version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 144
start: 3 26 119 16 29 4
data:
$ID,574
$MISSION,3
$DIVE,144
$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,3
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,270
$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,31
$R_STBD_OVSHOOT,52
$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
$GPS1,260319,161931,-3010.6360,3059.8574,6,1.0,40,-25.2,1.0,260.2,8,5.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-68.1
$GPS2,260319,162842,-3010.7842,3059.7581,7,0.9,14,-25.2,1.1,186.7,9,9.1
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3004.259,3049.815
$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,332.4,20000,-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,-92.5,53,1801,620,556,0.0,0.0,0,104,0.00,0.00,-81.57,0.000,16386,0.000,0.000,53,1801,2817,2793,2841,0,0,0,0,0,0,15.07,28.83,15.08
$GC,107,-0.88,-92.5,53,1800,2791,2842,3.6,-7.4,14,133,13.98,2.35,-4.75,0.000,19204,0.299,0.057,2458,3228,3080,3071,3090,0,0,0,0,0,0,14.69,13.91,14.89
$GC,452,-0.88,-92.5,2458,3227,3073,3087,71.9,-14.3,81,461,0.05,2.35,0.00,0.000,3078,0.321,0.045,2469,1797,3080,3074,3086,0,0,0,0,0,0,14.87,14.99,15.03
$GC,523,-0.88,-92.5,2469,1797,3076,3086,80.9,-11.6,94,530,0.00,2.33,0.00,0.000,2564,0.000,0.060,2470,408,3081,3076,3086,0,0,0,0,0,0,15.19,14.99,15.19
$GC,582,-0.88,-92.5,2470,408,3076,3086,89.3,-14.7,105,590,0.00,2.25,0.00,0.000,3078,0.000,0.033,2462,1811,3080,3076,3085,0,0,0,0,0,0,15.10,15.02,15.11
$GC,654,-0.88,-92.5,2461,1814,3077,3086,100.0,-15.6,118,661,0.00,2.28,0.00,0.000,2308,0.000,0.049,2454,3206,3081,3077,3086,0,0,0,0,0,0,15.21,14.95,15.21
$GC,673,-0.88,-92.5,2453,3207,3077,3086,103.3,-16.5,121,681,0.08,2.30,0.00,0.000,3078,0.268,0.044,2469,1809,3081,3077,3085,0,0,0,0,0,0,14.91,15.01,15.05
$GC,744,-0.88,-92.5,2469,1806,3077,3086,113.9,-14.3,134,750,0.00,2.35,0.00,0.000,2564,0.000,0.062,2470,399,3080,3076,3085,0,0,0,0,0,0,15.21,14.95,15.21
$GC,792,-0.88,-92.5,2469,397,3077,3084,122.1,-17.0,143,799,0.00,2.28,0.00,0.000,3078,0.000,0.035,2462,1811,3082,3078,3086,0,0,0,0,0,0,15.11,15.03,15.11
$GC,861,-0.88,-92.5,2462,1815,3078,3086,132.9,-15.0,156,868,0.00,2.30,0.00,0.000,2308,0.000,0.049,2454,3221,3081,3078,3085,0,0,0,0,0,0,15.23,15.02,15.23
$GC,940,-0.88,-92.5,2453,3221,3078,3085,142.8,-11.3,171,947,0.08,2.33,0.00,0.000,3078,0.269,0.044,2469,1812,3081,3078,3085,0,0,0,0,0,0,14.90,14.97,15.04
$GC,1010,-0.88,-92.5,2469,1812,3078,3085,151.7,-11.2,184,1016,0.00,2.33,0.00,0.000,2308,0.000,0.051,2469,3219,3081,3078,3085,0,0,0,0,0,0,15.23,14.97,15.23
$GC,1075,-0.88,-92.5,2469,3219,3078,3085,160.2,-13.1,196,1081,0.00,2.30,0.00,0.000,3078,0.000,0.041,2469,1807,3081,3078,3085,0,0,0,0,0,0,15.07,14.98,15.07
$GC,1146,-0.88,-92.5,2469,1806,3078,3085,170.1,-17.1,209,1153,0.00,2.35,0.00,0.000,2308,0.000,0.058,2469,3212,3081,3078,3085,0,0,0,0,0,0,15.23,14.99,15.24
$GC,1241,-0.88,-92.5,2469,3212,3078,3085,183.5,-14.2,227,1248,0.00,2.30,0.00,0.000,3078,0.000,0.044,2469,1810,3081,3078,3085,0,0,0,0,0,0,15.12,15.03,15.14
$GC,1313,-0.88,-92.5,2469,1810,3078,3084,192.7,-13.6,240,1320,0.00,2.33,0.00,0.000,2564,0.000,0.060,2469,408,3080,3076,3084,0,0,0,0,0,0,15.23,15.02,15.23
