version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 84
start: 3 21 119 3 15 1
data:
$ID,574
$MISSION,3
$DIVE,84
$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,31
$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
$GPS1,210319,030659,-2951.3311,3114.1885,8,1.0,18,-24.9,0.6,42.8,8,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-65.1
$GPS2,210319,031438,-2951.2891,3114.2964,7,1.1,17,-24.9,0.0,107.1,8,9.9
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-2953.665,3126.448
$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,127.6,20000,-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,-92.5,60,1805,627,550,0.0,0.0,0,109,0.00,0.00,-87.10,0.000,16386,0.000,0.000,54,1805,2873,2848,2898,0,0,0,0,0,0,15.07,28.83,15.08
$GC,113,-0.88,-92.5,54,1805,2847,2898,3.3,-7.1,15,139,13.88,2.30,-3.85,0.000,18692,0.295,0.069,2459,3217,3079,3072,3086,0,0,0,0,0,0,14.71,13.99,14.90
$GC,481,-0.88,-92.5,2459,3218,3073,3086,75.8,-13.0,87,489,0.05,2.33,0.00,0.000,3078,0.321,0.046,2470,1805,3079,3074,3085,0,0,0,0,0,0,14.89,15.00,15.04
$GC,551,-0.88,-92.5,2469,1805,3076,3085,84.3,-12.4,100,558,0.00,2.35,0.00,0.000,2564,0.000,0.063,2470,402,3080,3076,3085,0,0,0,0,0,0,15.21,15.00,15.21
$GC,565,-0.88,-92.5,2470,402,3076,3085,86.1,-13.3,102,572,0.00,2.30,0.00,0.000,3078,0.000,0.037,2463,1817,3080,3076,3085,0,0,0,0,0,0,15.06,14.98,15.07
$GC,634,-0.88,-92.5,2462,1820,3077,3085,95.5,-13.8,115,641,0.00,2.30,0.00,0.000,2308,0.000,0.052,2456,3223,3080,3076,3085,0,0,0,0,0,0,15.20,14.96,15.20
$GC,713,-0.88,-92.5,2453,3223,3076,3084,108.2,-17.2,130,721,0.08,2.33,0.00,0.000,3078,0.268,0.046,2469,1804,3081,3077,3085,0,0,0,0,0,0,14.93,15.02,15.07
$GC,783,-0.88,-92.5,2469,1805,3077,3085,119.6,-15.4,143,789,0.00,0.00,0.00,0.000,2054,0.000,0.000,2469,1804,3081,3077,3085,0,0,0,0,0,0,15.22,15.23,15.23
$GC,851,-0.88,-92.5,2469,1804,3077,3085,128.5,-12.2,156,858,0.00,2.35,0.00,0.000,2564,0.000,0.064,2469,402,3080,3077,3084,0,0,0,0,0,0,15.23,15.00,15.23
$GC,880,-0.88,-92.5,2469,401,3078,3084,132.6,-14.3,161,887,0.00,2.30,0.00,0.000,3078,0.000,0.037,2468,1821,3080,3077,3084,0,0,0,0,0,0,15.07,15.00,15.08
$GC,950,-0.88,-92.5,2467,1824,3078,3084,143.0,-15.2,174,957,0.00,2.30,0.00,0.000,2308,0.000,0.054,2467,3217,3081,3079,3084,0,0,0,0,0,0,15.23,14.98,15.23
$GC,1009,-0.88,-92.5,2467,3217,3077,3084,152.0,-15.4,185,1017,0.00,2.30,0.00,0.000,3078,0.000,0.045,2467,1813,3080,3077,3084,0,0,0,0,0,0,15.07,14.98,15.07
$GC,1080,-0.88,-92.5,2467,1813,3078,3084,164.3,-18.0,198,1087,0.00,0.00,0.00,0.000,2054,0.000,0.000,2467,1813,3078,3077,3080,0,0,0,0,0,0,15.23,15.23,15.26
