version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 169
start: 3 28 119 2 28 53
data:
$ID,574
$MISSION,3
$DIVE,169
$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,340
$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,38
$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,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
$GPS1,280319,021725,-3001.4763,3110.1284,7,1.1,24,-25.1,0.0,128.7,8,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-66.2
$GPS2,280319,022831,-3001.5427,3110.1785,7,0.8,39,-25.1,0.7,78.4,10,5.5
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3005.337,3121.864
$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,135.7,20000,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.88,-92.5,54,1798,626,552,0.0,0.0,0,112,0.00,0.00,-88.07,0.000,16386,0.000,0.000,54,1798,2968,2938,2998,0,0,0,0,0,0,15.06,28.83,15.07
$GC,114,-0.88,-92.5,53,1798,2940,3002,3.8,-8.2,15,140,13.90,2.33,-1.90,0.000,18948,0.291,0.075,2467,403,3079,3064,3094,0,0,0,0,0,0,14.69,13.85,14.90
$GC,243,-0.88,-92.5,2467,404,3069,3089,43.8,-19.0,39,250,0.05,2.30,0.00,0.000,3078,0.358,0.037,2469,1806,3079,3071,3087,0,0,0,0,0,0,14.76,14.92,14.95
$GC,314,-0.88,-92.5,2468,1809,3072,3086,54.7,-15.1,52,321,0.00,0.00,0.00,0.000,2054,0.000,0.000,2469,1809,3079,3073,3086,0,0,0,0,0,0,15.14,15.14,15.14
$GC,384,-0.88,-92.5,2468,1809,3073,3082,64.7,-14.8,65,392,0.00,2.33,0.00,0.000,2308,0.000,0.053,2460,3217,3079,3073,3086,0,0,0,0,0,0,15.15,14.88,15.15
$GC,455,-0.88,-92.5,2460,3217,3072,3085,75.2,-15.1,78,463,0.05,2.33,0.00,0.000,3078,0.321,0.044,2470,1807,3078,3070,3086,0,0,0,0,0,0,14.76,14.89,14.93
$GC,526,-0.88,-92.5,2469,1806,3073,3085,85.6,-14.4,91,533,0.00,2.35,0.00,0.000,2564,0.000,0.063,2470,408,3078,3072,3085,0,0,0,0,0,0,15.18,14.92,15.18
$GC,545,-0.88,-92.5,2470,408,3073,3085,88.7,-15.1,94,552,0.00,2.28,0.00,0.000,3078,0.000,0.037,2464,1810,3079,3074,3085,0,0,0,0,0,0,14.99,14.91,15.00
$GC,616,-0.88,-92.5,2464,1813,3073,3083,99.1,-15.2,107,623,0.00,2.33,0.00,0.000,2308,0.000,0.056,2463,3216,3078,3073,3083,0,0,0,0,0,0,15.18,14.93,15.18
$GC,676,-0.88,-92.5,2463,3215,3073,3085,107.7,-12.4,118,684,0.00,2.33,0.00,0.000,3078,0.000,0.045,2463,1805,3079,3073,3085,0,0,0,0,0,0,15.04,14.95,15.05
$GC,747,-0.88,-92.5,2462,1803,3074,3085,116.6,-13.3,131,754,0.00,2.35,0.00,0.000,2564,0.000,0.062,2463,405,3076,3074,3078,0,0,0,0,0,0,15.19,14.97,15.20
$GC,820,-0.88,-92.5,2463,405,3074,3086,127.9,-16.2,145,828,0.08,2.30,0.00,0.000,3078,0.288,0.037,2469,1822,3079,3074,3085,0,0,0,0,0,0,14.82,14.95,14.97