$GC,1343,-0.88,-92.5,2470,408,3086,3084,196.7,-14.1,245,1351,0.00,2.28,0.00,0.000,3078,0.000,0.036,2464,1818,3081,3078,3084,0,0,0,0,0,0,15.12,15.04,15.15
$GC,1413,-0.88,-92.5,2464,1820,3077,3083,206.6,-15.2,258,1419,0.00,0.00,0.00,0.000,2054,0.000,0.000,2464,1820,3080,3078,3083,0,0,0,0,0,0,15.25,15.26,15.25
$GC,1482,-0.88,-92.5,2464,1820,3078,3083,215.9,-13.3,271,1488,0.00,2.38,0.00,0.000,2564,0.000,0.062,2464,402,3080,3078,3083,0,0,0,0,0,0,15.25,15.02,15.25
$GC,1510,-0.88,-92.5,2464,402,3078,3083,219.9,-13.9,276,1519,0.08,2.28,0.00,0.000,3078,0.285,0.034,2469,1824,3080,3078,3083,0,0,0,0,0,0,14.93,15.06,15.08
$GC,1581,-0.88,-92.5,2470,1827,3078,3082,228.7,-14.0,289,1588,0.00,2.38,0.00,0.000,2564,0.000,0.062,2471,408,3080,3078,3082,0,0,0,0,0,0,15.25,15.03,15.25
$GC,1665,-0.88,-92.5,2470,408,3076,3082,242.1,-14.3,305,1673,0.00,2.25,0.00,0.000,3078,0.000,0.036,2464,1807,3080,3078,3082,0,0,0,0,0,0,15.11,15.04,15.12
$GC,1737,-0.88,-92.5,2464,1810,3078,3081,251.1,-13.1,318,1744,0.00,2.30,0.00,0.000,2308,0.000,0.053,2454,3215,3079,3078,3081,0,0,0,0,0,0,15.26,15.04,15.26
$GC,1791,-0.88,-92.5,2454,3215,3077,3081,257.6,-11.7,328,1798,0.08,2.30,0.00,0.000,3078,0.268,0.045,2469,1806,3078,3077,3080,0,0,0,0,0,0,14.95,15.05,15.09
$GC,1861,-0.88,-92.5,2469,1806,3077,3080,265.9,-12.0,341,1868,0.00,2.33,0.00,0.000,2308,0.000,0.051,2462,3218,3078,3077,3080,0,0,0,0,0,0,15.26,15.05,15.26
$GC,1905,-0.88,-92.5,2462,3217,3077,3081,271.3,-12.0,349,1912,0.00,2.30,0.00,0.000,3078,0.000,0.046,2461,1813,3078,3077,3080,0,0,0,0,0,0,15.09,15.00,15.10
$STATE,1917,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1917,begin apogee
$GC,1921,-0.17,0.0,2462,1813,3077,3080,273.0,-12.4,351,1997,1.17,0.00,68.93,1.086,10246,0.165,0.000,2696,1813,2699,2716,2683,0,0,0,0,0,0,14.94,14.75,14.29
$STATE,1999,end apogee,CONTROL_FINISHED_OK
$STATE,2000,begin climb
$GC,2001,0.88,92.5,2696,1813,2716,2683,276.1,0.0,364,2083,1.52,0.00,74.28,1.087,10246,0.075,0.000,3026,1813,2322,2344,2300,0,0,0,0,0,0,14.73,14.57,14.07
$GC,2146,0.88,92.5,3030,1813,2341,2295,268.4,10.8,389,2153,0.00,0.00,0.00,0.000,2054,0.000,0.000,3030,1813,2319,2342,2296,0,0,0,0,0,0,14.94,14.94,14.94
$GC,2215,0.88,92.5,3030,1812,2341,2294,260.8,11.6,402,2222,0.00,2.33,0.00,0.000,2308,0.000,0.048,3031,3207,2316,2338,2294,0,0,0,0,0,0,15.03,14.83,15.03
$GC,2364,0.88,92.5,3030,3207,2334,2294,244.0,11.2,431,2371,0.00,2.35,0.00,0.000,3078,0.000,0.050,3033,1796,2314,2334,2294,0,0,0,0,0,0,15.02,14.92,15.02
$GC,2433,0.88,92.5,3033,1796,2334,2293,236.3,10.0,444,2439,0.00,2.38,0.00,0.000,2564,0.000,0.068,3033,388,2313,2333,2293,0,0,0,0,0,0,15.15,14.93,15.15
$GC,2451,0.88,92.5,3033,387,2332,2293,234.3,10.3,447,2458,0.00,2.30,0.00,0.000,3078,0.000,0.036,3033,1814,2312,2332,2292,0,0,0,0,0,0,15.04,14.98,15.07
$GC,2521,0.96,161.6,3033,1815,2332,2296,229.0,5.0,460,2582,0.08,2.30,54.22,1.049,11012,0.198,0.044,3070,3202,2039,2068,2010,0,0,0,0,0,0,14.95,14.65,14.28
$GC,2594,0.96,161.6,3070,3202,2067,2010,222.9,12.3,472,2601,0.00,2.38,0.00,0.000,5126,0.000,0.051,3074,1797,2038,2067,2009,0,0,0,0,0,0,14.85,14.76,14.85
