version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 202
start: 3 30 119 20 7 25
data:
$ID,574
$MISSION,3
$DIVE,202
$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,90
$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,36
$R_STBD_OVSHOOT,53
$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
$GPS1,300319,195901,-3000.3708,3104.5376,8,0.8,37,-25.0,0.6,56.5,10,5.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-68.8
$GPS2,300319,200701,-3000.3484,3104.5874,8,0.8,14,-25.0,0.0,26.9,10,9.4
$SPEED_LIMITS,0.173,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,-3009.196,3111.749
$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,170.0,20000,-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,21,-0.88,-92.5,69,1808,620,554,0.0,0.0,0,108,0.00,0.00,-84.60,0.000,16386,0.000,0.000,67,1809,2850,2821,2880,0,0,0,0,0,0,15.12,28.83,15.13
$GC,111,-0.88,-92.5,67,1809,2822,2880,3.1,-5.5,15,137,13.65,2.35,-4.15,0.000,18948,0.283,0.076,2466,405,3078,3067,3090,0,0,0,0,0,0,14.74,14.22,14.98
$GC,199,-0.88,-92.5,2465,405,3069,3088,30.8,-23.3,31,207,0.08,2.28,0.00,0.000,3078,0.291,0.037,2472,1805,3078,3071,3086,0,0,0,0,0,0,14.79,14.91,14.95
$GC,269,-0.88,-92.5,2471,1808,3072,3085,43.6,-18.6,44,276,0.00,2.30,0.00,0.000,2308,0.000,0.049,2458,3217,3078,3072,3085,0,0,0,0,0,0,15.19,14.90,15.19
$GC,343,-0.88,-92.5,2463,3217,3072,3085,58.4,-17.1,58,351,0.00,2.30,0.00,0.000,3078,0.000,0.044,2463,1811,3078,3072,3085,0,0,0,0,0,0,15.09,15.00,15.10
$GC,416,-0.88,-92.5,2462,1809,3073,3085,68.3,-11.8,71,422,0.00,2.33,0.00,0.000,2308,0.000,0.049,2453,3220,3078,3073,3084,0,0,0,0,0,0,15.21,15.00,15.22
$GC,509,-0.88,-92.5,2452,3220,3073,3085,82.5,-15.0,89,517,0.08,2.30,0.00,0.000,3078,0.264,0.043,2469,1810,3078,3073,3084,0,0,0,0,0,0,14.87,14.96,15.01
$GC,581,-0.88,-92.5,2469,1810,3073,3084,93.2,-14.5,102,588,0.00,2.35,0.00,0.000,2564,0.000,0.060,2469,401,3078,3073,3084,0,0,0,0,0,0,15.23,14.98,15.23
$GC,606,-0.88,-92.5,2469,401,3073,3084,96.9,-15.1,106,613,0.00,2.28,0.00,0.000,3078,0.000,0.034,2461,1818,3079,3074,3084,0,0,0,0,0,0,15.09,15.02,15.10
$GC,679,-0.88,-92.5,2461,1820,3073,3084,107.6,-14.6,119,685,0.00,2.28,0.00,0.000,2308,0.000,0.050,2451,3215,3079,3074,3084,0,0,0,0,0,0,15.23,15.02,15.24
$GC,738,-0.88,-92.5,2451,3216,3073,3083,116.6,-14.1,130,746,0.10,2.30,0.00,0.000,3078,0.235,0.043,2471,1805,3078,3073,3084,0,0,0,0,0,0,14.94,15.03,15.08
$GC,810,-0.88,-92.5,2471,1805,3074,3084,127.0,-14.4,143,817,0.00,2.33,0.00,0.000,2564,0.000,0.061,2471,409,3079,3074,3084,0,0,0,0,0,0,15.24,15.02,15.24
$GC,823,-0.88,-92.5,2471,409,3074,3084,129.2,-14.8,145,830,0.00,2.25,0.00,0.000,3078,0.000,0.034,2464,1815,3080,3077,3084,0,0,0,0,0,0,15.14,15.05,15.14
$GC,894,-0.88,-92.5,2463,1818,3074,3084,139.7,-15.3,158,904,0.00,2.28,0.00,0.000,2308,0.000,0.050,2458,3214,3078,3074,3083,0,0,0,0,0,0,15.24,14.97,15.25
$GC,957,-0.88,-92.5,2458,3214,3074,3083,149.1,-14.4,169,965,0.05,2.28,0.00,0.000,3078,0.318,0.043,2470,1812,3078,3074,3083,0,0,0,0,0,0,14.91,15.04,15.08