$GC,890,-0.88,-92.5,2468,1825,3074,3084,138.2,-13.7,158,897,0.00,2.30,0.00,0.000,2308,0.000,0.054,2460,3219,3078,3074,3083,0,0,0,0,0,0,15.19,14.92,15.20
$GC,950,-0.88,-92.5,2459,3219,3074,3085,146.1,-12.6,169,958,0.03,2.33,0.00,0.000,3078,0.467,0.044,2469,1802,3079,3074,3084,0,0,0,0,0,0,14.80,14.94,14.97
$GC,1021,-0.88,-92.5,2468,1802,3074,3084,156.0,-14.0,182,1028,0.00,0.00,0.00,0.000,2054,0.000,0.000,2469,1802,3079,3074,3084,0,0,0,0,0,0,15.20,15.20,15.20
$GC,1092,-0.88,-92.5,2469,1802,3074,3084,165.3,-13.2,195,1098,0.00,2.33,0.00,0.000,2308,0.000,0.048,2462,3219,3078,3073,3084,0,0,0,0,0,0,15.20,15.00,15.21
$GC,1105,-0.88,-92.5,2461,3219,3074,3084,167.4,-14.3,197,1112,0.00,2.33,0.00,0.000,3078,0.000,0.051,2462,1818,3079,3074,3084,0,0,0,0,0,0,15.03,14.93,15.04
$GC,1174,-0.88,-92.5,2461,1818,3074,3084,176.9,-12.9,210,1181,0.00,2.33,0.00,0.000,2308,0.000,0.053,2454,3215,3079,3074,3084,0,0,0,0,0,0,15.20,15.00,15.20
$GC,1213,-0.88,-92.5,2454,3215,3074,3084,182.0,-12.3,217,1221,0.08,2.33,0.00,0.000,3078,0.264,0.045,2469,1799,3078,3074,3083,0,0,0,0,0,0,14.89,15.00,15.04
$GC,1284,-0.88,-92.5,2469,1799,3074,3084,190.5,-12.5,230,1292,0.00,2.35,0.00,0.000,2308,0.000,0.052,2469,3214,3078,3074,3083,0,0,0,0,0,0,15.19,14.99,15.19
$GC,1298,-0.88,-92.5,2469,3214,3073,3083,192.4,-12.2,232,1305,0.00,2.30,0.00,0.000,3078,0.000,0.045,2470,1812,3078,3073,3083,0,0,0,0,0,0,15.09,15.00,15.11
$GC,1370,-0.88,-92.5,2469,1811,3074,3083,200.5,-11.8,245,1377,0.00,2.33,0.00,0.000,2308,0.000,0.054,2462,3215,3078,3074,3083,0,0,0,0,0,0,15.20,14.99,15.21
$GC,1413,-0.88,-92.5,2461,3215,3074,3083,206.1,-12.4,253,1420,0.00,2.30,0.00,0.000,3078,0.000,0.044,2462,1811,3078,3074,3082,0,0,0,0,0,0,15.09,15.01,15.11
$GC,1485,-0.88,-92.5,2461,1811,3074,3082,215.5,-14.3,266,1493,0.00,2.35,0.00,0.000,2564,0.000,0.062,2462,408,3078,3074,3082,0,0,0,0,0,0,15.23,14.94,15.23
$GC,1505,-0.88,-92.5,2461,408,3074,3082,218.3,-13.3,269,1512,0.03,2.28,0.00,0.000,3078,0.532,0.037,2468,1811,3078,3074,3082,0,0,0,0,0,0,14.77,14.95,14.97
$GC,1576,-0.88,-92.5,2467,1814,3074,3082,228.2,-13.6,282,1583,0.00,2.30,0.00,0.000,2308,0.000,0.051,2461,3217,3078,3074,3082,0,0,0,0,0,0,15.23,14.98,15.23
$GC,1607,-0.88,-92.5,2460,3216,3074,3081,232.1,-13.0,287,1613,0.00,2.33,0.00,0.000,3078,0.000,0.045,2460,1805,3078,3074,3082,0,0,0,0,0,0,15.11,15.01,15.11
$GC,1680,-0.88,-92.5,2460,1805,3074,3079,241.6,-13.7,300,1686,0.03,0.00,0.00,0.000,2054,0.513,0.000,2469,1804,3077,3074,3081,0,0,0,0,0,0,14.89,15.08,15.05
