version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 160
start: 3 27 119 11 8 54
data:
$ID,574
$MISSION,3
$DIVE,160
$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,323
$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,52
$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
$GPS1,270319,105926,-3005.3259,3101.9897,7,0.8,22,-25.1,1.0,332.4,9,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-67.0
$GPS2,270319,110831,-3005.2905,3102.1147,7,0.9,22,-25.1,0.0,109.7,8,9.2
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-2954.850,3105.300
$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,39.9,20000,-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,-92.5,64,1817,622,553,0.0,0.0,0,112,0.00,0.00,-88.53,0.000,16386,0.000,0.000,55,1817,3003,2978,3028,0,0,0,0,0,0,15.10,28.83,15.11
$GC,115,-0.88,-92.5,55,1817,2978,3028,4.0,-9.1,16,141,13.82,2.30,-1.27,0.000,18692,0.290,0.059,2458,3228,3080,3063,3097,0,0,0,0,0,0,14.76,13.93,14.97
$GC,198,-0.88,-92.5,2458,3228,3069,3092,32.2,-19.9,31,206,0.05,2.35,0.00,0.000,3078,0.330,0.046,2468,1802,3080,3071,3090,0,0,0,0,0,0,14.83,14.95,15.00
$GC,270,-0.88,-92.5,2468,1801,3072,3088,45.9,-17.0,44,276,0.00,2.35,0.00,0.000,2564,0.000,0.066,2469,408,3080,3072,3088,0,0,0,0,0,0,15.17,14.91,15.18
$GC,283,-0.88,-92.5,2469,408,3072,3088,48.4,-16.9,46,290,0.00,2.28,0.00,0.000,3078,0.000,0.035,2461,1817,3080,3073,3087,0,0,0,0,0,0,15.07,15.00,15.09
$GC,352,-0.88,-92.5,2461,1819,3073,3087,59.0,-16.9,59,360,0.00,2.33,0.00,0.000,2308,0.000,0.054,2461,3215,3080,3073,3087,0,0,0,0,0,0,15.19,14.98,15.20
$GC,708,-0.88,-92.5,2460,3216,3073,3087,113.8,-14.8,128,715,0.00,2.30,0.00,0.000,3078,0.000,0.047,2461,1812,3080,3073,3087,0,0,0,0,0,0,15.12,15.03,15.13
$GC,778,-0.88,-92.5,2460,1812,3073,3086,122.3,-12.8,141,785,0.00,2.35,0.00,0.000,2564,0.000,0.063,2461,405,3080,3073,3087,0,0,0,0,0,0,15.23,15.02,15.24
$GC,809,-0.88,-92.5,2460,405,3073,3086,126.7,-15.2,146,815,0.00,2.28,0.00,0.000,3078,0.000,0.034,2461,1825,3079,3073,3086,0,0,0,0,0,0,15.13,15.06,15.14
$GC,879,-0.88,-92.5,2460,1826,3073,3086,136.7,-13.5,159,886,0.00,0.00,0.00,0.000,2054,0.000,0.000,2461,1825,3080,3074,3086,0,0,0,0,0,0,15.23,15.24,15.24
$GC,949,-0.88,-92.5,2461,1825,3074,3086,146.5,-16.1,172,955,0.00,2.25,0.00,0.000,2308,0.000,0.049,2461,3208,3080,3074,3086,0,0,0,0,0,0,15.24,14.97,15.25
$GC,982,-0.88,-92.5,2460,3208,3073,3086,151.3,-13.8,178,989,0.00,2.28,0.00,0.000,3078,0.000,0.043,2461,1809,3080,3074,3086,0,0,0,0,0,0,15.13,15.04,15.14
