version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 135
start: 3 25 119 22 30 25
data:
$ID,574
$MISSION,3
$DIVE,135
$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,20
$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,95
$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,300
$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,28
$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
$GPS1,250319,220834,-3021.7034,3057.8567,40,0.7,44,-25.4,0.7,253.9,11,9.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-66.9
$GPS2,250319,223002,-3021.7542,3057.5359,6,0.7,14,-25.4,0.9,238.3,11,9.3
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3016.355,3046.707
$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,325.4,20000,-23.0,-9.980,-25.43,1422
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.88,-92.5,53,1816,621,558,0.0,0.0,0,105,0.00,0.00,-82.82,0.000,16386,0.000,0.000,53,1816,2809,2781,2837,0,0,0,0,0,0,15.09,28.83,15.11
$GC,109,-0.88,-92.5,53,1816,2782,2837,3.2,-4.3,15,134,13.90,2.42,-4.97,0.000,18948,0.292,0.080,2469,398,3079,3071,3088,0,0,0,0,0,0,14.71,13.90,14.92
$GC,191,-0.88,-92.5,2469,398,3073,3087,28.1,-22.7,30,198,0.00,2.33,0.00,0.000,3078,0.000,0.039,2461,1816,3080,3073,3087,0,0,0,0,0,0,15.01,14.92,15.02
$GC,261,-0.88,-92.5,2461,1819,3075,3085,44.4,-23.2,43,267,0.00,2.30,0.00,0.000,2308,0.000,0.052,2456,3220,3080,3075,3085,0,0,0,0,0,0,15.14,14.91,15.14
$GC,526,-0.88,-92.5,2454,3220,3075,3085,89.8,-13.6,95,535,0.08,2.33,0.00,0.000,3078,0.270,0.043,2470,1801,3080,3076,3085,0,0,0,0,0,0,14.87,14.98,15.02
$GC,596,-0.88,-92.5,2469,1801,3076,3085,99.5,-13.2,108,604,0.00,2.38,0.00,0.000,2308,0.000,0.052,2462,3224,3080,3076,3084,0,0,0,0,0,0,15.19,14.98,15.19
$GC,631,-0.88,-92.5,2460,3223,3076,3084,103.8,-13.2,114,638,0.00,2.33,0.00,0.000,3078,0.000,0.044,2462,1813,3080,3076,3084,0,0,0,0,0,0,15.07,14.99,15.09
$GC,701,-0.88,-92.5,2461,1814,3076,3084,112.9,-13.1,127,707,0.00,2.35,0.00,0.000,2564,0.000,0.062,2462,409,3080,3076,3084,0,0,0,0,0,0,15.20,14.95,15.20
$GC,720,-0.88,-92.5,2461,409,3077,3084,115.7,-14.7,130,727,0.10,2.28,0.00,0.000,3078,0.262,0.035,2472,1820,3079,3076,3083,0,0,0,0,0,0,14.86,14.95,15.00
$GC,789,-0.88,-92.5,2472,1823,3077,3084,125.5,-14.5,143,795,0.00,0.00,0.00,0.000,2054,0.000,0.000,2472,1823,3080,3077,3083,0,0,0,0,0,0,15.19,15.19,15.19
$GC,859,-0.88,-92.5,2472,1823,3077,3084,135.5,-13.0,156,866,0.00,2.30,0.00,0.000,2308,0.000,0.051,2465,3218,3080,3077,3083,0,0,0,0,0,0,15.19,14.95,15.19
