version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 81
start: 3 20 119 23 54 9
data:
$ID,574
$MISSION,3
$DIVE,81
$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,0
$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,34
$R_STBD_OVSHOOT,55
$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
$GPS1,200319,234655,-2951.7905,3112.6497,7,0.9,38,-24.9,0.9,33.3,9,5.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-64.2
$GPS2,200319,235347,-2951.7407,3112.6953,6,0.9,15,-24.9,0.5,87.7,9,9.6
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-2956.268,3124.009
$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,139.7,20000,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,19,-0.88,-92.5,74,1818,628,547,0.0,0.0,0,111,0.00,0.00,-88.90,0.000,16386,0.000,0.000,68,1818,2960,2934,2986,0,0,0,0,0,0,15.08,28.83,15.09
$GC,114,-0.88,-92.5,68,1818,2934,2986,3.6,-6.7,16,140,13.73,2.33,-2.12,0.000,18692,0.292,0.071,2458,3208,3081,3071,3091,0,0,0,0,0,0,14.74,14.01,14.95
$GC,328,-0.88,-92.5,2458,3208,3072,3088,51.8,-15.0,57,336,0.08,2.30,0.00,0.000,3078,0.271,0.046,2473,1807,3080,3073,3087,0,0,0,0,0,0,14.89,14.98,15.02
$GC,398,-0.88,-92.5,2472,1807,3074,3086,60.3,-9.8,70,405,0.00,2.33,0.00,0.000,2308,0.000,0.052,2465,3212,3080,3074,3086,0,0,0,0,0,0,15.18,15.00,15.19
$GC,492,-0.88,-92.5,2465,3213,3071,3086,71.8,-13.3,88,499,0.00,2.30,0.00,0.000,3078,0.000,0.044,2465,1804,3080,3075,3086,0,0,0,0,0,0,15.09,15.01,15.11
$GC,561,-0.88,-92.5,2464,1804,3076,3086,81.3,-14.3,101,568,0.00,2.33,0.00,0.000,2308,0.000,0.050,2456,3213,3081,3076,3086,0,0,0,0,0,0,15.21,15.01,15.22
$GC,615,-0.88,-92.5,2456,3213,3076,3086,88.5,-12.0,111,623,0.08,2.30,0.00,0.000,3078,0.267,0.047,2472,1813,3081,3076,3086,0,0,0,0,0,0,14.92,15.00,15.04
$GC,685,-0.88,-92.5,2471,1813,3076,3086,97.0,-12.0,124,690,0.00,0.00,0.00,0.000,2054,0.000,0.000,2472,1813,3081,3077,3085,0,0,0,0,0,0,15.22,15.22,15.22
$GC,754,-0.88,-92.5,2471,1813,3076,3086,106.6,-13.4,137,761,0.00,2.35,0.00,0.000,2564,0.000,0.063,2472,404,3081,3077,3086,0,0,0,0,0,0,15.22,14.97,15.23
$GC,804,-0.88,-92.5,2472,403,3076,3085,114.1,-14.8,146,811,0.00,2.25,0.00,0.000,3078,0.000,0.037,2469,1800,3080,3076,3085,0,0,0,0,0,0,15.07,15.04,15.08
$GC,875,-0.88,-92.5,2471,1803,3077,3085,123.2,-10.7,159,880,0.00,0.00,0.00,0.000,2054,0.000,0.000,2471,1803,3081,3077,3085,0,0,0,0,0,0,15.23,15.23,15.23
$GC,944,-0.88,-92.5,2471,1803,3077,3085,130.4,-13.2,172,951,0.00,2.33,0.00,0.000,2564,0.000,0.060,2471,406,3081,3077,3085,0,0,0,0,0,0,15.23,14.98,15.24