$GC,2664,0.96,161.6,3073,1796,2064,2005,211.4,17.1,485,2671,0.00,2.40,0.00,0.000,4612,0.000,0.072,3074,395,2034,2063,2006,0,0,0,0,0,0,15.04,14.81,15.04
$GC,2778,0.96,161.6,3073,395,2057,2005,191.0,22.2,507,2785,0.00,2.30,0.00,0.000,5126,0.000,0.037,3074,1801,2030,2056,2005,0,0,0,0,0,0,14.97,14.90,15.00
$GC,2847,0.96,161.6,3073,1803,2058,2004,177.5,16.7,520,2854,0.00,2.30,0.00,0.000,4356,0.000,0.049,3075,3206,2030,2057,2004,0,0,0,0,0,0,15.14,14.92,15.14
$GC,3133,0.96,161.6,3073,3208,2055,2001,129.3,16.2,576,3139,0.00,2.35,0.00,0.000,5126,0.000,0.051,3079,1797,2028,2056,2001,0,0,0,0,0,0,15.05,14.96,15.07
$GC,3202,0.96,161.6,3079,1798,2055,2000,119.1,15.6,589,3208,0.00,0.00,0.00,0.000,4102,0.000,0.000,3080,1798,2027,2055,2000,0,0,0,0,0,0,15.19,15.20,15.20
$GC,3271,0.96,161.6,3079,1798,2055,2000,108.6,15.0,602,3277,0.00,2.38,0.00,0.000,4612,0.000,0.070,3081,391,2027,2055,1999,0,0,0,0,0,0,15.20,14.92,15.21
$GC,3335,0.96,161.6,3080,391,2051,2000,98.3,16.4,614,3342,0.00,2.30,0.00,0.000,5126,0.000,0.037,3081,1811,2026,2052,2000,0,0,0,0,0,0,15.10,15.02,15.11
$GC,3404,0.96,161.6,3080,1813,2051,1999,86.4,17.6,627,3411,0.00,2.28,0.00,0.000,4356,0.000,0.052,3081,3205,2026,2052,2000,0,0,0,0,0,0,15.21,15.00,15.21
$GC,3467,0.96,161.6,3080,3205,2051,1999,76.3,15.0,639,3475,0.08,2.35,0.00,0.000,5126,0.329,0.050,3075,1798,2025,2052,1999,0,0,0,0,0,0,14.85,14.98,15.04
$GC,3538,0.96,161.6,3075,1798,2052,1999,67.9,11.4,652,3544,0.00,2.38,0.00,0.000,4612,0.000,0.070,3075,389,2024,2051,1998,0,0,0,0,0,0,15.22,14.96,15.22
$GC,3636,0.96,161.6,3075,389,2051,1998,55.9,11.3,671,3642,0.00,2.28,0.00,0.000,5126,0.000,0.036,3075,1810,2024,2050,1998,0,0,0,0,0,0,15.11,15.04,15.13
$GC,3705,0.99,180.0,3073,1811,2050,1998,50.1,8.7,684,3725,0.00,2.33,13.75,0.818,8452,0.000,0.050,3075,3201,1964,1994,1935,0,0,0,0,0,0,15.20,14.97,14.52
$GC,4228,1.08,255.8,3074,3201,1989,1931,7.1,4.5,787,4276,0.00,2.33,43.17,0.836,11270,0.000,0.048,3077,1799,1658,1694,1622,0,0,0,0,0,0,15.08,14.99,14.44
$STATE,4307,end climb,SURFACE_DEPTH_REACHED
$STATE,4307,begin surface coast
$FINISH,0.4,1.016367
$STATE,4344,end surface coast,CONTROL_FINISHED_OK
$STATE,4344,begin surface
$SM_CCo,4366,153.98,0.781,0,0,598,515.37
$SM_GC,0.90,13.85,0.00,153.98,0.057,0.000,0.781,126,1798,598,-8.18,-0.40,515.37,0,0,0,0,0,0,14.90,15.11,14.26
$IRIDIUM_FIX,-2957.51,3059.54,260319,144550
$TT8_MAMPS,0.020972,0.963214
$HUMID,42.00
$INTERNAL_PRESSURE,9.53694
$TCM_TEMP,22.30
$XPDR_PINGS,22
$ALTIM_BOTTOM_PING,245.3,36.5
$SC_FREEKB,3848160
$24V_AH,13.91,66.083
$10V_AH,13.82,0.000
$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,31.025,97.450,254.350,153.975,0.000,23.826,22.222,289.582,15.750,0.000,15.160,1875.880,722.041,605.480,1719.983,151.870,0.000,1292.414,0.000,1223.700,0.000,65.752,0.000
$DEVICE_MAMPS,328.950,71.910,1087.065,781.065,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4416.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,31.959,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,20052,808
$CAP_FILE_SIZE,143593,0
$CFSIZE,2097086464,2067431424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.023,105.91,1
$GPS,260319,174522,-3010.526,3059.408,7,0.9,19,-25.2,0.0,319.1,9,9.7