version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 82
start: 3 21 119 0 57 53
data:
$ID,574
$MISSION,3
$DIVE,82
$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,33
$R_STBD_OVSHOOT,38
$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
$GPS1,210319,004756,-2951.8123,3113.0146,7,1.1,17,-24.9,0.4,239.1,8,9.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-67.8
$GPS2,210319,005730,-2951.7231,3113.0723,6,1.0,21,-24.9,0.4,19.1,8,9.8
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-2943.750,3121.460
$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,67.3,20000,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.88,-92.5,60,1812,628,546,0.0,0.0,0,112,0.00,0.00,-90.18,0.000,16386,0.000,0.000,55,1813,2980,2953,3008,0,0,0,0,0,0,15.09,28.83,15.11
$GC,115,-0.88,-92.5,55,1812,2952,3008,3.4,-7.8,16,141,13.80,2.35,-1.75,0.000,19204,0.292,0.068,2458,3223,3078,3066,3091,0,0,0,0,0,0,14.77,14.00,14.97
$GC,399,-0.88,-92.5,2458,3223,3070,3088,62.0,-11.7,71,407,0.08,2.33,0.00,0.000,3078,0.274,0.044,2473,1804,3079,3072,3086,0,0,0,0,0,0,14.87,14.96,15.00
$GC,470,-0.88,-92.5,2472,1802,3073,3086,70.3,-12.9,84,476,0.00,2.35,0.00,0.000,2308,0.000,0.052,2463,3223,3079,3073,3086,0,0,0,0,0,0,15.21,14.99,15.21
$GC,570,-0.88,-92.5,2464,3223,3073,3086,84.8,-16.0,103,578,0.00,2.33,0.00,0.000,3078,0.000,0.044,2465,1803,3079,3072,3086,0,0,0,0,0,0,15.09,15.00,15.09
$GC,640,-0.88,-92.5,2465,1803,3073,3085,96.0,-15.9,116,647,0.00,2.33,0.00,0.000,2564,0.000,0.063,2465,409,3079,3073,3085,0,0,0,0,0,0,15.23,15.02,15.24
$GC,688,-0.88,-92.5,2464,409,3073,3085,104.1,-17.0,125,695,0.00,2.28,0.00,0.000,3078,0.000,0.037,2461,1817,3079,3073,3085,0,0,0,0,0,0,15.11,15.04,15.12
$GC,758,-0.88,-92.5,2459,1820,3075,3085,114.1,-13.3,138,764,0.03,0.00,0.00,0.000,2054,0.529,0.000,2469,1820,3079,3073,3085,0,0,0,0,0,0,14.91,15.09,15.07
$GC,827,-0.88,-92.5,2469,1821,3074,3085,121.8,-11.8,151,834,0.00,2.38,0.00,0.000,2564,0.000,0.063,2470,402,3078,3072,3085,0,0,0,0,0,0,15.23,15.02,15.23
$GC,867,-0.88,-92.5,2469,402,3082,3085,126.3,-11.8,158,874,0.00,2.28,0.00,0.000,3078,0.000,0.037,2470,1820,3079,3073,3085,0,0,0,0,0,0,15.13,15.05,15.14
$GC,936,-0.88,-92.5,2469,1816,3074,3085,134.3,-13.1,171,943,0.00,0.00,0.00,0.000,2054,0.000,0.000,2470,1816,3079,3074,3085,0,0,0,0,0,0,15.23,15.25,15.25
$GC,1006,-0.88,-92.5,2469,1816,3073,3084,143.6,-13.1,184,1011,0.00,0.00,0.00,0.000,2054,0.000,0.000,2467,1816,3079,3074,3085,0,0,0,0,0,0,15.24,15.24,15.24
