17.8,158,888,0.00,2.28,0.00,0.000,3078,0.000,0.037,2477,1864,3139,3138,3141,0,0,0,0,0,0,15.14,15.07,15.15
$GC,950,-0.91,-82.7,2477,1867,3139,3141,149.9,-16.2,171,957,0.00,0.00,0.00,0.000,2054,0.000,0.000,2477,1867,3139,3138,3141,0,0,0,0,0,0,15.26,15.26,15.26
$GC,1019,-0.91,-82.7,2477,1867,3138,3140,161.2,-16.5,184,1026,0.03,0.00,0.00,0.000,2054,0.536,0.000,2485,1867,3140,3139,3141,0,0,0,0,0,0,14.94,15.11,15.09
$GC,1089,-0.91,-82.7,2485,1867,3138,3140,173.2,-18.7,197,1094,0.00,0.00,0.00,0.000,2054,0.000,0.000,2489,1868,3138,3138,3139,0,0,0,0,0,0,15.25,15.26,15.25
$GC,1157,-0.91,-82.7,2485,1867,3139,3140,185.4,-18.8,210,1164,0.00,2.28,0.00,0.000,2308,0.000,0.054,2480,3253,3139,3138,3140,0,0,0,0,0,0,15.25,15.06,15.25
$GC,1207,-0.91,-82.7,2480,3253,3138,3139,193.5,-16.1,219,1214,0.00,2.28,0.00,0.000,3078,0.000,0.044,2480,1853,3139,3138,3140,0,0,0,0,0,0,15.15,15.07,15.16
$GC,1277,-0.91,-82.7,2480,1853,3139,3139,205.3,-17.3,232,1284,0.00,2.35,0.00,0.000,2564,0.000,0.064,2480,437,3138,3138,3139,0,0,0,0,0,0,15.27,15.05,15.27
$GC,1311,-0.91,-82.7,2480,437,3138,3139,212.0,-20.0,238,1319,0.00,2.28,0.00,0.000,3078,0.000,0.039,2477,1847,3138,3138,3139,0,0,0,0,0,0,15.16,15.08,15.17
$GC,1381,-0.91,-82.7,2477,1850,3138,3139,223.6,-14.5,251,1387,0.00,0.00,0.00,0.000,2054,0.000,0.000,2477,1850,3138,3138,3138,0,0,0,0,0,0,15.28,15.28,15.28
$GC,1449,-0.91,-82.7,2477,1850,3138,3138,234.1,-16.2,264,1458,0.00,2.35,0.00,0.000,2564,0.000,0.064,2477,442,3138,3138,3138,0,0,0,0,0,0,15.28,15.03,15.28
$GC,1470,-0.91,-82.7,2477,443,3138,3138,237.9,-17.6,267,1477,0.00,2.28,0.00,0.000,3078,0.000,0.038,2477,1856,3138,3138,3138,0,0,0,0,0,0,15.17,15.09,15.18
$GC,1540,-0.91,-82.7,2477,1858,3137,3137,249.0,-14.2,280,1545,0.00,0.00,0.00,0.000,2054,0.000,0.000,2477,1858,3141,3138,3145,0,0,0,0,0,0,15.29,15.29,15.29
$GC,1609,-0.91,-82.7,2477,1859,3142,3137,258.1,-14.3,293,1614,0.00,0.00,0.00,0.000,2054,0.000,0.000,2477,1859,3137,3138,3136,0,0,0,0,0,0,15.29,15.30,15.30
$GC,1677,-0.91,-82.7,2477,1858,3138,3136,270.3,-18.1,306,1684,0.00,2.28,0.00,0.000,2308,0.000,0.057,2477,3248,3137,3138,3136,0,0,0,0,0,0,15.29,15.09,15.29
$GC,1706,-0.91,-82.7,2477,3249,3137,3136,274.8,-15.2,311,1714,0.00,2.28,0.00,0.000,3078,0.000,0.047,2477,1852,3137,3138,3136,0,0,0,0,0,0,15.16,15.09,15.19
$GC,1776,-0.91,-82.7,2477,1851,3139,3136,285.6,-17.2,324,1782,0.00,0.00,0.00,0.000,2054,0.000,0.000,2477,1851,3137,3138,3136,0,0,0,0,0,0,15.29,15.29,15.29
$GC,1846,-0.91,-82.7,2477,1858,3137,3135,296.8,-15.2,337,1852,0.00,0.00,0.00,0.000,2054,0.000,0.000,2477,1851,3136,3136,3136,0,0,0,0,0,0,15.29,15.30,15.30
$GC,1914,-0.91,-82.7,2477,1851,3137,3134,307.0,-15.7,344,1915,0.00,0.00,0.00,0.000,2054,0.000,0.000,2477,1851,3136,3137,3135,0,0,0,0,0,0,15.30,15.30,15.31
$STATE,1973,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1973,begin apogee
$GC,1977,-0.17,0.0,2477,1770,3136,3134,314.2,-12.7,347,2043,1.25,0.00,61.45,1.157,10246,0.168,0.000,2724,1768,2800,2816,2785,0,0,0,0,0,0,15.03,14.78,14.22
$STATE,2044,end apogee,CONTROL_FINISHED_OK
$STATE,2044,begin climb
$GC,2046,0.91,82.7,2724,1768,2816,2784,315.4,0.0,350,2123,1.58,2.35,67.12,1.156,11012,0.045,0.063,3106,419,2458,2471,2446,0,0,0,0,0,0,14.81,14.56,14.09
$GC,2626,0.97,132.5,3106,417,2459,2438,284.9,6.0,411,2673,0.00,2.22,38.42,1.144,13318,0.000,0.037,3106,1804,2258,2278,2239,0,0,0,0,0,0,15.11,15.04,14.32
$GC,2734,0.97,132.5,3106,1804,2276,2238,274.1,13.4,431,2742,0.00,2.38,0.00,0.000,4612,0.000,0.069,3116,415,2256,2274,2238,0,0,0,0,0,0,15.07,14.86,15.08