$GC,1013,-0.88,-92.5,2470,407,3077,3085,142.2,-17.6,185,1020,0.00,2.30,0.00,0.000,3078,0.000,0.040,2470,1819,3080,3077,3084,0,0,0,0,0,0,15.13,15.05,15.14
$GC,1084,-0.88,-92.5,2470,1821,3077,3085,152.7,-13.7,198,1090,0.00,0.00,0.00,0.000,2054,0.000,0.000,2470,1821,3081,3077,3085,0,0,0,0,0,0,15.23,15.24,15.23
$GC,1152,-0.88,-92.5,2470,1821,3077,3085,161.9,-12.6,211,1159,0.00,2.30,0.00,0.000,2308,0.000,0.054,2461,3226,3079,3077,3082,0,0,0,0,0,0,15.24,15.04,15.25
$STATE,1210,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1210,begin apogee
$GC,1216,-0.17,0.0,2461,1800,3077,3084,168.7,-11.3,222,1291,1.20,0.00,68.45,0.968,10246,0.167,0.000,2698,1800,2699,2712,2686,0,0,0,0,0,0,14.92,14.73,14.31
$STATE,1294,end apogee,CONTROL_FINISHED_OK
$STATE,1294,begin climb
$GC,1295,0.88,92.5,2699,1800,2712,2686,170.8,0.0,235,1376,1.50,0.00,72.50,0.969,10246,0.080,0.000,3027,1800,2322,2342,2302,0,0,0,0,0,0,14.74,14.50,14.19
$GC,1438,0.88,92.5,3027,1800,2338,2298,160.4,11.5,260,1444,0.00,2.38,0.00,0.000,2308,0.000,0.050,3027,3213,2317,2337,2297,0,0,0,0,0,0,14.94,14.75,14.94
$GC,1477,0.88,92.5,3027,3213,2334,2296,155.6,11.1,267,1483,0.00,2.38,0.00,0.000,3078,0.000,0.046,3030,1793,2315,2334,2297,0,0,0,0,0,0,14.87,14.78,14.88
$GC,1545,0.88,92.5,3030,1793,2333,2297,148.5,10.1,280,1552,0.00,2.35,0.00,0.000,2308,0.000,0.050,3030,3209,2314,2333,2296,0,0,0,0,0,0,15.05,14.82,15.05
$GC,1599,0.89,97.9,3030,3209,2332,2296,143.4,9.6,290,1613,0.00,2.35,4.50,0.640,11270,0.000,0.050,3033,1800,2300,2319,2282,0,0,0,0,0,0,14.98,14.90,14.45
$GC,1675,0.89,104.5,3033,1800,2319,2281,136.5,9.5,304,1688,0.00,2.45,7.03,0.751,10756,0.000,0.067,3033,393,2273,2292,2254,0,0,0,0,0,0,15.11,14.88,14.42
$GC,1769,0.89,104.5,3033,392,2290,2253,128.2,10.6,322,1777,0.00,2.30,0.00,0.000,3078,0.000,0.036,3033,1818,2271,2289,2253,0,0,0,0,0,0,15.02,14.95,15.04
$GC,1841,0.94,140.2,3033,1818,2290,2252,122.9,7.4,335,1877,0.00,2.45,29.45,0.913,10756,0.000,0.067,3033,389,2124,2147,2102,0,0,0,0,0,0,15.15,14.75,14.42
$GC,1939,0.94,140.2,3033,389,2144,2099,113.4,12.7,353,1946,0.00,2.30,0.00,0.000,3078,0.000,0.037,3033,1803,2121,2144,2098,0,0,0,0,0,0,14.97,14.90,14.99
$GC,2008,0.94,140.2,3033,1805,2143,2096,103.9,15.7,366,2015,0.00,2.40,0.00,0.000,2564,0.000,0.068,3033,391,2119,2143,2095,0,0,0,0,0,0,15.11,14.90,15.11
$GC,2032,0.94,140.2,3034,391,2143,2095,100.0,16.0,370,2039,0.00,2.30,0.00,0.000,3078,0.000,0.036,3033,1813,2119,2143,2095,0,0,0,0,0,0,15.00,14.92,15.01