$GC,1074,-0.88,-92.5,2469,1816,3074,3084,152.7,-12.4,197,1080,0.00,0.00,0.00,0.000,2054,0.000,0.000,2470,1816,3079,3074,3085,0,0,0,0,0,0,15.23,15.24,15.24
$GC,1148,-0.88,-92.5,2469,1816,3074,3084,162.0,-12.8,210,1154,0.00,2.30,0.00,0.000,2308,0.000,0.056,2470,3217,3078,3073,3084,0,0,0,0,0,0,15.23,15.04,15.24
$GC,1222,-0.88,-92.5,2469,3217,3074,3084,170.7,-12.1,224,1229,0.00,2.33,0.00,0.000,3078,0.000,0.046,2476,1807,3078,3074,3083,0,0,0,0,0,0,15.14,15.05,15.15
$GC,1290,-0.88,-92.5,2469,1807,3074,3083,178.9,-12.7,237,1296,0.00,0.00,0.00,0.000,2054,0.000,0.000,2470,1807,3078,3074,3083,0,0,0,0,0,0,15.25,15.26,15.25
$STATE,1342,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1342,begin apogee
$GC,1345,-0.17,0.0,2470,1805,3073,3082,185.7,-12.4,247,1421,1.12,0.00,67.65,0.985,10246,0.166,0.000,2694,1806,2702,2716,2688,0,0,0,0,0,0,14.92,14.66,14.33
$STATE,1424,end apogee,CONTROL_FINISHED_OK
$STATE,1424,begin climb
$GC,1425,0.88,92.5,2695,1806,2716,2688,188.0,0.0,260,1508,1.52,2.47,73.35,0.990,10756,0.080,0.063,3033,397,2321,2341,2302,0,0,0,0,0,0,14.74,14.54,14.12
$GC,1600,0.88,92.5,3033,398,2336,2299,176.2,11.8,291,1608,0.00,2.30,0.00,0.000,3078,0.000,0.035,3032,1809,2316,2335,2297,0,0,0,0,0,0,14.84,14.77,14.85
$GC,1670,0.88,92.5,3032,1809,2335,2295,168.7,10.4,304,1676,0.00,0.00,0.00,0.000,2054,0.000,0.000,3033,1809,2314,2334,2295,0,0,0,0,0,0,15.04,15.05,15.05
$GC,1737,0.88,92.5,3032,1808,2333,2294,161.6,10.1,317,1744,0.00,2.30,0.00,0.000,2308,0.000,0.052,3033,3212,2313,2333,2293,0,0,0,0,0,0,15.10,14.90,15.10
$GC,1806,0.88,92.5,3032,3206,2332,2294,154.2,11.6,330,1813,0.00,2.33,0.00,0.000,3078,0.000,0.048,3033,1802,2312,2331,2294,0,0,0,0,0,0,15.00,14.91,15.01
$GC,1875,0.88,92.5,3033,1802,2331,2293,146.7,10.2,343,1882,0.00,0.00,0.00,0.000,2054,0.000,0.000,3033,1802,2312,2331,2293,0,0,0,0,0,0,15.14,15.15,15.15
$GC,1944,0.89,101.8,3033,1802,2331,2293,140.3,9.3,356,1957,0.00,0.00,7.43,0.789,10246,0.000,0.000,3033,1802,2283,2304,2263,0,0,0,0,0,0,15.16,14.96,14.53
$GC,2019,0.89,101.8,3033,1802,2303,2263,133.0,10.2,370,2025,0.00,0.00,0.00,0.000,2054,0.000,0.000,3033,1802,2282,2303,2262,0,0,0,0,0,0,15.16,15.16,15.16
$GC,2087,0.90,108.7,3033,1802,2302,2262,126.2,9.5,383,2101,0.00,2.38,7.10,0.769,10756,0.000,0.069,3030,398,2256,2277,2235,0,0,0,0,0,0,15.19,14.85,14.50
$GC,2328,0.90,108.7,3033,398,2272,2233,97.8,10.3,430,2335,0.00,2.28,0.00,0.000,3078,0.000,0.037,3033,1814,2252,2273,2231,0,0,0,0,0,0,15.09,15.02,15.10
$GC,2398,0.93,133.1,3034,1815,2273,2230,91.3,8.2,443,2428,0.00,2.42,20.50,0.891,10756,0.000,0.067,3037,402,2153,2177,2130,0,0,0,0,0,0,15.20,14.88,14.49