$GC,1151,-0.88,-92.5,2467,1812,3078,3083,177.3,-17.4,211,1156,0.00,0.00,0.00,0.000,2054,0.000,0.000,2467,1813,3081,3078,3084,0,0,0,0,0,0,15.23,15.24,15.23
$GC,1221,-0.88,-92.5,2467,1813,3078,3083,188.7,-14.7,224,1226,0.00,0.00,0.00,0.000,2054,0.000,0.000,2467,1813,3079,3076,3083,0,0,0,0,0,0,15.24,15.24,15.24
$GC,1288,-0.88,-92.5,2467,1813,3078,3083,199.3,-14.6,237,1297,0.00,0.00,0.00,0.000,2054,0.000,0.000,2467,1812,3080,3078,3083,0,0,0,0,0,0,15.23,15.23,15.23
$GC,1360,-0.88,-92.5,2467,1813,3076,3083,208.8,-12.5,250,1366,0.00,0.00,0.00,0.000,2054,0.000,0.000,2467,1812,3079,3077,3082,0,0,0,0,0,0,15.26,15.26,15.26
$GC,1428,-0.88,-92.5,2467,1812,3078,3082,218.3,-13.1,263,1434,0.00,2.33,0.00,0.000,2308,0.000,0.054,2467,3217,3079,3077,3082,0,0,0,0,0,0,15.26,15.05,15.26
$GC,1447,-0.88,-92.5,2467,3216,3077,3082,220.5,-12.3,266,1454,0.00,2.30,0.00,0.000,3078,0.000,0.047,2467,1814,3080,3078,3082,0,0,0,0,0,0,15.14,15.05,15.16
$GC,1517,-0.88,-92.5,2467,1814,3078,3082,230.4,-14.9,279,1522,0.00,0.00,0.00,0.000,2054,0.000,0.000,2467,1814,3079,3077,3082,0,0,0,0,0,0,15.26,15.26,15.26
$GC,1586,-0.88,-92.5,2466,1814,3078,3081,240.9,-14.7,292,1592,0.00,0.00,0.00,0.000,2054,0.000,0.000,2467,1814,3079,3078,3081,0,0,0,0,0,0,15.26,15.26,15.26
$GC,1653,-0.88,-92.5,2467,1814,3078,3081,250.0,-13.8,305,1659,0.00,0.00,0.00,0.000,2054,0.000,0.000,2467,1814,3079,3077,3081,0,0,0,0,0,0,15.26,15.27,15.28
$GC,1722,-0.88,-92.5,2468,1814,3077,3081,259.4,-13.3,318,1728,0.00,0.00,0.00,0.000,2054,0.000,0.000,2467,1814,3078,3077,3080,0,0,0,0,0,0,15.27,15.28,15.27
$STATE,1733,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1733,begin apogee
$GC,1736,-0.17,0.0,2467,1814,3077,3081,261.1,-13.9,320,1811,1.17,0.00,68.95,1.095,10246,0.170,0.000,2700,1814,2700,2715,2686,0,0,0,0,0,0,14.96,14.74,14.21
$STATE,1813,end apogee,CONTROL_FINISHED_OK
$STATE,1813,begin climb
$GC,1815,0.88,92.5,2700,1815,2714,2686,264.0,0.0,333,1896,1.50,0.00,74.88,1.095,10758,0.074,0.000,3031,1814,2322,2342,2302,0,0,0,0,0,0,14.73,14.52,14.09
$GC,1959,0.90,107.7,3030,1814,2338,2297,257.5,8.9,358,1977,0.00,0.00,12.70,0.974,10246,0.000,0.000,3030,1814,2260,2283,2238,0,0,0,0,0,0,14.92,14.59,14.24
$GC,2039,0.90,107.7,3028,1814,2282,2237,248.5,12.4,373,2045,0.00,0.00,0.00,0.000,2054,0.000,0.000,3031,1814,2259,2282,2237,0,0,0,0,0,0,14.98,15.00,15.00
$GC,2107,0.90,107.7,3030,1814,2280,2236,240.1,11.9,386,2114,0.00,2.33,0.00,0.000,2308,0.000,0.052,3029,3204,2258,2279,2237,0,0,0,0,0,0,15.06,14.85,15.06