$GC,1749,-0.88,-92.5,2469,1804,3074,3081,251.3,-14.9,313,1756,0.00,2.35,0.00,0.000,2564,0.000,0.063,2469,408,3078,3076,3080,0,0,0,0,0,0,15.23,15.00,15.23
$GC,1787,-0.88,-92.5,2469,408,3073,3081,257.8,-17.3,320,1794,0.00,2.30,0.00,0.000,3078,0.000,0.037,2464,1820,3077,3074,3081,0,0,0,0,0,0,15.11,15.03,15.13
$GC,1857,-0.88,-92.5,2464,1823,3074,3082,268.8,-15.2,333,1864,0.00,2.33,0.00,0.000,2308,0.000,0.055,2464,3222,3077,3074,3080,0,0,0,0,0,0,15.24,15.01,15.24
$GC,1912,-0.88,-92.5,2464,3223,3073,3080,276.8,-14.2,343,1919,0.00,2.33,0.00,0.000,3078,0.000,0.045,2464,1807,3076,3073,3080,0,0,0,0,0,0,15.11,15.02,15.13
$GC,1983,-0.88,-92.5,2464,1806,3074,3080,287.0,-14.4,356,1989,0.00,0.00,0.00,0.000,2054,0.000,0.000,2468,1807,3077,3074,3080,0,0,0,0,0,0,15.24,15.25,15.25
$GC,2053,-0.88,-92.5,2464,1807,3074,3080,297.1,-15.0,369,2060,0.00,2.35,0.00,0.000,2308,0.000,0.053,2455,3224,3077,3074,3080,0,0,0,0,0,0,15.25,15.02,15.25
$GC,2121,-0.88,-92.5,2455,3225,3073,3080,306.5,-13.9,375,2127,0.08,2.33,0.00,0.000,3078,0.265,0.047,2470,1805,3077,3074,3080,0,0,0,0,0,0,14.92,15.03,15.07
$GC,2262,-0.88,-92.5,2470,1805,3074,3080,326.0,-13.9,382,2267,0.00,2.35,0.00,0.000,2308,0.000,0.054,2463,3221,3076,3073,3079,0,0,0,0,0,0,15.26,15.04,15.26
$GC,2305,-0.88,-92.5,2463,3221,3073,3078,331.8,-13.5,384,2310,0.00,2.33,0.00,0.000,3078,0.000,0.046,2463,1804,3076,3074,3078,0,0,0,0,0,0,15.15,15.06,15.16
$GC,2449,-0.88,-92.5,2463,1800,3073,3077,351.6,-14.0,391,2454,0.00,2.35,0.00,0.000,2564,0.000,0.066,2463,402,3074,3073,3076,0,0,0,0,0,0,15.28,15.04,15.28
$GC,2475,-0.88,-92.5,2463,402,3073,3076,355.2,-14.2,392,2481,0.00,2.28,0.00,0.000,3078,0.000,0.040,2457,1811,3074,3073,3076,0,0,0,0,0,0,15.16,15.07,15.17
$GC,2613,-0.88,-92.5,2460,1813,3073,3075,374.6,-13.3,399,2619,0.00,2.33,0.00,0.000,2308,0.000,0.057,2461,3222,3075,3074,3076,0,0,0,0,0,0,15.30,15.07,15.30
$GC,2681,-0.88,-92.5,2460,3222,3073,3076,382.6,-12.6,402,2687,0.00,2.33,0.00,0.000,3078,0.000,0.047,2461,1808,3074,3073,3075,0,0,0,0,0,0,15.16,15.07,15.18
$GC,2820,-0.88,-92.5,2460,1808,3073,3074,400.9,-13.4,409,2825,0.00,2.35,0.00,0.000,2564,0.000,0.067,2460,409,3073,3072,3074,0,0,0,0,0,0,15.29,15.05,15.30
$GC,2875,-0.88,-92.5,2460,409,3072,3074,407.0,-13.9,411,2881,0.05,2.28,0.00,0.000,3078,0.356,0.040,2470,1814,3073,3072,3074,0,0,0,0,0,0,14.91,15.09,15.11
$GC,3009,-0.88,-92.5,2470,1816,3072,3073,425.7,-12.3,418,3014,0.00,2.30,0.00,0.000,2308,0.000,0.053,2459,3221,3072,3072,3073,0,0,0,0,0,0,15.29,15.07,15.30
$STATE,3070,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3070,begin apogee