$GC,1053,-0.88,-92.5,2460,1809,3074,3086,160.5,-14.5,191,1059,0.00,0.00,0.00,0.000,2054,0.000,0.000,2460,1808,3080,3074,3086,0,0,0,0,0,0,15.24,15.25,15.24
$GC,1123,-0.88,-92.5,2460,1808,3073,3086,172.0,-15.0,204,1130,0.03,2.30,0.00,0.000,2308,0.516,0.047,2460,3216,3078,3074,3083,0,0,0,0,0,0,14.90,15.04,15.09
$GC,1253,-0.88,-92.5,2460,3216,3074,3086,189.2,-12.8,229,1260,0.05,2.30,0.00,0.000,3078,0.324,0.044,2471,1804,3080,3074,3086,0,0,0,0,0,0,14.91,15.05,15.09
$GC,1323,-0.88,-92.5,2469,1804,3075,3086,197.7,-12.6,242,1329,0.00,2.33,0.00,0.000,2564,0.000,0.063,2471,410,3079,3074,3085,0,0,0,0,0,0,15.25,15.03,15.26
$GC,1377,-0.88,-92.5,2471,409,3074,3085,205.0,-13.7,252,1387,0.00,2.25,0.00,0.000,3078,0.000,0.037,2465,1808,3083,3074,3093,0,0,0,0,0,0,15.14,15.07,15.16
$GC,1449,-0.88,-92.5,2464,1809,3074,3085,214.9,-14.3,265,1456,0.00,2.30,0.00,0.000,2308,0.000,0.052,2456,3216,3079,3074,3085,0,0,0,0,0,0,15.27,15.05,15.26
$GC,1544,-0.88,-92.5,2454,3216,3074,3085,227.5,-12.8,283,1552,0.08,2.30,0.00,0.000,3078,0.262,0.044,2470,1813,3079,3074,3084,0,0,0,0,0,0,14.95,15.06,15.10
$GC,1618,-0.88,-92.5,2470,1813,3074,3085,237.2,-14.1,296,1624,0.00,0.00,0.00,0.000,2054,0.000,0.000,2470,1813,3078,3073,3084,0,0,0,0,0,0,15.28,15.28,15.28
$GC,1685,-0.88,-92.5,2470,1813,3074,3084,246.2,-13.8,309,1691,0.00,0.00,0.00,0.000,2054,0.000,0.000,2470,1813,3079,3074,3084,0,0,0,0,0,0,15.27,15.28,15.27
$GC,1753,-0.88,-92.5,2470,1814,3074,3083,255.4,-13.2,322,1758,0.00,0.00,0.00,0.000,2054,0.000,0.000,2470,1813,3078,3074,3083,0,0,0,0,0,0,15.27,15.28,15.28
$STATE,1764,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1764,begin apogee
$GC,1768,-0.17,0.0,2470,1813,3074,3083,257.0,-12.7,324,1843,1.12,0.00,68.85,1.068,10246,0.161,0.000,2697,1812,2699,2715,2684,0,0,0,0,0,0,14.95,14.78,14.33
$STATE,1846,end apogee,CONTROL_FINISHED_OK
$STATE,1846,begin climb
$GC,1847,0.88,92.5,2697,1813,2715,2683,259.7,0.0,337,1931,1.52,2.50,73.47,1.071,10756,0.070,0.063,3040,392,2322,2343,2302,0,0,0,0,0,0,14.76,14.55,14.19
$GC,1953,0.92,124.0,3039,392,2341,2300,256.0,7.7,354,1990,0.00,2.33,26.05,1.016,11270,0.000,0.034,3040,1805,2192,2218,2167,0,0,0,0,0,0,14.73,14.67,14.18
$GC,2052,0.92,124.0,3040,1806,2215,2164,244.0,13.8,372,2058,0.00,0.00,0.00,0.000,2054,0.000,0.000,3039,1806,2193,2222,2164,0,0,0,0,0,0,14.97,14.98,14.98
