version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 83
start: 3 21 119 2 5 8
data:
$ID,574
$MISSION,3
$DIVE,83
$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,35
$R_STBD_OVSHOOT,48
$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
$GPS1,210319,015701,-2951.4834,3113.5564,7,0.8,38,-24.9,0.5,35.2,11,6.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-63.7
$GPS2,210319,020446,-2951.4233,3113.6167,6,0.8,12,-24.9,0.0,5.8,11,9.7
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-2947.463,3125.194
$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,93.4,20000,-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,-92.5,83,1803,626,551,0.0,0.0,0,109,0.00,0.00,-86.50,0.000,16386,0.000,0.000,73,1804,2848,2821,2876,0,0,0,0,0,0,15.07,28.83,15.09
$GC,112,-0.88,-92.5,73,1804,2821,2878,3.2,-6.8,15,138,13.73,2.38,-4.30,0.000,18948,0.294,0.083,2467,401,3078,3070,3086,0,0,0,0,0,0,14.76,14.27,14.96
$GC,333,-0.88,-92.5,2466,400,3073,3086,55.8,-18.3,57,340,0.00,2.30,0.00,0.000,3078,0.000,0.039,2467,1812,3078,3072,3085,0,0,0,0,0,0,15.07,14.98,15.08
$GC,403,-0.88,-92.5,2466,1815,3074,3083,66.4,-12.1,70,410,0.00,2.33,0.00,0.000,2308,0.000,0.056,2466,3219,3078,3075,3082,0,0,0,0,0,0,15.19,14.98,15.19
$GC,482,-0.88,-92.5,2466,3219,3074,3082,76.5,-13.4,85,490,0.00,2.33,0.00,0.000,3078,0.000,0.044,2467,1807,3078,3075,3082,0,0,0,0,0,0,15.09,15.00,15.10
$GC,553,-0.88,-92.5,2466,1807,3076,3082,88.4,-19.8,98,560,0.00,2.35,0.00,0.000,2308,0.000,0.051,2458,3232,3078,3075,3081,0,0,0,0,0,0,15.21,15.01,15.21
$GC,577,-0.88,-92.5,2458,3232,3075,3082,92.4,-16.8,102,584,0.05,2.33,0.00,0.000,3078,0.319,0.045,2469,1813,3079,3076,3082,0,0,0,0,0,0,14.90,15.01,15.06
$GC,648,-0.88,-92.5,2469,1813,3076,3082,104.4,-15.5,115,655,0.00,0.00,0.00,0.000,2054,0.000,0.000,2469,1813,3079,3076,3082,0,0,0,0,0,0,15.21,15.22,15.21
$GC,717,-0.88,-92.5,2469,1812,3076,3082,113.9,-13.0,128,724,0.00,2.35,0.00,0.000,2308,0.000,0.053,2462,3225,3079,3077,3082,0,0,0,0,0,0,15.22,15.02,15.22
$GC,771,-0.88,-92.5,2462,3225,3076,3082,119.9,-11.3,138,779,0.00,2.33,0.00,0.000,3078,0.000,0.045,2462,1807,3079,3076,3082,0,0,0,0,0,0,15.11,15.03,15.13
$GC,841,-0.88,-92.5,2462,1807,3077,3082,128.0,-11.3,151,847,0.00,0.00,0.00,0.000,2054,0.000,0.000,2462,1807,3079,3076,3082,0,0,0,0,0,0,15.23,15.23,15.23
$GC,910,-0.88,-92.5,2462,1806,3077,3082,138.1,-14.0,164,917,0.00,2.33,0.00,0.000,2564,0.000,0.060,2461,408,3079,3076,3082,0,0,0,0,0,0,15.23,14.99,15.23
$GC,958,-0.88,-92.5,2462,408,3076,3082,146.1,-17.0,173,967,0.08,2.28,0.00,0.000,3078,0.296,0.037,2468,1819,3079,3076,3082,0,0,0,0,0,0,14.94,15.05,15.08
$GC,1030,-0.88,-92.5,2468,1821,3077,3081,157.0,-14.5,186,1037,0.00,2.30,0.00,0.000,2308,0.000,0.054,2462,3219,3079,3076,3082,0,0,0,0,0,0,15.23,15.00,15.23
$GC,1078,-0.88,-92.5,2462,3219,3076,3081,164.1,-13.7,195,1084,0.00,2.30,0.00,0.000,3078,0.000,0.045,2462,1811,3078,3076,3081,0,0,0,0,0,0,15.13,15.04,15.14
$GC,1147,-0.88,-92.5,2462,1812,3077,3081,173.2,-13.7,208,1153,0.00,2.33,0.00,0.000,2308,0.000,0.052,2454,3217,3079,3077,3081,0,0,0,0,0,0,15.24,15.04,15.24
$GC,1172,-0.88,-92.5,2453,3216,3076,3081,177.1,-14.4,212,1180,0.08,2.30,0.00,0.000,3078,0.269,0.045,2469,1813,3079,3077,3081,0,0,0,0,0,0,14.95,15.03,15.09