$GC,3077,-0.17,0.0,2463,1801,3072,3073,433.7,-12.6,421,3154,1.20,0.00,70.65,1.307,10246,0.164,0.000,2698,1801,2698,2715,2682,0,0,0,0,0,0,14.96,14.69,14.18
$STATE,3155,end apogee,CONTROL_FINISHED_OK
$STATE,3155,begin climb
$GC,3157,0.88,92.5,2698,1801,2715,2681,436.7,0.0,425,3244,1.52,2.50,75.85,1.317,10756,0.073,0.069,3033,400,2322,2342,2303,0,0,0,0,0,0,14.69,14.46,13.98
$GC,3267,1.00,187.0,3033,401,2341,2299,433.7,3.2,430,3353,0.12,2.35,76.35,1.292,11270,0.133,0.037,3074,1815,1934,1968,1901,0,0,0,0,0,0,14.61,14.62,13.92
$GC,3481,1.00,187.0,3074,1815,1963,1897,393.1,22.6,441,3486,0.00,2.30,0.00,0.000,260,0.000,0.049,3075,3200,1930,1963,1897,0,0,0,0,0,0,14.95,14.76,14.97
$GC,3523,1.00,187.0,3074,3200,1961,1897,383.7,22.8,443,3528,0.00,2.38,0.00,0.000,1030,0.000,0.054,3080,1798,1929,1961,1897,0,0,0,0,0,0,14.88,14.80,14.90
$GC,3666,1.00,187.0,3079,1798,1959,1894,353.0,21.4,450,3671,0.00,2.35,0.00,0.000,260,0.000,0.050,3080,3206,1926,1959,1894,0,0,0,0,0,0,15.11,14.90,15.11
$GC,3682,1.00,187.0,3080,3206,1959,1894,353.0,21.4,450,3690,0.00,2.35,0.00,0.000,5126,0.000,0.052,3087,1801,1926,1958,1894,0,0,0,0,0,0,15.00,14.90,15.01
$GC,3808,1.00,187.0,3087,1801,1957,1893,322.3,21.4,457,3810,0.00,0.00,0.00,0.000,4102,0.000,0.000,3087,1801,1925,1957,1894,0,0,0,0,0,0,15.16,15.16,15.16
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$STATE,5679,end climb,SURFACE_DEPTH_REACHED
$STATE,5679,begin surface coast
$FINISH,0.2,1.023762
$STATE,5697,end surface coast,CONTROL_FINISHED_OK
$STATE,5697,begin surface
$SM_CCo,5719,151.70,0.800,0,0,599,515.37
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$TT8_MAMPS,0.021721,0.817159
$HUMID,43.62
$INTERNAL_PRESSURE,9.48811
$TCM_TEMP,21.40
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,407.0,35.4
$SC_FREEKB,3835360
$24V_AH,13.85,70.972
$10V_AH,13.37,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,31.325,153.875,280.750,151.700,0.000,26.127,39.395,329.208,22.500,0.000,40.529,2049.161,1596.263,725.911,1961.145,203.661,0.000,1533.621,0.000,1337.688,0.000,114.575,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5770.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,24.846,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,20044,794
$CAP_FILE_SIZE,177203,0
$CFSIZE,2097086464,2062778368
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,320.17,0x2131c2,0,24
$INTR,1,682.14,0x2131ca,0,24
$CURRENT,0.182,142.65,1
$GPS,280319,040801,-3002.273,3111.323,8,0.9,38,-25.1,0.0,216.4,10,4.9