$GC,2119,0.92,124.0,3040,1806,2214,2163,234.7,13.3,385,2125,0.00,0.00,0.00,0.000,2054,0.000,0.000,3040,1806,2188,2214,2163,0,0,0,0,0,0,15.05,15.05,15.05
$GC,2187,0.92,124.0,3044,1806,2213,2161,225.7,13.3,398,2193,0.00,0.00,0.00,0.000,2054,0.000,0.000,3040,1806,2187,2213,2161,0,0,0,0,0,0,15.10,15.10,15.10
$GC,2255,0.92,124.0,3039,1806,2213,2160,216.7,13.2,411,2261,0.00,0.00,0.00,0.000,2054,0.000,0.000,3040,1806,2186,2212,2160,0,0,0,0,0,0,15.15,15.16,15.14
$GC,2324,0.92,124.0,3039,1806,2212,2160,207.8,12.7,424,2330,0.00,2.28,0.00,0.000,2308,0.000,0.050,3040,3198,2185,2211,2159,0,0,0,0,0,0,15.18,14.93,15.17
$GC,2357,0.92,124.0,3039,3198,2214,2160,203.3,13.2,430,2364,0.00,2.33,0.00,0.000,3078,0.000,0.049,3043,1794,2184,2209,2159,0,0,0,0,0,0,15.06,14.97,15.07
$GC,2427,0.92,124.0,3043,1794,2209,2160,194.3,13.3,443,2435,0.00,2.38,0.00,0.000,2564,0.000,0.070,3043,391,2183,2208,2159,0,0,0,0,0,0,15.19,14.96,15.19
$GC,2517,0.92,124.0,3043,391,2206,2158,181.8,13.1,460,2524,0.00,2.30,0.00,0.000,3078,0.000,0.035,3044,1810,2182,2206,2158,0,0,0,0,0,0,15.09,15.02,15.11
$GC,2586,0.92,124.0,3043,1813,2206,2158,174.9,10.4,473,2593,0.00,2.28,0.00,0.000,2308,0.000,0.052,3044,3204,2180,2203,2158,0,0,0,0,0,0,15.21,15.00,15.21
$GC,2630,0.92,124.0,3043,3203,2205,2157,169.8,10.8,481,2636,0.00,2.33,0.00,0.000,3078,0.000,0.047,3047,1796,2181,2205,2158,0,0,0,0,0,0,15.10,15.00,15.11
$GC,2699,0.92,124.0,3046,1796,2204,2157,162.2,10.9,494,2706,0.00,2.33,0.00,0.000,2308,0.000,0.047,3047,3205,2181,2205,2157,0,0,0,0,0,0,15.21,14.99,15.22
$GC,2769,0.92,124.0,3047,3205,2204,2157,153.7,13.8,507,2777,0.00,2.33,0.00,0.000,3078,0.000,0.051,3047,1804,2180,2204,2157,0,0,0,0,0,0,15.08,14.99,15.09
$GC,2840,0.92,124.0,3047,1809,2204,2157,144.2,13.3,520,2847,0.00,2.38,0.00,0.000,2564,0.000,0.070,3047,395,2180,2204,2157,0,0,0,0,0,0,15.22,15.00,15.22
$GC,2945,0.94,143.2,3047,395,2203,2156,131.5,8.6,540,2969,0.00,2.28,14.77,0.905,11270,0.000,0.034,3047,1810,2113,2140,2087,0,0,0,0,0,0,15.12,15.04,14.50
$GC,3032,0.94,143.2,3047,1810,2138,2085,120.8,14.0,556,3037,0.00,0.00,0.00,0.000,2054,0.000,0.000,3047,1811,2112,2138,2086,0,0,0,0,0,0,15.18,15.18,15.18
$GC,3099,0.94,143.2,3046,1811,2137,2085,111.2,13.6,569,3105,0.00,2.42,0.00,0.000,2564,0.000,0.068,3054,391,2110,2137,2084,0,0,0,0,0,0,15.19,14.95,15.19
$GC,3188,0.94,143.2,3053,391,2135,2084,99.5,12.5,586,3195,0.00,2.28,0.00,0.000,3078,0.000,0.035,3053,1803,2109,2135,2084,0,0,0,0,0,0,15.03,14.95,15.04