$GC,924,-0.88,-92.5,2464,3218,3076,3083,143.8,-12.9,168,930,0.00,2.30,0.00,0.000,3078,0.000,0.043,2465,1809,3079,3076,3083,0,0,0,0,0,0,15.02,14.95,15.03
$GC,994,-0.88,-92.5,2464,1809,3077,3083,152.9,-13.1,181,1000,0.00,2.33,0.00,0.000,2308,0.000,0.050,2455,3217,3080,3077,3083,0,0,0,0,0,0,15.20,14.93,15.20
$GC,1037,-0.88,-92.5,2456,3217,3076,3083,158.4,-11.9,189,1044,0.08,2.30,0.00,0.000,3078,0.268,0.043,2472,1812,3080,3077,3083,0,0,0,0,0,0,14.90,15.00,15.04
$GC,1107,-0.88,-92.5,2471,1812,3077,3083,167.1,-12.2,202,1114,0.00,2.35,0.00,0.000,2564,0.000,0.063,2472,406,3079,3076,3082,0,0,0,0,0,0,15.21,14.99,15.21
$GC,1147,-0.88,-92.5,2472,407,3077,3082,172.4,-15.4,209,1154,0.00,2.28,0.00,0.000,3078,0.000,0.037,2471,1814,3079,3077,3082,0,0,0,0,0,0,15.09,15.02,15.11
$GC,1217,-0.88,-92.5,2471,1817,3076,3082,181.9,-15.4,222,1223,0.00,2.30,0.00,0.000,2308,0.000,0.053,2469,3217,3079,3077,3081,0,0,0,0,0,0,15.21,15.00,15.21
$GC,1265,-0.88,-92.5,2468,3218,3077,3082,187.9,-11.7,231,1272,0.00,2.30,0.00,0.000,3078,0.000,0.043,2469,1812,3079,3077,3081,0,0,0,0,0,0,15.07,14.98,15.08
$GC,1337,-0.88,-92.5,2469,1812,3077,3081,196.1,-11.5,244,1342,0.00,0.00,0.00,0.000,2054,0.000,0.000,2469,1812,3079,3077,3082,0,0,0,0,0,0,15.21,15.21,15.21
$GC,1406,-0.88,-92.5,2468,1812,3077,3081,203.9,-11.3,257,1412,0.00,2.33,0.00,0.000,2308,0.000,0.051,2460,3218,3079,3077,3081,0,0,0,0,0,0,15.22,15.00,15.21
$GC,1449,-0.88,-92.5,2460,3218,3076,3081,208.7,-11.2,265,1456,0.05,2.30,0.00,0.000,3078,0.321,0.043,2471,1812,3076,3073,3080,0,0,0,0,0,0,14.83,14.95,15.00
$GC,1519,-0.88,-92.5,2470,1811,3077,3080,216.8,-11.4,278,1525,0.00,0.00,0.00,0.000,2054,0.000,0.000,2470,1811,3078,3077,3080,0,0,0,0,0,0,15.23,15.23,15.23
$GC,1590,-0.88,-92.5,2470,1811,3077,3080,225.0,-11.7,291,1596,0.00,2.33,0.00,0.000,2308,0.000,0.050,2463,3215,3078,3077,3080,0,0,0,0,0,0,15.24,14.96,15.24
$GC,1613,-0.88,-92.5,2463,3215,3077,3080,227.7,-10.7,295,1620,0.00,2.30,0.00,0.000,3078,0.000,0.044,2463,1812,3078,3077,3080,0,0,0,0,0,0,15.11,15.02,15.12
$GC,1682,-0.88,-92.5,2463,1812,3076,3079,234.8,-10.3,308,1688,0.00,0.00,0.00,0.000,2054,0.000,0.000,2463,1812,3078,3077,3080,0,0,0,0,0,0,15.23,15.23,15.24
$GC,1752,-0.88,-92.5,2463,1812,3077,3080,242.2,-10.7,321,1759,0.00,2.33,0.00,0.000,2308,0.000,0.053,2461,3214,3077,3076,3079,0,0,0,0,0,0,15.23,15.02,15.24
$GC,1867,-0.88,-92.5,2460,3214,3076,3078,254.8,-10.2,343,1877,0.05,2.30,0.00,0.000,3078,0.326,0.046,2472,1812,3077,3077,3078,0,0,0,0,0,0,14.90,15.03,15.07