$GC,2481,0.96,156.4,3036,402,2174,2127,84.5,8.3,458,2506,0.00,2.28,19.33,0.867,11270,0.000,0.037,3036,1802,2060,2089,2032,0,0,0,0,0,0,14.98,14.91,14.44
$GC,2568,0.96,156.4,3036,1802,2085,2028,76.1,11.0,474,2574,0.00,2.30,0.00,0.000,2308,0.000,0.053,3037,3195,2055,2083,2028,0,0,0,0,0,0,15.10,14.90,15.10
$GC,2751,0.96,156.4,3036,3195,2080,2027,54.1,11.8,510,2758,0.00,2.33,0.00,0.000,3078,0.000,0.050,3037,1801,2053,2080,2026,0,0,0,0,0,0,15.01,14.92,15.02
$GC,2820,0.97,161.7,3037,1801,2080,2026,46.9,9.6,523,2829,0.05,0.00,4.38,0.568,10246,0.270,0.000,3060,1800,2040,2068,2013,0,0,0,0,0,0,14.92,14.97,14.53
$GC,2891,0.97,167.2,3060,1800,2067,2012,40.3,9.6,536,2904,0.00,2.33,6.18,0.658,10500,0.000,0.050,3060,3205,2015,2043,1988,0,0,0,0,0,0,15.16,14.84,14.50
$GC,2997,1.04,221.2,3060,3204,2042,1988,31.9,6.1,556,3045,0.03,2.33,41.78,0.845,11270,0.451,0.049,3082,1800,1795,1827,1764,0,0,0,0,0,0,14.85,14.96,14.42
$GC,3108,1.04,221.2,3083,1800,1826,1760,20.9,11.9,576,3114,0.00,2.40,0.00,0.000,2564,0.000,0.070,3084,399,1793,1826,1760,0,0,0,0,0,0,15.07,14.85,15.07
$GC,3206,1.04,221.2,3084,399,1822,1757,8.7,10.1,595,3213,0.00,2.28,0.00,0.000,3078,0.000,0.038,3084,1798,1789,1822,1756,0,0,0,0,0,0,14.97,14.89,14.97
$STATE,3254,end climb,SURFACE_DEPTH_REACHED
$STATE,3254,begin surface coast
$FINISH,0.8,1.023982
$STATE,3275,end surface coast,CONTROL_FINISHED_OK
$STATE,3275,begin surface
$SM_CCo,3297,175.30,0.795,0,0,599,515.37
$SM_GC,0.68,13.80,0.00,175.30,0.054,0.000,0.795,126,1799,599,-8.17,-0.37,515.37,0,0,0,0,0,0,14.96,15.16,14.23
$IRIDIUM_FIX,-2937.63,3111.88,210319,005024
$TT8_MAMPS,0.020972,0.849366
$HUMID,42.20
$INTERNAL_PRESSURE,9.50764
$TCM_TEMP,21.50
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,160.2,35.2
$SC_FREEKB,3880416
$24V_AH,14.00,50.527
$10V_AH,14.02,0.000
$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,30.425,55.925,247.675,175.300,0.000,51.080,65.271,217.068,10.750,0.000,22.799,1386.083,606.013,578.835,1395.028,92.236,0.000,1116.210,0.000,919.946,0.000,39.020,0.000
$DEVICE_MAMPS,528.615,70.380,989.910,794.835,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3323.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.479,0.000,0.000,0.000
$MEM,340928
$DATA_FILE_SIZE,16737,608
$CAP_FILE_SIZE,109549,0
$CFSIZE,2097086464,2079621120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.110,68.49,1
$GPS,210319,015701,-2951.483,3113.556,7,0.8,38,-24.9,0.5,35.2,11,6.7