$GC,2146,0.90,107.7,3030,3203,2277,2236,235.1,12.6,393,2153,0.00,2.35,0.00,0.000,3078,0.000,0.050,3033,1799,2256,2277,2236,0,0,0,0,0,0,14.97,14.88,14.98
$GC,2215,0.90,107.7,3033,1799,2277,2236,226.8,12.0,406,2223,0.00,2.40,0.00,0.000,2564,0.000,0.070,3033,395,2255,2275,2235,0,0,0,0,0,0,15.11,14.90,15.11
$GC,2286,0.90,107.7,3033,395,2274,2235,218.0,13.6,419,2292,0.00,2.30,0.00,0.000,3078,0.000,0.036,3033,1816,2254,2274,2235,0,0,0,0,0,0,15.04,14.97,15.05
$GC,2354,0.90,107.7,3033,1821,2274,2234,209.3,12.5,432,2361,0.00,2.45,0.00,0.000,2564,0.000,0.070,3033,387,2254,2274,2234,0,0,0,0,0,0,15.16,14.95,15.16
$GC,2424,0.90,107.7,3033,387,2273,2234,199.8,13.9,445,2430,0.00,2.30,0.00,0.000,3078,0.000,0.037,3033,1813,2253,2273,2234,0,0,0,0,0,0,15.08,15.01,15.09
$GC,2493,0.90,107.7,3033,1813,2272,2233,190.9,12.7,458,2500,0.00,2.40,0.00,0.000,2564,0.000,0.068,3037,392,2252,2272,2233,0,0,0,0,0,0,15.19,14.97,15.19
$GC,2523,0.90,107.7,3036,393,2272,2233,187.2,13.5,463,2529,0.00,2.28,0.00,0.000,3078,0.000,0.037,3037,1804,2252,2272,2233,0,0,0,0,0,0,15.09,15.01,15.10
$GC,2591,0.90,107.7,3036,1804,2272,2232,179.0,12.5,476,2598,0.00,2.40,0.00,0.000,2564,0.000,0.070,3037,388,2251,2271,2232,0,0,0,0,0,0,15.20,14.96,15.20
$GC,2651,0.90,107.7,3037,388,2270,2231,171.1,14.9,487,2657,0.00,2.28,0.00,0.000,3078,0.000,0.036,3037,1803,2251,2270,2232,0,0,0,0,0,0,15.05,15.00,15.07
$GC,2719,0.90,107.7,3035,1803,2271,2231,161.9,14.1,500,2726,0.00,2.38,0.00,0.000,2564,0.000,0.067,3037,392,2250,2270,2231,0,0,0,0,0,0,15.20,15.00,15.21
$GC,2768,0.90,107.7,3037,392,2269,2231,154.8,15.8,509,2775,0.00,2.28,0.00,0.000,3078,0.000,0.038,3037,1801,2250,2270,2231,0,0,0,0,0,0,15.11,15.04,15.11
$GC,2837,0.90,107.7,3037,1803,2270,2230,144.4,14.6,522,2843,0.00,0.00,0.00,0.000,2054,0.000,0.000,3037,1803,2250,2270,2230,0,0,0,0,0,0,15.21,15.22,15.22
$GC,2905,0.90,107.7,3037,1803,2270,2230,135.6,11.8,535,2912,0.00,2.38,0.00,0.000,2564,0.000,0.070,3040,395,2249,2270,2229,0,0,0,0,0,0,15.22,14.96,15.22
$GC,2949,0.90,107.7,3040,395,2269,2230,130.9,11.3,543,2956,0.00,2.28,0.00,0.000,3078,0.000,0.037,3040,1810,2248,2269,2227,0,0,0,0,0,0,15.11,15.04,15.12
$GC,3018,0.91,117.0,3039,1811,2269,2230,124.2,9.3,556,3031,0.00,2.33,7.50,0.815,10500,0.000,0.051,3040,3206,2222,2242,2203,0,0,0,0,0,0,15.24,14.96,14.52
$GC,3159,0.91,117.0,3039,3205,2240,2201,110.7,10.2,583,3165,0.00,2.35,0.00,0.000,3078,0.000,0.054,3040,1792,2220,2240,2201,0,0,0,0,0,0,15.09,15.00,15.11