$GC,1939,-0.88,-92.5,2471,1812,3076,3077,260.6,-8.2,356,1946,0.00,2.33,0.00,0.000,2308,0.000,0.051,2464,3216,3076,3076,3077,0,0,0,0,0,0,15.25,14.97,15.26
$GC,2004,-0.88,-92.5,2464,3216,3075,3077,265.0,-6.4,368,2012,0.00,2.30,0.00,0.000,3078,0.000,0.045,2464,1813,3074,3071,3077,0,0,0,0,0,0,15.12,15.04,15.14
$GC,2074,-0.88,-92.5,2464,1813,3076,3076,270.3,-8.1,381,2080,0.00,0.00,0.00,0.000,2054,0.000,0.000,2464,1813,3076,3076,3076,0,0,0,0,0,0,15.24,15.24,15.24
$GC,2144,-0.88,-92.5,2464,1813,3075,3075,276.8,-9.5,394,2151,0.00,2.33,0.00,0.000,2308,0.000,0.054,2464,3213,3075,3075,3075,0,0,0,0,0,0,15.24,15.02,15.24
$GC,2198,-0.88,-92.5,2464,3213,3075,3074,281.8,-8.5,404,2205,0.00,2.30,0.00,0.000,3078,0.000,0.046,2464,1812,3073,3073,3074,0,0,0,0,0,0,15.13,15.04,15.14
$GC,2268,-0.88,-92.5,2464,1812,3074,3074,288.6,-10.4,417,2273,0.00,0.00,0.00,0.000,2054,0.000,0.000,2463,1812,3073,3074,3073,0,0,0,0,0,0,15.26,15.26,15.26
$GC,2337,-0.88,-92.5,2464,1812,3075,3073,295.5,-9.5,430,2344,0.00,2.33,0.00,0.000,2308,0.000,0.054,2461,3214,3073,3074,3073,0,0,0,0,0,0,15.25,15.03,15.26
$GC,2402,-0.88,-92.5,2460,3214,3073,3073,301.2,-8.3,441,2407,0.00,2.30,0.00,0.000,3078,0.000,0.045,2461,1813,3073,3073,3074,0,0,0,0,0,0,15.13,15.04,15.14
$GC,2544,-0.88,-92.5,2460,1813,3073,3073,314.9,-10.0,448,2550,0.00,2.33,0.00,0.000,2308,0.000,0.056,2460,3212,3073,3073,3073,0,0,0,0,0,0,15.26,15.04,15.27
$GC,2637,-0.88,-92.5,2460,3212,3072,3072,322.4,-9.3,452,2643,0.05,2.30,0.00,0.000,3078,0.327,0.047,2471,1807,3072,3072,3072,0,0,0,0,0,0,14.92,15.06,15.09
$GC,2772,-0.88,-92.5,2470,1806,3072,3071,335.8,-9.8,459,2777,0.00,2.35,0.00,0.000,2308,0.000,0.054,2464,3213,3071,3072,3071,0,0,0,0,0,0,15.28,15.07,15.29
$GC,2825,-0.88,-92.5,2464,3213,3072,3071,340.0,-9.9,461,2830,0.00,2.30,0.00,0.000,3078,0.000,0.047,2464,1808,3071,3071,3071,0,0,0,0,0,0,15.16,15.07,15.18
$GC,2958,-0.88,-92.5,2463,1808,3071,3069,356.0,-12.0,468,2959,0.00,0.00,0.00,0.000,2054,0.000,0.000,2463,1808,3070,3071,3069,0,0,0,0,0,0,15.29,15.30,15.30
$GC,3078,-0.88,-92.5,2463,1808,3071,3069,370.2,-11.5,474,3083,0.00,2.35,0.00,0.000,2308,0.000,0.055,2461,3221,3070,3071,3069,0,0,0,0,0,0,15.30,15.08,15.30
$GC,3149,-0.88,-92.5,2460,3220,3069,3068,377.4,-11.2,477,3155,0.00,2.30,0.00,0.000,3078,0.000,0.047,2461,1814,3069,3070,3069,0,0,0,0,0,0,15.17,15.07,15.19