$GC,2102,0.94,140.2,3033,1813,2142,2094,89.1,15.4,383,2109,0.00,2.40,0.00,0.000,2564,0.000,0.069,3033,399,2118,2143,2094,0,0,0,0,0,0,15.15,14.93,15.16
$GC,2130,0.94,140.2,3033,398,2141,2094,84.7,16.6,388,2137,0.00,2.28,0.00,0.000,3078,0.000,0.037,3033,1808,2117,2141,2094,0,0,0,0,0,0,15.00,14.93,15.01
$GC,2199,0.94,140.2,3033,1810,2141,2094,76.0,12.2,401,2206,0.00,2.28,0.00,0.000,2308,0.000,0.051,3033,3205,2116,2140,2093,0,0,0,0,0,0,15.16,14.97,15.17
$GC,2258,0.94,140.2,3033,3205,2139,2093,69.8,10.0,412,2265,0.00,2.35,0.00,0.000,3078,0.000,0.050,3034,1796,2116,2139,2093,0,0,0,0,0,0,15.07,14.99,15.09
$GC,2327,0.94,140.6,3036,1796,2139,2093,62.5,10.0,425,2334,0.00,2.33,0.00,0.000,2308,0.000,0.052,3037,3200,2115,2138,2093,0,0,0,0,0,0,15.19,14.99,15.20
$GC,2616,0.98,175.2,3037,3205,2136,2092,37.8,7.5,482,2649,0.08,2.33,26.40,0.842,11270,0.203,0.049,3066,1798,1985,2012,1958,0,0,0,0,0,0,14.97,15.01,14.47
$GC,2711,1.00,186.3,3065,1798,2009,1954,28.2,9.2,499,2729,0.00,2.35,9.60,0.731,10500,0.000,0.050,3065,3195,1938,1967,1909,0,0,0,0,0,0,15.14,14.87,14.51
$GC,2747,1.01,199.8,3065,3195,1966,1909,25.3,9.0,505,2761,0.00,2.33,8.45,0.894,11270,0.000,0.050,3074,1802,1884,1914,1855,0,0,0,0,0,0,14.98,14.92,14.39
$GC,2824,1.04,219.3,3072,1802,1913,1857,19.1,8.6,519,2842,0.00,2.40,11.60,0.884,10756,0.000,0.070,3074,398,1806,1837,1775,0,0,0,0,0,0,15.11,14.78,14.42
$STATE,2952,end climb,SURFACE_DEPTH_REACHED
$STATE,2952,begin surface coast
$FINISH,0.4,1.023952
$STATE,2973,end surface coast,CONTROL_FINISHED_OK
$STATE,2974,begin surface
$SM_CCo,2997,175.48,0.790,0,0,597,515.37
$SM_GC,0.77,13.62,2.35,175.48,0.042,0.040,0.790,120,1803,597,-8.18,-1.44,515.37,0,0,0,0,0,0,14.97,14.95,14.23
$IRIDIUM_FIX,-2940.11,3111.04,200319,225311
$TT8_MAMPS,0.021721,0.919023
$HUMID,41.96
$INTERNAL_PRESSURE,9.50764
$TCM_TEMP,21.50
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,145.5,32.7
$SC_FREEKB,3880928
$24V_AH,14.01,50.344
$10V_AH,14.01,0.000
$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,30.275,74.800,237.975,175.475,0.000,23.604,16.912,203.623,9.500,0.000,17.358,1259.545,472.104,574.745,1202.329,88.607,0.000,1074.529,0.000,831.283,0.000,34.470,0.000
$DEVICE_MAMPS,292.230,71.145,969.255,790.245,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3018.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.848,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,13439,548
$CAP_FILE_SIZE,104842,0
$CFSIZE,2097086464,2079784960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.057,42.41,1
$GPS,210319,004756,-2951.812,3113.015,7,1.1,17,-24.9,0.4,239.1,8,9.2