$GC,1241,-0.88,-92.5,2469,1812,3076,3081,186.0,-13.3,225,1249,0.00,2.33,0.00,0.000,2308,0.000,0.054,2462,3215,3078,3076,3081,0,0,0,0,0,0,15.24,15.04,15.25
$GC,1305,-0.88,-92.5,2462,3214,3075,3081,194.5,-13.3,237,1313,0.00,2.30,0.00,0.000,3078,0.000,0.046,2462,1813,3078,3077,3080,0,0,0,0,0,0,15.10,15.00,15.11
$STATE,1354,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1354,begin apogee
$GC,1357,-0.17,0.0,2462,1813,3077,3081,201.5,-14.9,246,1432,1.17,0.00,67.88,1.009,10246,0.171,0.000,2694,1811,2700,2715,2686,0,0,0,0,0,0,14.94,14.72,14.21
$STATE,1434,end apogee,CONTROL_FINISHED_OK
$STATE,1434,begin climb
$GC,1436,0.88,92.5,2694,1812,2715,2686,205.7,0.0,259,1516,1.55,0.00,73.80,1.014,10246,0.079,0.000,3031,1813,2323,2342,2304,0,0,0,0,0,0,14.74,14.58,14.16
$GC,1579,0.90,108.1,3035,1812,2339,2298,200.9,8.9,284,1597,0.00,0.00,12.95,0.910,10246,0.000,0.000,3031,1812,2260,2283,2238,0,0,0,0,0,0,14.94,14.62,14.27
$GC,1658,0.90,108.1,3030,1813,2282,2237,192.7,10.8,299,1665,0.00,2.33,0.00,0.000,2308,0.000,0.050,3030,3204,2258,2280,2237,0,0,0,0,0,0,15.00,14.80,15.00
$GC,1767,0.90,108.1,3030,3204,2275,2236,179.0,12.7,320,1774,0.00,2.35,0.00,0.000,3078,0.000,0.049,3033,1799,2255,2275,2236,0,0,0,0,0,0,14.95,14.87,14.96
$GC,1836,0.90,108.1,3033,1800,2275,2236,171.1,11.1,333,1843,0.00,0.00,0.00,0.000,2054,0.000,0.000,3033,1799,2255,2275,2235,0,0,0,0,0,0,15.11,15.12,15.11
$GC,1906,0.90,108.1,3032,1799,2274,2236,164.0,10.0,346,1912,0.00,2.35,0.00,0.000,2308,0.000,0.051,3033,3213,2254,2274,2234,0,0,0,0,0,0,15.14,14.90,15.14
$GC,1994,0.90,108.1,3033,3213,2271,2234,155.2,10.1,363,2001,0.00,2.35,0.00,0.000,3078,0.000,0.049,3037,1798,2253,2273,2234,0,0,0,0,0,0,15.06,14.97,15.07
$GC,2063,0.90,108.1,3036,1798,2273,2234,146.7,12.7,376,2070,0.00,2.40,0.00,0.000,2564,0.000,0.073,3037,388,2252,2272,2233,0,0,0,0,0,0,15.18,14.96,15.19
$GC,2106,0.90,108.1,3036,388,2271,2233,140.9,12.8,384,2113,0.00,2.30,0.00,0.000,3078,0.000,0.036,3037,1818,2252,2271,2233,0,0,0,0,0,0,15.02,14.96,15.04
$GC,2175,0.90,108.1,3036,1819,2271,2233,132.9,11.6,397,2183,0.00,2.42,0.00,0.000,2564,0.000,0.069,3037,388,2251,2270,2233,0,0,0,0,0,0,15.19,14.94,15.19
$GC,2209,0.90,108.1,3037,388,2270,2233,128.9,12.4,403,2216,0.00,2.28,0.00,0.000,3078,0.000,0.036,3037,1802,2251,2270,2232,0,0,0,0,0,0,15.09,15.02,15.10
$GC,2278,0.90,108.1,3037,1803,2270,2232,121.0,10.8,416,2285,0.00,2.28,0.00,0.000,2308,0.000,0.050,3037,3198,2250,2269,2232,0,0,0,0,0,0,15.21,15.00,15.21
$GC,2342,0.90,108.1,3036,3198,2270,2232,113.3,11.4,428,2349,0.00,2.33,0.00,0.000,3078,0.000,0.049,3040,1798,2250,2269,2231,0,0,0,0,0,0,15.08,14.99,15.09
$GC,2411,0.90,108.4,3039,1797,2269,2231,106.6,10.0,441,2418,0.00,2.30,0.00,0.000,2308,0.000,0.050,3040,3197,2250,2269,2231,0,0,0,0,0,0,15.21,14.97,15.21
$GC,2424,0.90,108.4,3039,3197,2270,2231,105.1,10.1,443,2431,0.00,2.33,0.00,0.000,3078,0.000,0.050,3037,1796,2250,2269,2231,0,0,0,0,0,0,15.11,15.02,15.12
$GC,2493,0.90,108.4,3040,1796,2269,2231,97.8,10.5,456,2499,0.00,0.00,0.00,0.000,2054,0.000,0.000,3040,1796,2250,2269,2231,0,0,0,0,0,0,15.22,15.22,15.22