$GC,3282,-0.88,-92.5,2460,1814,3070,3067,396.8,-14.0,484,3284,0.05,0.00,0.00,0.000,2054,0.365,0.000,2470,1814,3068,3069,3067,0,0,0,0,0,0,14.94,15.16,15.12
$GC,3401,-0.88,-92.5,2470,1814,3069,3066,410.8,-11.1,490,3407,0.00,2.40,0.00,0.000,2564,0.000,0.075,2471,404,3067,3068,3066,0,0,0,0,0,0,15.31,15.05,15.31
$GC,3424,-0.88,-92.5,2470,403,3068,3066,412.9,-9.9,491,3429,0.00,2.30,0.00,0.000,3078,0.000,0.041,2469,1817,3067,3068,3066,0,0,0,0,0,0,15.18,15.09,15.19
$STATE,3565,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3565,begin apogee
$GC,3569,-0.17,0.0,2469,1820,3068,3066,433.0,-15.4,498,3647,1.17,0.00,70.18,1.329,10246,0.177,0.000,2697,1821,2702,2716,2689,0,0,0,0,0,0,14.97,14.58,14.18
$STATE,3648,end apogee,CONTROL_FINISHED_OK
$STATE,3648,begin climb
$GC,3650,0.88,92.5,2698,1820,2715,2681,434.9,0.0,502,3732,1.52,0.00,77.05,1.321,10502,0.074,0.000,3032,1821,2323,2345,2301,0,0,0,0,0,0,14.68,14.45,13.96
$GC,3846,0.89,100.4,3031,1821,2337,2293,422.9,9.4,512,3855,0.00,0.00,6.50,0.997,10246,0.000,0.000,3032,1821,2290,2314,2267,0,0,0,0,0,0,14.94,14.73,14.15
$GC,3966,0.89,100.4,3032,1821,2313,2266,410.9,10.4,518,3971,0.00,2.47,0.00,0.000,2564,0.000,0.073,3040,399,2290,2313,2267,0,0,0,0,0,0,15.04,14.77,15.04
$GC,4204,0.89,100.4,3040,398,2307,2265,384.7,11.2,529,4210,0.00,2.28,0.00,0.000,3078,0.000,0.040,3040,1803,2286,2308,2264,0,0,0,0,0,0,15.04,14.96,15.04
$GC,4329,0.89,104.4,3039,1805,2306,2263,370.9,9.7,536,4335,0.00,0.00,4.60,0.835,10246,0.000,0.000,3039,1805,2273,2296,2251,0,0,0,0,0,0,15.19,14.97,14.38
$GC,4448,0.89,104.4,3039,1805,2294,2249,357.9,11.0,542,4450,0.00,0.00,0.00,0.000,2054,0.000,0.000,3040,1805,2271,2294,2249,0,0,0,0,0,0,15.20,15.21,15.21
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$STATE,7793,end climb,SURFACE_DEPTH_REACHED
$STATE,7793,begin surface coast
$FINISH,0.3,1.012098
$STATE,7840,end surface coast,CONTROL_FINISHED_OK
$STATE,7840,begin surface
$SM_CCo,7861,194.68,0.795,0,0,598,515.37
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$TT8_MAMPS,0.021721,0.740012
$HUMID,41.77
$INTERNAL_PRESSURE,9.46858
$TCM_TEMP,22.10
$XPDR_PINGS,20
$ALTIM_BOTTOM_PING,407.0,35.2
$SC_FREEKB,3852768
$24V_AH,13.90,63.989
$10V_AH,13.96,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,24.409,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,29998,1122
$CAP_FILE_SIZE,225905,0
$CFSIZE,2097086464,2069135360
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,6982.30,0x23609a,1,24
$GPS,260319,004601,-3019.514,3057.749,19,0.8,42,-25.4,0.0,93.7,11,7.2