$GC,1028,-0.88,-92.5,2470,1812,3074,3083,158.4,-12.8,182,1036,0.00,2.30,0.00,0.000,2308,0.000,0.050,2462,3212,3077,3072,3083,0,0,0,0,0,0,15.25,15.04,15.25
$GC,1058,-0.88,-92.5,2462,3216,3074,3083,162.2,-13.4,187,1065,0.00,2.28,0.00,0.000,3078,0.000,0.039,2461,1808,3078,3074,3083,0,0,0,0,0,0,15.14,15.04,15.14
$GC,1127,-0.88,-92.5,2462,1809,3074,3083,171.8,-13.5,200,1134,0.00,2.33,0.00,0.000,2308,0.000,0.052,2461,3214,3078,3074,3083,0,0,0,0,0,0,15.25,15.04,15.26
$GC,1166,-0.88,-92.5,2461,3214,3073,3082,176.3,-11.8,207,1173,0.00,2.30,0.00,0.000,3078,0.000,0.043,2461,1807,3078,3074,3082,0,0,0,0,0,0,15.14,15.04,15.14
$GC,1238,-0.88,-92.5,2460,1806,3074,3082,186.4,-11.6,220,1245,0.03,0.00,0.00,0.000,2054,0.516,0.000,2469,1805,3078,3074,3082,0,0,0,0,0,0,14.91,15.10,15.08
$GC,1308,-0.88,-92.5,2469,1805,3074,3082,195.6,-14.2,233,1315,0.00,2.30,0.00,0.000,2308,0.000,0.048,2461,3212,3078,3074,3082,0,0,0,0,0,0,15.25,15.04,15.25
$GC,1352,-0.88,-92.5,2460,3212,3074,3082,201.1,-11.2,241,1359,0.00,2.30,0.00,0.000,3078,0.000,0.043,2461,1802,3078,3074,3082,0,0,0,0,0,0,15.14,15.05,15.15
$STATE,1379,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1380,begin apogee
$GC,1384,-0.17,0.0,2461,1802,3074,3082,205.1,-13.5,246,1460,1.20,0.00,67.85,0.980,10246,0.171,0.000,2697,1802,2700,2716,2684,0,0,0,0,0,0,14.92,14.68,14.34
$STATE,1463,end apogee,CONTROL_FINISHED_OK
$STATE,1463,begin climb
$GC,1465,0.88,92.5,2697,1802,2716,2683,209.3,0.0,259,1548,1.50,2.35,73.45,0.985,10500,0.075,0.044,3028,3203,2320,2342,2299,0,0,0,0,0,0,14.78,14.55,14.21
$GC,1570,0.94,137.6,3028,3204,2340,2299,206.3,6.7,276,1613,0.00,2.35,36.03,0.955,11270,0.000,0.045,3033,1803,2138,2166,2111,0,0,0,0,0,0,14.76,14.68,14.16
$GC,1675,0.94,137.6,3033,1803,2164,2108,194.1,14.6,295,1682,0.00,2.33,0.00,0.000,2308,0.000,0.047,3033,3198,2135,2163,2107,0,0,0,0,0,0,14.97,14.74,14.98
$GC,1744,0.94,137.6,3033,3198,2161,2106,184.2,13.5,308,1751,0.00,2.35,0.00,0.000,3078,0.000,0.052,3034,1799,2133,2161,2106,0,0,0,0,0,0,14.95,14.85,14.96
$GC,1814,0.94,137.6,3033,1798,2160,2104,174.1,15.0,321,1821,0.00,2.30,0.00,0.000,2308,0.000,0.045,3033,3199,2132,2160,2104,0,0,0,0,0,0,15.10,14.91,15.11
$GC,1959,0.94,137.6,3033,3200,2158,2103,150.6,15.1,349,1966,0.00,2.33,0.00,0.000,3078,0.000,0.048,3033,1797,2129,2157,2102,0,0,0,0,0,0,15.06,14.97,15.07
$GC,2028,0.94,137.6,3033,1798,2158,2102,140.9,13.9,362,2035,0.00,0.00,0.00,0.000,2054,0.000,0.000,3033,1797,2130,2158,2102,0,0,0,0,0,0,15.18,15.19,15.19
$GC,2098,0.94,137.6,3033,1797,2158,2102,131.3,13.5,375,2104,0.00,2.38,0.00,0.000,2564,0.000,0.070,3033,391,2129,2157,2102,0,0,0,0,0,0,15.20,14.96,15.21
$GC,2116,0.94,137.6,3032,391,2155,2101,128.7,13.2,378,2124,0.00,2.28,0.00,0.000,3078,0.000,0.034,3033,1803,2128,2155,2102,0,0,0,0,0,0,15.07,15.00,15.08
$GC,2188,0.94,137.6,3033,1804,2155,2101,119.6,12.1,391,2194,0.00,2.28,0.00,0.000,2308,0.000,0.048,3033,3202,2127,2155,2100,0,0,0,0,0,0,15.21,15.01,15.21
$GC,2216,0.94,137.6,3033,3203,2155,2101,116.3,11.9,396,2223,0.00,2.35,0.00,0.000,3078,0.000,0.051,3037,1795,2128,2155,2101,0,0,0,0,0,0,15.07,14.97,15.09