$GC,2561,0.90,108.4,3044,1796,2269,2230,90.6,11.0,469,2568,0.00,2.30,0.00,0.000,2308,0.000,0.050,3040,3195,2249,2268,2230,0,0,0,0,0,0,15.21,14.97,15.22
$GC,2585,0.90,108.4,3040,3195,2268,2230,88.1,10.4,473,2592,0.00,2.33,0.00,0.000,3078,0.000,0.050,3040,1792,2249,2268,2230,0,0,0,0,0,0,15.11,15.02,15.13
$GC,2655,0.93,135.6,3040,1788,2268,2230,82.3,8.0,486,2685,0.00,2.38,21.83,0.899,10756,0.000,0.070,3040,388,2145,2168,2123,0,0,0,0,0,0,15.22,14.89,14.53
$GC,2702,0.96,159.8,3040,387,2166,2123,78.7,8.2,494,2732,0.00,2.30,20.55,0.872,11270,0.000,0.037,3040,1805,2045,2071,2020,0,0,0,0,0,0,15.00,14.93,14.45
$GC,2793,0.96,159.8,3040,1805,2068,2017,69.4,13.5,511,2800,0.00,2.33,0.00,0.000,2308,0.000,0.055,3040,3201,2041,2067,2016,0,0,0,0,0,0,15.09,14.89,15.09
$GC,2917,0.99,178.7,3040,3201,2066,2015,55.8,8.6,535,2937,0.08,2.35,15.00,0.835,11270,0.203,0.050,3068,1792,1972,2000,1944,0,0,0,0,0,0,14.90,14.92,14.40
$GC,3000,0.99,178.7,3068,1792,1996,1941,47.5,11.4,550,3006,0.00,2.35,0.00,0.000,2308,0.000,0.050,3068,3204,1968,1996,1940,0,0,0,0,0,0,15.11,14.92,15.11
$GC,3033,1.00,191.6,3068,3205,1995,1940,44.1,9.0,556,3053,0.00,2.35,10.75,0.783,11270,0.000,0.050,3071,1799,1918,1947,1889,0,0,0,0,0,0,15.02,14.93,14.43
$GC,3114,1.00,191.6,3071,1800,1946,1888,35.4,13.5,571,3120,0.00,2.33,0.00,0.000,2308,0.000,0.053,3071,3192,1916,1946,1887,0,0,0,0,0,0,15.11,14.92,15.11
$GC,3147,1.00,191.6,3070,3193,1945,1888,31.0,12.2,577,3155,0.00,2.35,0.00,0.000,3078,0.000,0.054,3073,1800,1916,1945,1887,0,0,0,0,0,0,15.00,14.90,15.00
$GC,3218,1.00,191.6,3073,1799,1945,1887,23.0,10.8,590,3224,0.00,2.40,0.00,0.000,2564,0.000,0.071,3073,394,1915,1944,1887,0,0,0,0,0,0,15.15,14.93,15.15
$GC,3325,1.00,191.6,3073,394,1941,1886,12.0,10.8,611,3332,0.00,2.28,0.00,0.000,3078,0.000,0.037,3074,1799,1913,1941,1886,0,0,0,0,0,0,15.04,15.00,15.04
$GC,3395,1.04,223.3,3073,1802,1942,1885,6.7,7.7,624,3419,0.00,2.35,18.17,0.834,10500,0.000,0.050,3073,3200,1786,1817,1755,0,0,0,0,0,0,15.18,14.90,14.47
$STATE,3430,end climb,SURFACE_DEPTH_REACHED
$STATE,3430,begin surface coast
$FINISH,-0.0,1.024023
$STATE,3456,end surface coast,CONTROL_FINISHED_OK
$STATE,3456,begin surface
$SM_CCo,3479,175.45,0.796,0,0,597,515.37
$SM_GC,0.73,13.75,2.35,175.45,0.051,0.048,0.796,124,1811,597,-8.18,1.10,515.37,0,0,0,0,0,0,14.95,14.94,14.23
$IRIDIUM_FIX,-2940.11,3113.17,210319,005240
$TT8_MAMPS,0.021721,0.895804
$HUMID,42.04
$INTERNAL_PRESSURE,9.49787
$TCM_TEMP,21.50
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,175.1,36.3
$SC_FREEKB,3879904
$24V_AH,14.16,50.712
$10V_AH,13.95,0.000
$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,30.475,97.850,240.925,175.450,0.000,24.585,38.153,224.093,11.500,0.000,13.355,1464.220,547.475,625.956,1389.198,105.095,0.000,1211.513,0.000,959.889,0.000,43.581,0.000
$DEVICE_MAMPS,319.005,83.385,1014.390,795.600,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3508.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.769,0.000,0.000,0.000
$MEM,340864
$DATA_FILE_SIZE,16753,635
$CAP_FILE_SIZE,124536,0
$CFSIZE,2097086464,2079457280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.103,102.71,1
$GPS,210319,030659,-2951.331,3114.188,8,1.0,18,-24.9,0.6,42.8,8,9.5