$GC,3227,0.91,117.0,3040,1792,2240,2201,103.8,10.1,596,3234,0.00,2.40,0.00,0.000,2564,0.000,0.073,3040,388,2220,2240,2200,0,0,0,0,0,0,15.21,14.99,15.21
$GC,3296,0.91,117.0,3040,388,2238,2201,95.5,12.9,609,3303,0.00,2.30,0.00,0.000,3078,0.000,0.039,3040,1806,2219,2238,2200,0,0,0,0,0,0,15.08,15.01,15.09
$GC,3365,0.91,117.0,3040,1807,2238,2200,87.1,11.8,622,3373,0.00,2.30,0.00,0.000,2308,0.000,0.054,3040,3203,2219,2238,2200,0,0,0,0,0,0,15.21,14.97,15.21
$GC,3877,1.04,224.5,3040,3204,2236,2199,55.6,2.2,723,3971,0.15,2.33,82.18,0.912,11270,0.140,0.050,3088,1798,1784,1812,1756,0,0,0,0,0,0,15.02,15.01,14.31
$GC,4033,1.04,224.5,3087,1795,1810,1752,40.8,16.1,751,4039,0.00,2.35,0.00,0.000,2308,0.000,0.051,3088,3196,1780,1810,1751,0,0,0,0,0,0,15.00,14.81,15.00
$GC,4116,1.04,224.5,3087,3197,1807,1749,28.3,15.1,767,4123,0.00,2.38,0.00,0.000,1030,0.000,0.054,3090,1798,1778,1807,1749,0,0,0,0,0,0,14.92,14.84,14.93
$GC,4185,1.04,224.5,3090,1797,1807,1745,19.2,12.8,780,4192,0.00,2.40,0.00,0.000,516,0.000,0.073,3090,392,1776,1806,1746,0,0,0,0,0,0,15.09,14.82,15.10
$GC,4208,1.04,224.5,3090,392,1806,1745,16.0,13.3,784,4215,0.00,2.30,0.00,0.000,1030,0.000,0.040,3090,1793,1775,1805,1745,0,0,0,0,0,0,14.99,14.92,15.00
$GC,4277,1.04,224.5,3090,1796,1806,1744,7.0,11.8,797,4284,0.00,2.33,0.00,0.000,2308,0.000,0.051,3091,3209,1775,1805,1745,0,0,0,0,0,0,15.13,14.93,15.13
$STATE,4314,end climb,SURFACE_DEPTH_REACHED
$STATE,4314,begin surface coast
$FINISH,0.2,1.023912
$STATE,4336,end surface coast,CONTROL_FINISHED_OK
$STATE,4336,begin surface
$SM_CCo,4359,176.88,0.802,0,0,599,515.37
$SM_GC,0.85,13.80,2.38,176.88,0.050,0.049,0.802,127,1808,599,-8.17,0.93,515.37,0,0,0,0,0,0,14.96,14.95,14.22
$IRIDIUM_FIX,-2937.63,3113.17,210319,020417
$TT8_MAMPS,0.020972,0.843374
$HUMID,42.67
$INTERNAL_PRESSURE,9.48811
$TCM_TEMP,21.50
$XPDR_PINGS,18
$ALTIM_BOTTOM_PING,235.5,34.0
$SC_FREEKB,3879392
$24V_AH,13.99,50.914
$10V_AH,13.96,0.000
$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,30.625,88.675,246.200,176.875,0.000,23.360,19.891,234.314,14.250,0.000,19.097,1860.917,728.805,644.258,1652.909,117.823,0.000,1346.081,0.000,1217.329,0.000,61.838,0.000
$DEVICE_MAMPS,321.300,72.675,1095.480,802.485,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4389.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,32.671,0.000,0.000,0.000
$MEM,340928
$DATA_FILE_SIZE,20047,808
$CAP_FILE_SIZE,144328,0
$CFSIZE,2097086464,2079227904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.096,109.93,1
$GPS,210319,043155,-2951.500,3115.003,11,0.9,40,-24.9,1.1,8.1,10,7.3