$GC,3120,0.97,132.5,3116,415,2268,2235,217.0,13.7,507,3128,0.08,2.25,0.00,0.000,5126,0.330,0.040,3105,1813,2251,2269,2234,0,0,0,0,0,0,14.89,15.04,15.08
$GC,3189,0.97,132.5,3104,1813,2268,2233,209.2,10.7,520,3196,0.00,2.25,0.00,0.000,4356,0.000,0.054,3104,3195,2250,2268,2233,0,0,0,0,0,0,15.23,15.03,15.24
$GC,3243,0.97,132.5,3104,3195,2267,2233,203.6,10.6,530,3250,0.05,2.28,0.00,0.000,5126,0.409,0.050,3105,1817,2250,2267,2233,0,0,0,0,0,0,14.86,15.00,15.05
$GC,3311,1.00,151.4,3104,1817,2267,2233,197.3,8.5,543,3336,0.00,2.42,14.95,1.027,8708,0.000,0.070,3113,399,2182,2201,2163,0,0,0,0,0,0,15.22,14.94,14.38
$GC,3412,1.00,151.4,3113,399,2200,2163,186.0,12.8,562,3419,0.00,2.28,0.00,0.000,5126,0.000,0.039,3113,1813,2181,2200,2162,0,0,0,0,0,0,15.02,14.95,15.03
$GC,3481,1.00,151.4,3113,1808,2200,2161,177.4,13.4,575,3489,0.00,2.40,0.00,0.000,4612,0.000,0.067,3122,397,2180,2199,2162,0,0,0,0,0,0,15.19,14.98,15.19
$GC,3601,1.00,151.4,3122,397,2197,2161,159.8,14.7,598,3608,0.08,2.25,0.00,0.000,5126,0.329,0.040,3111,1793,2179,2197,2161,0,0,0,0,0,0,14.88,15.02,15.05
$GC,3669,1.00,151.4,3110,1795,2197,2160,150.4,14.8,611,3676,0.00,0.00,0.00,0.000,4102,0.000,0.000,3111,1795,2178,2197,2159,0,0,0,0,0,0,15.22,15.22,15.22
$GC,3737,1.00,151.4,3110,1795,2197,2159,141.0,14.0,624,3743,0.00,0.00,0.00,0.000,4102,0.000,0.000,3111,1795,2178,2197,2159,0,0,0,0,0,0,15.21,15.22,15.22
$GC,3804,1.00,151.4,3110,1795,2197,2159,132.0,13.6,637,3811,0.00,2.30,0.00,0.000,4356,0.000,0.054,3110,3198,2181,2204,2159,0,0,0,0,0,0,15.23,15.03,15.23
$GC,3963,1.00,151.4,3110,3196,2195,2159,110.0,13.9,668,3970,0.00,2.33,0.00,0.000,5126,0.000,0.054,3111,1802,2178,2199,2157,0,0,0,0,0,0,15.10,15.01,15.11
$GC,4031,1.00,151.4,3111,1802,2195,2159,101.4,11.6,681,4038,0.00,2.38,0.00,0.000,4612,0.000,0.073,3111,395,2176,2194,2158,0,0,0,0,0,0,15.23,15.02,15.23
$GC,4541,1.13,258.4,3111,395,2193,2158,50.2,1.3,782,4635,0.08,2.28,82.47,0.936,11270,0.209,0.037,3137,1817,1744,1771,1717,0,0,0,0,0,0,15.02,15.07,14.33
$GC,4697,1.13,258.4,3137,1817,1769,1709,37.6,11.7,810,4704,0.00,2.42,0.00,0.000,2564,0.000,0.068,3138,396,1739,1769,1709,0,0,0,0,0,0,14.99,14.74,14.99
$STATE,4919,end climb,SURFACE_DEPTH_REACHED
$STATE,4919,begin surface coast
$FINISH,0.1,1.023349
$STATE,4940,end surface coast,CONTROL_FINISHED_OK
$STATE,4941,begin surface
$SM_CCo,4964,173.80,0.812,0,0,598,539.90
$SM_CCo,5140,-0.32,0.000,0,0,599,539.90
$SM_CCo,5143,-0.05,0.000,0,0,599,539.90
$SM_GC,0.79,13.98,2.40,-0.05,0.047,0.041,0.000,124,1836,599,-8.26,-1.61,539.90,0,0,0,0,0,0,14.96,14.98,14.35
$IRIDIUM_FIX,-2925.24,3145.87,170319,084510
$TT8_MAMPS,0.021721,0.939246
$HUMID,42.00
$INTERNAL_PRESSURE,9.52717
$TCM_TEMP,21.80
$XPDR_PINGS,46
$ALTIM_BOTTOM_PING,290.7,31.5
$SC_FREEKB,3901696
$24V_AH,13.84,40.281
$10V_AH,14.04,0.000
$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,30.775,78.600,264.425,173.800,0.000,23.186,43.462,455.577,24.000,0.000,17.999,2081.222,962.411,656.247,2069.847,98.137,0.000,1409.067,0.000,1370.814,0.000,78.608,0.000
$DEVICE_MAMPS,536.265,151.470,1157.445,811.665,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4995.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,29.237,0.000,0.000,0.000
$MEM,340912
$DATA_FILE_SIZE,23401,858
$CAP_FILE_SIZE,155105,0
$CFSIZE,2097086464,2087550976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,1.026,209.54,1
$GPS,170319,115001,-2941.576,3142.949,6,0.8,32,-24.8,2.4,208.4,11,6.3