$GC,3257,0.95,149.9,3053,1806,2135,2084,92.8,9.5,599,3271,0.00,2.28,5.70,0.739,10500,0.000,0.050,3054,3206,2088,2115,2062,0,0,0,0,0,0,15.21,14.95,14.50
$GC,3439,0.95,149.9,3053,3205,2115,2062,73.0,11.2,634,3445,0.00,2.35,0.00,0.000,1030,0.000,0.050,3061,1788,2088,2115,2061,0,0,0,0,0,0,15.06,14.97,15.08
$GC,3508,0.95,149.9,3061,1789,2115,2061,64.7,12.7,647,3515,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1788,2088,2115,2062,0,0,0,0,0,0,15.21,15.22,15.21
$GC,3577,0.95,149.9,3061,1788,2115,2061,56.4,11.6,660,3583,0.00,2.33,0.00,0.000,516,0.000,0.068,3067,395,2088,2115,2061,0,0,0,0,0,0,15.22,15.00,15.22
$GC,3630,0.95,149.9,3066,395,2113,2061,50.7,10.2,670,3637,0.00,2.28,0.00,0.000,5126,0.000,0.034,3067,1809,2087,2113,2061,0,0,0,0,0,0,15.12,15.05,15.13
$GC,3700,0.97,167.8,3067,1810,2112,2061,44.2,8.7,683,3725,0.00,2.30,16.02,0.825,8452,0.000,0.050,3067,3196,2013,2041,1985,0,0,0,0,0,0,15.22,14.94,14.55
$GC,4023,1.06,239.1,3066,3196,2037,1984,18.3,4.8,746,4076,0.00,2.33,43.08,0.947,11270,0.000,0.047,3074,1795,1724,1759,1690,0,0,0,0,0,0,15.04,14.96,14.40
$GC,4138,1.06,239.1,3073,1795,1757,1686,8.5,12.4,767,4145,0.00,2.40,0.00,0.000,2564,0.000,0.071,3074,394,1721,1757,1686,0,0,0,0,0,0,15.07,14.82,15.07
$STATE,4187,end climb,SURFACE_DEPTH_REACHED
$STATE,4187,begin surface coast
$FINISH,0.2,1.023636
$STATE,4208,end surface coast,CONTROL_FINISHED_OK
$STATE,4208,begin surface
$SM_CCo,4232,162.98,0.779,0,0,597,515.37
$SM_GC,0.83,13.65,2.33,162.98,0.043,0.031,0.779,121,1828,597,-8.18,-1.70,515.37,0,0,0,0,0,0,14.94,14.97,14.28
$IRIDIUM_FIX,-2955.02,3100.39,270319,094147
$TT8_MAMPS,0.021721,0.826147
$HUMID,43.22
$INTERNAL_PRESSURE,9.52717
$TCM_TEMP,21.90
$XPDR_PINGS,21
$ALTIM_BOTTOM_PING,235.3,31.6
$SC_FREEKB,3839968
$24V_AH,13.93,68.959
$10V_AH,14.04,0.000
$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,30.325,88.100,247.950,162.975,0.000,21.066,43.744,267.313,15.000,0.000,24.553,1787.379,702.120,629.629,1673.222,156.740,0.000,1308.039,0.000,1177.176,0.000,62.696,0.000
$DEVICE_MAMPS,515.610,71.145,1071.000,778.770,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4273.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,33.047,0.000,0.000,0.000
$MEM,340928
$DATA_FILE_SIZE,20055,780
$CAP_FILE_SIZE,139996,0
$CFSIZE,2097086464,2064580608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.277,47.73,1
$GPS,270319,122334,-3004.447,3102.875,21,1.1,45,-25.1,0.4,140.5,8,9.6