$GC,2286,0.94,137.6,3036,1794,2155,2101,109.3,10.1,409,2292,0.00,2.35,0.00,0.000,2564,0.000,0.067,3037,395,2128,2155,2101,0,0,0,0,0,0,15.22,14.96,15.22
$GC,2344,0.94,137.6,3037,395,2152,2101,102.4,12.0,420,2351,0.00,2.25,0.00,0.000,3078,0.000,0.034,3035,1801,2126,2152,2101,0,0,0,0,0,0,15.11,15.05,15.12
$GC,2414,0.94,137.6,3036,1803,2152,2101,94.0,13.0,433,2421,0.00,2.28,0.00,0.000,2308,0.000,0.049,3037,3204,2128,2153,2103,0,0,0,0,0,0,15.22,15.02,15.23
$GC,2449,0.94,137.6,3036,3204,2153,2101,89.4,12.1,439,2455,0.00,2.33,0.00,0.000,3078,0.000,0.050,3038,1799,2126,2152,2101,0,0,0,0,0,0,15.11,15.02,15.13
$GC,2518,0.95,149.5,3036,1799,2153,2101,82.2,9.1,452,2537,0.00,2.40,9.23,0.776,10756,0.000,0.068,3038,395,2089,2117,2061,0,0,0,0,0,0,15.22,14.96,14.54
$GC,2564,0.95,149.5,3037,394,2115,2061,77.4,11.5,460,2571,0.00,2.25,0.00,0.000,3078,0.000,0.034,3037,1802,2087,2115,2060,0,0,0,0,0,0,15.09,15.03,15.11
$GC,2634,0.95,149.5,3037,1805,2115,2060,69.7,13.1,473,2641,0.00,2.28,0.00,0.000,2308,0.000,0.050,3037,3194,2087,2114,2060,0,0,0,0,0,0,15.20,15.01,15.21
$GC,3145,1.05,227.9,3036,3194,2112,2058,33.1,4.3,574,3212,0.17,2.30,59.20,0.835,11270,0.122,0.047,3091,1794,1771,1805,1737,0,0,0,0,0,0,14.99,14.97,14.44
$GC,3275,1.05,227.9,3090,1794,1802,1733,20.8,12.2,597,3281,0.00,0.00,0.00,0.000,2054,0.000,0.000,3090,1794,1767,1802,1732,0,0,0,0,0,0,15.07,15.08,15.08
$GC,3342,1.05,227.9,3090,1794,1802,1730,13.0,11.0,610,3350,0.00,2.38,0.00,0.000,2564,0.000,0.068,3091,401,1765,1801,1729,0,0,0,0,0,0,15.13,14.90,15.12
$GC,3357,1.05,227.9,3091,401,1800,1729,11.4,11.5,612,3363,0.00,2.28,0.00,0.000,1030,0.000,0.034,3091,1802,1768,1800,1736,0,0,0,0,0,0,14.98,14.92,15.00
$GC,3427,1.05,227.9,3091,1805,1800,1727,3.7,11.0,625,3432,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,1805,1763,1800,1727,0,0,0,0,0,0,15.15,15.16,15.16
$STATE,3437,end climb,SURFACE_DEPTH_REACHED
$STATE,3437,begin surface coast
$FINISH,0.2,1.023710
$STATE,3463,end surface coast,CONTROL_FINISHED_OK
$STATE,3463,begin surface
$SM_CCo,3485,165.00,0.760,0,0,598,515.37
$SM_GC,0.86,13.68,0.00,165.00,0.044,0.000,0.760,126,1806,598,-8.17,-0.17,515.37,0,0,0,0,0,0,14.97,15.19,14.30
$IRIDIUM_FIX,-2945.08,3103.37,300319,190126
$TT8_MAMPS,0.020972,0.832139
$HUMID,42.99
$INTERNAL_PRESSURE,9.56623
$TCM_TEMP,22.50
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,180.3,34.7
$SC_FREEKB,3818240
$24V_AH,14.16,78.694
$10V_AH,13.97,0.000
$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,30.525,92.325,245.750,165.000,0.000,23.255,44.905,220.325,10.000,0.000,15.906,1460.870,537.417,609.287,1373.568,162.316,0.000,1185.840,0.000,956.149,0.000,46.125,0.000
$DEVICE_MAMPS,516.375,76.500,984.555,760.410,0.000,16.480,160.000,223.000,420.000,0.000,11.240,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3514.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.399,0.000,0.000,0.000
$MEM,340928
$DATA_FILE_SIZE,16730,632
$CAP_FILE_SIZE,121277,0
$CFSIZE,2097086464,2056486912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.178,45.64,1
$GPS,300319,210913,-3000.405,3105.131,8,1.0,18,-25.0,0.0,42.8,9,9.1